CN112748742A - Automatic mountain target avoidance platform and method - Google Patents
Automatic mountain target avoidance platform and method Download PDFInfo
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Abstract
The invention relates to an automatic mountain target avoidance platform and a method, wherein the platform comprises: the data updating mechanism is arranged in a control box of the unmanned aerial vehicle and used for updating the mountain color imaging characteristics based on the received current month; the mountain body identification device is used for identifying each mountain body imaging area corresponding to each mountain body target in the signal enhancement image based on the mountain body color imaging characteristics; and the numerical analysis mechanism is connected with the mountain body identification equipment and is used for sending a direction correction instruction when pixel points with depth of field values shallower than a preset depth of field threshold value exist in each mountain body imaging area. The automatic mountain target avoidance platform and the method are reliable in logic and wide in application. The nearest mountain target close to the unmanned aerial vehicle can be identified in time, and the flight direction of the unmanned aerial vehicle is adjusted based on the nearest mountain target, so that the nearest mountain target can be automatically avoided.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to an automatic mountain target avoidance platform and method.
Background
Unmanned aerial vehicles were first introduced in the 20 th 20 s, the world war was first in fierce in 1914, both the cadelle and the pechel general in the uk, and proposed to the military aeronautical society in the uk: a small airplane which can be steered by radio without piloting is developed, so that it can fly to the enemy over a target area to shoot down a bomb which is loaded on the small airplane. This boldly assumption immediately received the attention of the then british military aviation society for long-wearing henderson jazz. He specified that he was developed by professor of a shift horse. Drones were used as targets for training at the time. Is a term used in many countries to describe the latest generation of unmanned aircraft. Literally, this term can describe cruise missiles that have evolved from kites, radio teleplanes, to V-1 missiles, but in military terms are limited to reusable heavier-than-air vehicles.
After the 90 s of the 20 th century, western countries fully realized the role of unmanned aerial vehicles in war, and competitively applied high and new technologies to the development and development of unmanned aerial vehicles: the new wing section and the light material greatly increase the endurance time of the unmanned aerial vehicle; the image transmission speed and the digital transmission speed of the unmanned aerial vehicle are improved by adopting an advanced signal processing and communication technology; advanced autopilots eliminate the need for land-based television screen piloting, and instead fly programmatically to the hover point, change altitude and fly to the next target.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides an automatic mountain target avoidance platform which can timely identify a nearest mountain target close to an unmanned aerial vehicle and adjust the flight direction of the unmanned aerial vehicle based on the nearest mountain target so as to achieve automatic avoidance of the nearest mountain target.
For this reason, the present invention needs to have at least the following important points:
(1) based on the nearest mountain target being at a different relative position of the drone, adjusting a current flight direction of the drone to avoid the nearest mountain target;
(2) and introducing a data updating mechanism for updating the mountain color imaging characteristics based on the received current month, wherein the received current month is different, and the updated mountain color imaging characteristics are different, so that more effective reference data is provided for the subsequent identification of the nearest mountain target.
According to an aspect of the present invention, there is provided an automated mountain target avoidance platform, the platform comprising:
the data updating mechanism is arranged in a control box of the unmanned aerial vehicle and used for updating the mountain color imaging characteristics based on the received current month, wherein the received current month is different, and the updated mountain color imaging characteristics are different;
the field timing equipment is arranged near the data updating mechanism and used for sending synchronous acquisition signals once every preset time length;
the camera shooting mechanisms are respectively arranged at the same position of the top of the unmanned aerial vehicle and used for executing synchronous camera shooting operation in different directions so as to respectively obtain a plurality of instant acquisition images;
the synchronous driving device is respectively connected with the plurality of camera shooting mechanisms and is used for deciding whether to control the plurality of camera shooting mechanisms to execute synchronous camera shooting operation or not based on the output of the on-site timing device;
the content splicing equipment is respectively connected with the plurality of camera shooting mechanisms and is used for splicing the content of the received plurality of immediately collected images to obtain a current spliced image;
the signal strengthening mechanism is connected with the content splicing equipment and used for carrying out signal sharpening processing based on a high-pass filtering mode on the received current spliced image so as to obtain a corresponding signal strengthened image;
the mountain body identification device is respectively connected with the data updating mechanism and the signal strengthening mechanism and is used for identifying each mountain body imaging area corresponding to each mountain body target in the signal strengthening image based on mountain body color imaging characteristics;
the numerical analysis mechanism is connected with the mountain body identification equipment and is used for sending a direction correction instruction when pixel points with depth of field values shallower than a preset depth of field threshold value exist in each mountain body imaging area;
and the direction driving equipment is arranged in the unmanned aerial vehicle, is connected with the numerical analysis mechanism and is used for adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image when a direction correction instruction is received.
