CN118092516B - Turntable control method and device for unmanned aerial vehicle river remote sensing image acquisition - Google Patents
Turntable control method and device for unmanned aerial vehicle river remote sensing image acquisition Download PDFInfo
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Abstract
The invention relates to the technical field of remote sensing image acquisition, and discloses a turntable control method and a turntable control device for unmanned aerial vehicle river remote sensing image acquisition, wherein the method comprises the following steps: acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence, sending the turntable control instruction to a turntable mechanism, and executing image acquisition steering action; and driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment. According to the method, the bending direction of the target river is analyzed in real time, so that the remote sensing image acquisition device carries out corresponding offset steering along with the target river, the time of the target river offset image acquisition picture is delayed, longer unmanned plane deflection control reaction time is reserved for unmanned plane operators, the image acquisition rate and the integrity of remote sensing data can be considered at the same time to a certain extent, and the river remote sensing image acquisition is accurate and efficient.
Description
Technical Field
The invention relates to the technical field of remote sensing image acquisition, in particular to a turntable control method and device for unmanned aerial vehicle river remote sensing image acquisition.
Background
The river remote sensing image acquisition is generally used for scenes such as river morphology and landform analysis, water body detection, flood monitoring and early warning, ecological system research and the like, and the principle is that image data of the earth surface is acquired through a sensor of a remote sensing platform, so that electromagnetic radiation of different wave bands such as visible light, infrared rays, microwaves and the like is captured, detailed information about surface features is provided, and the research of river related scenes is met.
Currently, in river remote sensing image acquisition, common remote sensing platforms include earth observation satellites, unmanned aerial vehicles and manned aircraft. However, invoking data of an earth observation satellite has problems of long waiting time of an application flow, limited application times and the like, and in some cases, the research requirement cannot be met; meanwhile, the piloted plane has the problem of high data acquisition cost; therefore, river remote sensing image acquisition based on unmanned aerial vehicle becomes the most common solution for remote sensing image requirements in river related scenes.
In the prior art, two schemes are usually available for executing the flight of the target track and the remote sensing image acquisition task by using the unmanned aerial vehicle, namely, the unmanned aerial vehicle is controlled to fly along the track according to the target track route input by a user, and the image acquisition task is executed at the same time, the scheme is usually used for automatically controlling the flight of the straight line path track between two or a few positioning points, such as scanning type image acquisition in a region range or track image acquisition along a highway section, and the like, and because the river (particularly in hilly mountain areas) has the characteristics that the track is tortuous and the river track changes along with the drought flood period, even if the target track route is provided, the unmanned aerial vehicle cannot always accurately acquire the complete remote sensing image of the target river, so the river remote sensing image acquisition is not suitable for the track automatic cruising; secondly, manual cruising is performed, namely, a user starts the unmanned aerial vehicle to fly along a target river track, and the rotation angle of the camera turntable is adjusted according to the collected image so as to ensure that the collected complete remote sensing image of the target river contains the complete river image, so that the manual cruising has the characteristics of higher shooting flexibility and more suitability for the collection of the river remote sensing image, but the problem that the response speed of the unmanned aerial vehicle when the camera turntable is manually controlled to rotate cannot be matched with the tortuous change frequency of the river track also exists, and the problem can cause the finally obtained remote sensing image to have the defect of part of river positions and influence the integrity of collected data.
Therefore, how to solve the problem of low data acquisition integrity caused by manually controlling the unmanned aerial vehicle camera turntable when facing the river remote sensing image acquisition task with higher data precision requirement is a technical problem which needs to be solved.
Disclosure of Invention
The invention mainly aims to provide a turntable control method and device for acquiring remote sensing images of an unmanned aerial vehicle river, and aims to solve the technical problem that the integrity of data acquisition is low due to the fact that an unmanned aerial vehicle camera turntable is manually controlled by people in the existing remote sensing image acquisition of a target river.
In order to achieve the above purpose, the invention provides a turntable control method for unmanned aerial vehicle river remote sensing image acquisition, which comprises the following steps:
S1: calling a river information base of the target river to obtain different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
S2: generating and sending a flight control instruction to a target unmanned aerial vehicle based on the target flight altitude;
s3: when receiving a flight control instruction, a target unmanned aerial vehicle extracts a target flight height in the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
S4: acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence;
S5: generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence;
s6: transmitting the turntable control instruction to a turntable mechanism connected with the target unmanned aerial vehicle and the remote sensing image acquisition device so as to enable the turntable mechanism to execute image acquisition steering action;
S7: and after the turntable mechanism executes the image acquisition steering action, driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment.
