CN112947550A - Illegal aircraft striking method based on visual servo and robot - Google Patents
Illegal aircraft striking method based on visual servo and robot Download PDFInfo
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Abstract
The invention discloses an illegal aircraft striking method and a robot based on visual servo, which comprises the following steps: collecting a patrol inspection image in the automatic cruise process of the robot; judging whether an illegal aircraft exists in the acquired inspection image; when judging that the illegal aircraft exists in the continuous multi-frame polling images, controlling the holder to rotate to position and track the illegal aircraft; after the holder can stably track the illegal aircraft, the hitting device is started to hit the illegal aircraft. The automatic cruise control system has an automatic cruise function, and realizes positioning, tracking and striking of illegal aircrafts in the cruise process.
Description
Technical Field
The invention relates to the technical field of illegal aircraft striking, in particular to an illegal aircraft striking method based on visual servo and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid growth of the market of the unmanned aerial vehicles, the events that the unmanned aerial vehicles fly randomly and interfere the public order happen frequently, and serious potential safety hazards are brought to safety guarantee of civil aviation, sensitive targets and major activities. At present, airport airspace detection means in China mainly take visual discovery of a tower commander or a pilot who is executing a flight task as a main part, and the method can not early warn invasion of illegal aircrafts in advance and has serious security loopholes.
Disclosure of Invention
In order to solve the problems, the disclosure provides an illegal aircraft striking method and a robot based on visual servo, which can find the illegal aircraft in time and perform positioning tracking and striking on the illegal aircraft.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
in a first aspect, an illegal aircraft striking method based on visual servoing is provided, which includes:
collecting a patrol inspection image in the automatic cruise process of the robot;
judging whether an illegal aircraft exists in the acquired inspection image;
when judging that the illegal aircraft exists in the continuous multi-frame polling images, controlling the holder to rotate to position and track the illegal aircraft;
after the holder can stably track the illegal aircraft, the hitting device is started to hit the illegal aircraft.
In a second aspect, an illegal aircraft hitting robot based on visual servoing is provided, which comprises: the device comprises a mobile chassis, a cradle head and an upper computer are carried on the mobile chassis, an image acquisition device and a striking device are fixed on the cradle head, and the image acquisition device and the striking device rotate along with the cradle head;
the image acquisition device is used for acquiring the inspection image;
the hitting device is used for hitting illegal aircrafts;
and the upper computer is used for controlling the movable chassis to move, judging whether an illegal aircraft exists in the collected inspection image in the moving process, and controlling the holder to rotate to position, track and strike the illegal aircraft when judging that the illegal aircraft exists in the inspection image.
In a third aspect, an electronic device is provided, which includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the illegal aircraft striking method based on visual servoing.
In a fourth aspect, a computer-readable storage medium is provided for storing computer instructions which, when executed by a processor, perform the steps of a method for an illegal aircraft strike based on visual servoing.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the automatic cruise control system has an automatic cruise function, realizes positioning, tracking and striking of an illegal aircraft in a cruise process, has a wider coverage area, and solves the limitation of the fixation of the visual field area of the conventional fixed detection equipment.
2. The aircraft detection is carried out by using the deep learning technology, and compared with detection means such as traditional radar, photoelectric and radio detection, the detection precision is obviously improved.
3. The automatic cruise and detection system has the advantages that the automatic cruise and detection are realized, the labor cost is saved in full-automatic work, the arrangement is more flexible, the arrangement and maintenance cost of the robot is obviously reduced, and the automatic cruise and detection system has huge economic advantages compared with the traditional unmanned monitoring equipment or mobile detection vehicle.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a flow chart of a method disclosed in example 1 of the present disclosure;
fig. 2 is a schematic diagram of calculating a pan/tilt compensation amount by a tangential ratio of an image distance and a focal length of a camera disclosed in embodiment 1 of the present disclosure;
fig. 3 is a schematic structural diagram of a robot disclosed in embodiment 2 of the present disclosure.