According to another aspect of the present invention, there is also provided an automated mountain target avoidance method, the method comprising using an automated mountain target avoidance platform as described above to adjust a current flight direction of a drone to avoid a nearest mountain target based on the nearest mountain target being at a different relative position of the drone.
The automatic mountain target avoidance platform and the method are reliable in logic and wide in application. The nearest mountain target close to the unmanned aerial vehicle can be identified in time, and the flight direction of the unmanned aerial vehicle is adjusted based on the nearest mountain target, so that the nearest mountain target can be automatically avoided.
Detailed Description
Embodiments of the automated mountain target avoidance platform and method of the present invention are described in detail below.
The earliest automated control dates back to the ancient automated timer and leaky kettle southward pointing cart in China, and the wide application of automated control technology began in the industrial revolution period of Europe. English man Watt invented the steam engine, and at the same time, it invented the centrifugal speed regulator in 1788 by applying the feedback principle. When the load or steam quantity supply changes, the centrifugal speed regulator can automatically regulate the opening of the air inlet valve, so that the rotating speed of the steam engine is controlled.
The first generation of process Control systems over 150 years ago were based on the Pneumatic signal standard (PCS, Pneumatic Control System) of 5-13 psi. Simple in-situ operation mode, the control theory is formed preliminarily, and the concept of a control room is not available.
The second generation process Control System (Analog or ACS) is based on 0-10 mA or 4-20mA current Analog signal, which is a significant advance and firmly controls the whole automatic Control field in the whole 25 years. It marks the coming of the era of electric automatic control. The control theory has great development, and the foundation of modern control is laid by the establishment of three major control theories; the mode of setting up a control room and separating control functions is used up to now.
The third generation of process Control System (CCS), Computer Control System, the application of digital computers started in the 70 s, and great technical advantages were generated, and people were first to use in the fields of measurement, simulation, and logic Control, thereby generating the third generation of process Control System (CCS). The third generation process control system is a revolution in the field of automatic control, which fully utilizes the characteristics of a computer, so people generally think that the computer can do everything, and naturally generates a central control computer system called as 'centralized control', and it needs to be pointed out that the signal transmission system of the system still mostly uses 4-20mA analog signals, but people find in short time that the danger of runaway is concentrated along with the problems of control concentration and reliability, and the whole system can be paralyzed by carelessness. It was soon developed into a Distributed Control System (DCS).
Fourth generation process Control System (DCS, Distributed Control System): with the rapid development of semiconductor manufacturing technology, the widespread use of microprocessors and the great increase of the reliability of computer technology, a fourth-generation process control system (DCS or distributed digital control system) is currently and widely used, and the main characteristic of the system is that the whole control system is not only provided with one computer, but is formed by a plurality of computers, some intelligent instruments and intelligent components. Dispersion control is then the most important feature. Except for another important development, the signal transmission between them does not rely on only 4-20mA analog signals, but gradually replaces the analog signals with digital signals.