Optionally, the step of acquiring the remote sensing image sequence when the target unmanned aerial vehicle executes the flight acquisition task specifically includes:
after detecting that the current flight height of the target unmanned aerial vehicle reaches the error allowable range of the target flight height, generating a remote sensing image sequence at an initial moment; wherein, the remote sensing image sequence at the initial moment is empty;
After the remote sensing image acquisition device acquires the remote sensing image, the remote sensing image sequence is updated, the remote sensing images acquired at each moment are put into the remote sensing image sequence in time sequence, and the remote sensing image sequence at each moment when the target object executes the flight acquisition task is obtained.
Optionally, the step of generating the turntable control instruction according to the first remote sensing image at the current moment and the second remote sensing image at the previous moment in the remote sensing image sequence specifically includes:
Performing image processing on a first remote sensing image at the current moment and a second remote sensing image at the previous moment, and extracting target river contours in the first remote sensing image and the second remote sensing image;
Determining deflection attitude parameters of the target river in the image according to the distance from the target river outline in the first remote sensing image to the image boundary and the distance from the target river outline in the second remote sensing image to the image boundary;
And generating a turntable control instruction based on the deflection attitude parameter so as to correct the deflection attitude parameter after the turntable mechanism executes the image acquisition steering action at the later moment.
Optionally, the deflection attitude parameter is a deflection quantized value obtained by subtracting a difference D2 between a second distance from the target river track in the second remote sensing image to the left boundary of the image and a second distance from the target river track in the second remote sensing image to the right boundary of the image from a difference D1 between a first distance from the target river track in the first remote sensing image to the left boundary of the image and a first distance from the target river track in the first remote sensing image to the right boundary of the image; based on the deflection attitude parameters, generating a turntable control instruction, which specifically comprises the following steps:
Judging whether the deflection attitude parameter exceeds the allowable quantization value range of the deflection error, if so, determining a turntable control instruction according to the product of the deflection attitude parameter and a preset turntable deflection adjustment proportion;
the turntable control instruction comprises a turntable deflection direction and a turntable deflection angle, the turntable deflection angle is the product of a deflection attitude parameter and a preset turntable deflection adjustment proportion, and the turntable deflection direction is the boundary direction with smaller distance in the distances from the target river profile in the second remote sensing image to the left boundary of the image and the right boundary of the image.
Optionally, the step of generating the turntable control command according to the first remote sensing image at the current moment and the second remote sensing image at the previous moment in the remote sensing image sequence further includes:
Invoking a river information base of a target river, acquiring a river profile image of the target river in front of a diversion branch and a confluence branch, and extracting river profile features in the river profile image;
Based on the river profile characteristics and the target river profile extracted from the first remote sensing image, carrying out river profile comparison, and judging whether the acquisition position corresponding to the first remote sensing image at the current moment is the position of the target river corresponding to the front of the diversion branch and the confluence branch;
if yes, calibrating a turntable control instruction generated based on the deflection attitude parameter into an invalid state; when the turntable control command marked as the invalid state is received and identified by the turntable mechanism, the image acquisition steering action corresponding to the turntable control command is not executed.
In addition, in order to achieve the above purpose, the present invention also provides a turntable control device for acquiring river remote sensing images of an unmanned aerial vehicle, the device comprising:
The determining module is used for calling a river information base of the target river and acquiring different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
The generation module is used for generating and sending flight control instructions to the target unmanned aerial vehicle based on the target flight height;
The execution module is used for extracting the target flight height in the flight control instruction when the target unmanned aerial vehicle receives the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
the acquisition module is used for acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence;
The generation module is used for generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence;
The transmitting module is used for transmitting the turntable control instruction to a turntable mechanism connected with the target unmanned aerial vehicle and the remote sensing image acquisition device so that the turntable mechanism executes image acquisition steering action;
and the acquisition module is used for driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment after the turntable mechanism executes the image acquisition steering action.
The invention has the beneficial effects that: according to the turntable control method and device for unmanned aerial vehicle river remote sensing image acquisition, the deflection condition of the target river is analyzed from the first remote sensing image at the current moment and the second remote sensing image at the previous moment, so that a control instruction of the unmanned aerial vehicle turntable is generated, the remote sensing image acquisition device carries out corresponding offset steering along with the target river, the time of the target river offset image acquisition picture is delayed, longer response time for controlling unmanned aerial vehicle deflection is reserved for unmanned aerial vehicle operators, the remote sensing data acquisition of the target river has higher integrity, the image acquisition rate and the integrity of the remote sensing data can be considered at the same time to a certain extent, and the efficient remote sensing image acquisition method is provided.