Wherein: 1. the device comprises a mobile chassis, 2, a radar, 3, an upper computer, 4, a holder, 5, a camera, 6 and an electromagnetic wave emitter.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1
In order to realize automatic inspection of illegal aircraft and positioning, tracking and striking of the illegal aircraft in the automatic inspection process, the embodiment discloses an illegal aircraft striking method based on visual servo, which comprises the following steps:
collecting a patrol inspection image in the automatic cruise process of the robot;
judging whether an illegal aircraft exists in the acquired inspection image;
when the continuous multi-frame inspection images all judge that the illegal aircraft exists, the holder is controlled to rotate to carry out positioning tracking on the illegal aircraft;
after the holder can stably track the illegal aircraft, the hitting device is started to hit the illegal aircraft.
Furthermore, the collected inspection image is input into a trained detection network model, and whether an illegal aircraft exists in the inspection image is judged.
Further, the coordinates of the center position of the circumscribed rectangle of the illegal aircraft in the patrol image are calculated, the image pixel offset from the center position to the center position of the patrol image is further calculated, the image pixel offset is converted into a holder rotation angle compensation amount, the holder rotation is controlled according to the holder rotation angle compensation amount, and the illegal aircraft is positioned and tracked.
Further, when the rotational angle compensation amount of the cradle head obtained by calculation is smaller than the set minimum angle compensation amount, the cradle head is controlled to rotate reversely by the minimum angle compensation amount, and then the sum of the rotational angle compensation amount of the cradle head and the minimum angle compensation amount is rotated forwardly, so that the rotation of the cradle head is controlled.
Furthermore, the focal length of the image acquisition device is adjusted according to the resolution of the inspection image and the external rectangular pixels of the illegal aircraft, so that the illegal aircraft is positioned in the center of the acquired inspection image.
Further, the robot cruises according to a preset route.
Further, training the neural network model according to the existing aircraft sample picture to obtain the trained detection network model.
The illegal aircraft hitting method based on visual servoing disclosed in this embodiment is described in detail with reference to fig. 1, specifically:
the method comprises the following steps: the method comprises the steps of collecting an aircraft sample picture, marking the position of an aircraft in the picture, and carrying out image enhancement on a collected image according to the conditions of angle, illumination and scaling observed when the robot patrols and examines. And taking the image after image enhancement as the input of a target detection neural network model, generating a trained detection network model after training, and detecting the illegal aircraft through the trained network detection model.
Step two: the robot is placed in a specified cruise area, a cruise map is built by the robot through the carried radar, and the robot is guaranteed to complete an automatic inspection task in the specified area.
Step three: the robot cruises according to a preset cruising route in the process of executing the patrol task, and a camera acquires patrol images.
Step four: inputting the collected inspection image into a trained detection network model, when the model judges that illegal aircrafts exist in the collected inspection image, the robot sends out an alarm signal, and after the model continuously judges that all the illegal aircrafts exist in the multi-frame inspection image, the upper computer calculates the angle deviation between the illegal aircrafts and the center of the inspection image, and performs tripod head tracking control to position and track the illegal aircrafts. Otherwise, executing step three.