Fifth generation process Control architecture (FCS, Fieldbus Control System): the FCS is developed from DCS, and has a qualitative leap just like the DCS is developed from CCS. The 'decentralized control' is developed into 'field control'; the data transmission adopts a bus mode. But the FCS is really different from DCS in that FCS has a wider development space. Although the technical level of the traditional DCS is continuously improved, the lowest end of a communication network only reaches the first level of a field control station, 4-20mA analog signals transmitted in a one-to-one mode are still adopted for the connection between the field control station and a field detection instrument and an actuator, the cost is high, the efficiency is low, the maintenance is difficult, the intelligent potential of the field instrument cannot be exerted, and the comprehensive monitoring and deep management of the working state of field equipment are realized. The field bus is a communication link which is connected with intelligent measuring and controlling equipment in an all-digital and two-way transmission mode and has a multi-node branch structure. In short, the conventional control is a loop, and the FCS technology is that various modules such as controllers, actuators, detectors, etc. are hung on a bus to realize communication, i.e. digital signals are transmitted. The main buses are Profibus, LonWorks, etc.
At present, when unmanned aerial vehicle flies in mountain area or hilly land, what arouses the flight accident most easily is the approaching and collision with near massif target, however, because the control personnel to unmanned aerial vehicle control are not in the environment on the spot, can't accurately acquire the positional information of near each massif target, simultaneously because the reason of season change, the identification strategy of different seasons massif target is different, leads to the control mechanism that far-end massif was dodged not timely enough, and the control mechanism that local massif was dodged lacks effectual reference data.
In order to overcome the defects, the invention builds an automatic mountain target avoidance platform and a method, and can effectively solve the corresponding technical problems.
An automated mountain target avoidance platform shown according to an embodiment of the present invention comprises:
the data updating mechanism is arranged in a control box of the unmanned aerial vehicle and used for updating the mountain color imaging characteristics based on the received current month, wherein the received current month is different, and the updated mountain color imaging characteristics are different;
the field timing equipment is arranged near the data updating mechanism and used for sending synchronous acquisition signals once every preset time length;
the camera shooting mechanisms are respectively arranged at the same position of the top of the unmanned aerial vehicle and used for executing synchronous camera shooting operation in different directions so as to respectively obtain a plurality of instant acquisition images;
the synchronous driving device is respectively connected with the plurality of camera shooting mechanisms and is used for deciding whether to control the plurality of camera shooting mechanisms to execute synchronous camera shooting operation or not based on the output of the on-site timing device;
the content splicing equipment is respectively connected with the plurality of camera shooting mechanisms and is used for splicing the content of the received plurality of immediately collected images to obtain a current spliced image;
the signal strengthening mechanism is connected with the content splicing equipment and used for carrying out signal sharpening processing based on a high-pass filtering mode on the received current spliced image so as to obtain a corresponding signal strengthened image;
the mountain body identification device is respectively connected with the data updating mechanism and the signal strengthening mechanism and is used for identifying each mountain body imaging area corresponding to each mountain body target in the signal strengthening image based on mountain body color imaging characteristics;
the numerical analysis mechanism is connected with the mountain body identification equipment and is used for sending a direction correction instruction when pixel points with depth of field values shallower than a preset depth of field threshold value exist in each mountain body imaging area;
and the direction driving equipment is arranged in the unmanned aerial vehicle, is connected with the numerical analysis mechanism and is used for adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image when a direction correction instruction is received.
Next, a detailed description of the structure of the automated mountain target avoidance platform according to the present invention will be further described.
In the automatic mountain target dodging platform:
adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image comprises: when the relative position of the mountain imaging area where the pixel points are located based on the depth of field value shallower than the preset depth of field threshold value in the signal enhancement image is on the left, the current flight direction of the unmanned aerial vehicle is adjusted to the right.
In the automatic mountain target dodging platform:
adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image comprises: and when the relative position of the mountain imaging area where the pixel points are located is inclined to the right in the signal enhancement image based on the fact that the depth of field value is lighter than the preset depth of field threshold value, the current flight direction of the unmanned aerial vehicle is adjusted to the left.
In the automatic mountain target dodging platform:
deciding whether to control the plurality of imaging mechanisms to perform a synchronized imaging operation based on the output of the field timing device includes: when receiving a synchronous acquisition signal output by the on-site timing equipment, controlling the plurality of camera shooting mechanisms to execute one-time synchronous camera shooting operation;
the plurality of camera mechanisms are respectively opposite to different directions and are complemented and combined to obtain a panoramic imaging direction.
In the automatic mountain target dodging platform:
mountain body identification equipment, signal strengthening mechanism, content concatenation equipment with synchronous drive equipment all sets up in unmanned aerial vehicle's control box.
In the automatic mountain target dodging platform:
the mountain recognition device, the signal strengthening mechanism, the content splicing device and the synchronous driving device are all configured with respective working parameters based on an IIC control bus.
The automatic mountain target avoidance platform can further comprise:
and the ZIGBEE communication equipment is respectively connected with the mountain recognition equipment and the numerical analysis mechanism in a wireless communication manner through a wireless communication network.
In the automatic mountain target dodging platform:
the mountain recognition device and the numerical analysis mechanism are respectively realized by SOC chips of different models, and are integrated on the same printed circuit board.
The automatic mountain target avoidance platform can further comprise:
the temperature sensing equipment is respectively connected with the mountain recognition equipment and the numerical analysis mechanism and is used for respectively detecting the shell temperatures of the mountain recognition equipment and the numerical analysis mechanism;
a flash controller located near the plurality of camera mechanisms for controlling the flash to be turned on and off based on the real-time ambient brightness;
wherein controlling the flash to turn on and off based on the real-time ambient brightness comprises: and when the real-time environment brightness is less than or equal to the preset brightness threshold value, the flash lamp is turned on.
Meanwhile, in order to overcome the defects, the invention also provides an automatic mountain target avoiding method, which comprises the step of using the automatic mountain target avoiding platform to adjust the current flight direction of the unmanned aerial vehicle based on different relative positions of the nearest mountain target in the unmanned aerial vehicle so as to avoid the nearest mountain target.
In addition, ZIGBEE is a low power consumption lan protocol based on the ieee802.15.4 standard. According to international standards, ZIGBEE technology is a short-range, low-power wireless communication technology. This name (also called the purple bee protocol) is derived from the dance of the eight characters of bees, since bees (bee) communicate the orientation information of pollen with partners by flying and "waving" (ZIG) flapping wings, "i.e. bees form a communication network in the community by this way. Its advantages are short distance, low complexity, self-organization, low power consumption and low data rate. The device is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices. In short, ZIGBEE is an inexpensive and low-power-consumption short-range wireless networking communication technology. ZIGBEE is a wireless network protocol for low-speed short-range transmission. The ZIGBEE protocol is, from bottom to top, a physical layer (PHY), a media access control layer (MAC), a Transport Layer (TL), a network layer (NWK), an application layer (APL), and the like. Wherein the physical layer and the medium access control layer comply with the provisions of the IEEE802.15.4 standard.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automated mountain target avoidance platform, the platform comprising:
the data updating mechanism is arranged in a control box of the unmanned aerial vehicle and used for updating the mountain color imaging characteristics based on the received current month, wherein the received current month is different, and the updated mountain color imaging characteristics are different;
the field timing equipment is arranged near the data updating mechanism and used for sending synchronous acquisition signals once every preset time length;
the camera shooting mechanisms are respectively arranged at the same position of the top of the unmanned aerial vehicle and used for executing synchronous camera shooting operation in different directions so as to respectively obtain a plurality of instant acquisition images;
the synchronous driving device is respectively connected with the plurality of camera shooting mechanisms and is used for deciding whether to control the plurality of camera shooting mechanisms to execute synchronous camera shooting operation or not based on the output of the on-site timing device;
the content splicing equipment is respectively connected with the plurality of camera shooting mechanisms and is used for splicing the content of the received plurality of immediately collected images to obtain a current spliced image;
the signal strengthening mechanism is connected with the content splicing equipment and used for carrying out signal sharpening processing based on a high-pass filtering mode on the received current spliced image so as to obtain a corresponding signal strengthened image;
the mountain body identification device is respectively connected with the data updating mechanism and the signal strengthening mechanism and is used for identifying each mountain body imaging area corresponding to each mountain body target in the signal strengthening image based on mountain body color imaging characteristics;
the numerical analysis mechanism is connected with the mountain body identification equipment and is used for sending a direction correction instruction when pixel points with depth of field values shallower than a preset depth of field threshold value exist in each mountain body imaging area;
and the direction driving equipment is arranged in the unmanned aerial vehicle, is connected with the numerical analysis mechanism and is used for adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image when a direction correction instruction is received.