Step five, calculating the coordinates of the center position of the circumscribed rectangle of the illegal aircraft in the patrol image by the upper computer, and calculating the center position P of the circumscribed rectangle0To the center position P of the patrol image1Image pixel shift amount O of1＝[H,V]＝P1-P0H represents a horizontal direction pixel shift amount, and V represents a vertical direction pixel shift amount. The pixel offset in the image is then converted to a physical offset O on the imaging device2＝[H×Sh,V×Sv]，ShIs the horizontal physical distance, S, of a pixel on the imaging devicevIs a vertical physical distance of a pixel on the imaging device, e.g.FIG. 2 shows that the physical offset O is calculated according to the imaging principle of the camera2The inverse tangent proportion value of the focal length can convert the image pixel offset into the tripod head rotation angle compensation quantity O3：
f is the focal length, and the finally obtained target control parameters of the holder are as follows:
wherein [ H ]0,V0]Control parameter values for the unit angle of the pan-tilt in the horizontal and vertical directions, OcAnd controlling the rotation of the holder according to the target control parameter of the holder for the current angle of the holder. If the calculated compensation quantity O of the rotational angle of the holder3Less than a set minimum angle compensation amount O0In the meantime, the mechanical precision of the holder cannot be achieved, so the following method is adopted to control the rotation of the holder, and the holder is firstly reversely rotated by the minimum angle compensation quantity O0Then forward-rotated by the angle compensation amount O3Adding a minimum angle compensation quantity O0And further realize the rotation control of the holder.
And step six, obtaining a proper multiplying power based on the resolution of the inspection image and the length and width pixels of the circumscribed rectangle of the illegal aircraft, adjusting the focal length of the camera within the variation range of the multiplying power of the focal length of the camera, and repeatedly executing the step five and the step six to enable the illegal aircraft to be positioned in the center of the acquired inspection image and to be filled with a proper space, so that the hitting device is ensured to accurately aim at the key position of the illegal aircraft, and the accuracy and the stability of hitting are obviously improved.
And seventhly, starting a striking device carried by the robot to strike the aircraft after the holder can stably track the illegal aircraft. And after the striking is finished, the robot is restored to the original cruising state, and a working cycle is finished.
The illegal aircraft hitting method based on the visual servo has the automatic cruise function, positioning, tracking and hitting of the illegal aircraft in the cruise process are achieved, the coverage area is wider, and the limitation that the visual field area of the conventional fixed detection equipment is fixed is solved. The aircraft detection is carried out by using a deep learning technology, and compared with the traditional detection means such as radar, photoelectric and radio detection, the detection precision is obviously improved. The automatic cruise and detection system has the advantages that the full-automatic operation saves labor cost, and the arrangement is more flexible. The robot deployment and maintenance cost is obviously reduced, and the robot has huge economic advantages compared with the traditional unmanned monitoring equipment or mobile detection vehicle.
Example 2
In this embodiment, an illegal aircraft hitting robot based on visual servoing is disclosed, including: the device comprises a mobile chassis, a cradle head and an upper computer are carried on the mobile chassis, an image acquisition device and a striking device are fixed on the cradle head, and the image acquisition device and the striking device rotate along with the cradle head;
the image acquisition device is used for acquiring the inspection image and the inspection image;
the hitting device is used for hitting illegal aircrafts;
and the upper computer is used for controlling the movable chassis to move, judging whether an illegal aircraft exists in the acquired inspection image in the moving process, and controlling the holder to rotate to position, track and strike the illegal aircraft when judging that the illegal aircraft exists in the inspection image.
As shown in fig. 3, an illegal aircraft hitting robot based on visual servoing comprises: the radar 2, the cloud platform 4 and the upper computer 3 are carried on the mobile chassis 1, wherein the cloud platform 4 is fixed with an image acquisition device and a striking device, in the embodiment, the image acquisition device adopts a camera 5, and the striking device adopts an electromagnetic wave emitter 6.
The upper computer 6 is respectively connected with the radar 2, the camera 5 and the electromagnetic wave emitter 6.
The robot constructs a navigation map in a specific area by using the mounted radar, and performs area cruising by using the constructed map. In the cruising process, the upper computer controls the mobile chassis to move according to a preset cruising route to drive the robot to cruise, in the cruising process of the robot, a camera is used for obtaining a patrol image and transmitting the patrol image to a trained target detection model in the upper computer, whether an illegal aircraft exists in the patrol image is judged by the model, after the model continuously judges that a plurality of frames of patrol images exist the illegal aircraft, the upper computer calculates the angle deviation between the center of an external rectangle of the illegal aircraft and the center of the patrol image, further the rotational angle compensation quantity of the cradle head is determined, the cradle head is tracked and controlled by the rotational angle compensation quantity of the cradle head, stable following of the illegal aircraft is completed, and an electromagnetic wave transmitter carried by a post-starting system accurately strikes the illegal aircraft.
The automatic cruise control system has the functions of autonomous cruise, tracking, positioning and striking illegal aircrafts, saves labor cost due to full-automatic work, is more flexible in deployment, obviously reduces the deployment and maintenance cost of the robot, and has huge economic advantages compared with the traditional unmanned monitoring equipment or mobile detection vehicle.
Example 3
In this embodiment, an electronic device is disclosed, which comprises a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the method for hitting an illegal aircraft based on visual servoing disclosed in embodiment 1.
Example 4
In this embodiment, a computer readable storage medium is disclosed for storing computer instructions that, when executed by a processor, perform the steps described in the method for a visual servo-based illegal aircraft strike disclosed in embodiment 1.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. An illegal aircraft striking method based on visual servo is characterized by comprising the following steps:
collecting a patrol inspection image in the automatic cruise process of the robot;
judging whether an illegal aircraft exists in the acquired inspection image;
when judging that the illegal aircraft exists in the continuous multi-frame polling images, controlling the holder to rotate to position and track the illegal aircraft;
after the holder can stably track the illegal aircraft, the hitting device is started to hit the illegal aircraft.
2. The illegal aircraft striking method based on visual servoing as claimed in claim 1, characterized in that the collected inspection image is input into a trained detection network model to judge whether the illegal aircraft exists in the inspection image.
3. The illegal aircraft hitting method based on the visual servo as claimed in claim 1, wherein coordinates of a center position of a circumscribed rectangle of the illegal aircraft in the inspection image are calculated, so that an image pixel offset from the center position to the center position of the inspection image is calculated, the image pixel offset is converted into a holder rotation angle compensation amount, the holder rotation is controlled according to the holder rotation angle compensation amount, and the illegal aircraft is positioned and tracked.
4. The illegal aircraft hitting method based on visual servo as claimed in claim 3, wherein when the calculated tripod head rotation angle compensation amount is smaller than the set minimum angle compensation amount, the tripod head is controlled to rotate reversely by the minimum angle compensation amount, and then the tripod head is rotated forwardly by the sum of the minimum angle compensation amount and the rotation angle compensation amount, so as to control the rotation of the tripod head.
5. The illegal aircraft hitting method based on the visual servo as claimed in claim 3, wherein the focal length of the image acquisition device is adjusted according to the resolution of the inspection image and the circumscribed rectangular pixels of the illegal aircraft, so that the illegal aircraft is positioned at the center of the acquired inspection image.
6. The illegal aircraft hitting method based on visual servoing of claim 1 wherein the robot navigates along a predetermined route.
7. The illegal aircraft hitting method based on visual servoing of claim 1 is characterized in that a neural network model is trained according to existing aircraft sample pictures to obtain a trained detection network model.
8. An illegal aircraft hitting robot based on visual servoing, comprising: the device comprises a mobile chassis, a cradle head and an upper computer are carried on the mobile chassis, an image acquisition device and a striking device are fixed on the cradle head, and the image acquisition device and the striking device rotate along with the cradle head;
the image acquisition device is used for acquiring the inspection image;
the hitting device is used for hitting illegal aircrafts;
and the upper computer is used for controlling the movable chassis to move, judging whether an illegal aircraft exists in the collected inspection image in the moving process, and controlling the holder to rotate to position, track and strike the illegal aircraft when judging that the illegal aircraft exists in the inspection image.
9. An electronic device comprising a memory and a processor, and computer instructions stored on the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the method for a visual servo-based approach to combat illegal aircraft according to any of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the method of any one of claims 1 to 7 for a visual servoing based approach to illegal aircraft striking.
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Application publication date: 20210611 |