2. An automated mountain target avoidance platform of claim 1, wherein:
adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image comprises: when the relative position of the mountain imaging area where the pixel points are located based on the depth of field value shallower than the preset depth of field threshold value in the signal enhancement image is on the left, the current flight direction of the unmanned aerial vehicle is adjusted to the right.
3. An automated mountain target avoidance platform of claim 2, wherein:
adjusting the current flight direction of the unmanned aerial vehicle based on the relative position of the mountain imaging area where the pixel point with the depth of field value shallower than the preset depth of field threshold value is located in the signal enhancement image comprises: and when the relative position of the mountain imaging area where the pixel points are located is inclined to the right in the signal enhancement image based on the fact that the depth of field value is lighter than the preset depth of field threshold value, the current flight direction of the unmanned aerial vehicle is adjusted to the left.
4. An automated mountain target avoidance platform of claim 3, wherein:
deciding whether to control the plurality of imaging mechanisms to perform a synchronized imaging operation based on the output of the field timing device includes: when receiving a synchronous acquisition signal output by the on-site timing equipment, controlling the plurality of camera shooting mechanisms to execute one-time synchronous camera shooting operation;
the plurality of camera mechanisms are respectively opposite to different directions and are complemented and combined to obtain a panoramic imaging direction.
5. An automated mountain target avoidance platform of claim 4, wherein:
mountain body identification equipment, signal strengthening mechanism, content concatenation equipment with synchronous drive equipment all sets up in unmanned aerial vehicle's control box.
6. An automated mountain target avoidance platform of claim 5, wherein:
the mountain recognition device, the signal strengthening mechanism, the content splicing device and the synchronous driving device are all configured with respective working parameters based on an IIC control bus.
7. An automated mountain target avoidance platform of claim 6, wherein the platform further comprises:
and the ZIGBEE communication equipment is respectively connected with the mountain recognition equipment and the numerical analysis mechanism in a wireless communication manner through a wireless communication network.
8. An automated mountain target avoidance platform of claim 7, wherein:
the mountain recognition device and the numerical analysis mechanism are respectively realized by SOC chips of different models, and are integrated on the same printed circuit board.
9. An automated mountain target avoidance platform of claim 8, wherein the platform further comprises:
the temperature sensing equipment is respectively connected with the mountain recognition equipment and the numerical analysis mechanism and is used for respectively detecting the shell temperatures of the mountain recognition equipment and the numerical analysis mechanism;
a flash controller located near the plurality of camera mechanisms for controlling the flash to be turned on and off based on the real-time ambient brightness;
wherein controlling the flash to turn on and off based on the real-time ambient brightness comprises: and when the real-time environment brightness is less than or equal to the preset brightness threshold value, the flash lamp is turned on.
10. An automated mountain target avoidance method, the method comprising using an automated mountain target avoidance platform of any of claims 1-9 to adjust a current flight direction of a drone to avoid a nearest mountain target based on the nearest mountain target being at a different relative position of the drone.
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