Drawings
Fig. 1 is a schematic flow chart of a turntable control method for acquiring river remote sensing images of an unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a block diagram of a turntable control device for acquiring river remote sensing images of an unmanned aerial vehicle according to an embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a turntable control method for acquiring river remote sensing images of unmanned aerial vehicles, and referring to fig. 1, fig. 1 is a flow diagram of an embodiment of the turntable control method for acquiring river remote sensing images of unmanned aerial vehicles.
In this embodiment, the turntable control method for acquiring river remote sensing images of an unmanned aerial vehicle includes the following steps:
S1: calling a river information base of the target river to obtain different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
S2: generating and sending a flight control instruction to a target unmanned aerial vehicle based on the target flight altitude;
s3: when receiving a flight control instruction, a target unmanned aerial vehicle extracts a target flight height in the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
S4: acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence;
S5: generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence;
s6: transmitting the turntable control instruction to a turntable mechanism connected with the target unmanned aerial vehicle and the remote sensing image acquisition device so as to enable the turntable mechanism to execute image acquisition steering action;
S7: and after the turntable mechanism executes the image acquisition steering action, driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment.
It should be noted that in the prior art, two schemes are generally available for performing the flight of the target track and the remote sensing image acquisition task by using the unmanned aerial vehicle, one scheme is that the unmanned aerial vehicle automatically cruises along the track according to the target track route input by the user, and simultaneously performs the image acquisition task, the scheme is generally used for automatically controlling the flight of the straight-line path track between two or a few positioning points, such as scanning image acquisition in a region range or track image acquisition along a highway section, and because the river (particularly in hilly mountain area) has the characteristics that the track is meandering and the river track changes along with the drought flood period, even if the target track route is provided, the unmanned aerial vehicle cannot always accurately acquire the complete remote sensing image of the target river, so the river remote sensing image acquisition is not suitable for the track automatic cruising; secondly, manual cruising is performed, namely, a user starts the unmanned aerial vehicle to fly along a target river track, and the rotation angle of the camera turntable is adjusted according to the collected image so as to ensure that the collected complete remote sensing image of the target river contains the complete river image, so that the manual cruising has the characteristics of higher shooting flexibility and more suitability for the collection of the river remote sensing image, but the problem that the response speed of the unmanned aerial vehicle when the camera turntable is manually controlled to rotate cannot be matched with the tortuous change frequency of the river track also exists, and the problem can cause the finally obtained remote sensing image to have the defect of part of river positions and influence the integrity of collected data.
In order to solve the above problems, in this embodiment, the deflection condition of the target river is analyzed from the first remote sensing image at the current moment and the second remote sensing image at the previous moment, so as to generate a control instruction of the unmanned aerial vehicle turntable, so that the remote sensing image acquisition device follows the target river to perform corresponding offset steering, thereby delaying the time of the target river offset image acquisition picture, leaving a longer response time for controlling unmanned aerial vehicle deflection for an unmanned aerial vehicle operator, so that the remote sensing data acquisition of the target river has higher integrity, and the image acquisition rate and the integrity of the remote sensing data can be simultaneously considered to a certain extent, thereby providing a more efficient remote sensing image acquisition method
In this embodiment, when the target unmanned aerial vehicle executes the flight acquisition task, the target flight height acquired by the remote sensing image is first extracted from the received flight control instruction, and the current flight height of the target unmanned aerial vehicle is obtained in real time, and compared with the target flight height to control the flight mechanism to execute the flight height adjustment action (e.g. ascending and descending). In the embodiment, an error allowable range is set for the target flight level in consideration of an allowable error caused by an environment or manual manipulation, and as long as the current flight level of the target unmanned aerial vehicle is within the error allowable range, the current unmanned aerial vehicle can be considered to be within the optimal acquisition height range.
Furthermore, when determining the target flying height of the target unmanned aerial vehicle, it is necessary to firstly call a river information base of the target river, and according to different river surface width change curves (which can be obtained by constructing data obtained by measuring different flood and drought periods in history) recorded in the river information base along the river track, query a corresponding curve of the current acquisition time from the river surface width change curves, and finally estimate the maximum river surface width value of the target river from the curve. And after the safe shooting distance value is obtained, determining the optimal flight height of the target unmanned aerial vehicle when the remote sensing image acquisition of the target river is executed according to the image acquisition range angle of the remote sensing image acquisition device.
In a preferred embodiment, the step of acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task specifically includes: after detecting that the current flight height of the target unmanned aerial vehicle reaches the error allowable range of the target flight height, generating a remote sensing image sequence at an initial moment; wherein, the remote sensing image sequence at the initial moment is empty; after the remote sensing image acquisition device acquires the remote sensing image, the remote sensing image sequence is updated, the remote sensing images acquired at each moment are put into the remote sensing image sequence in time sequence, and the remote sensing image sequence at each moment when the target object executes the flight acquisition task is obtained.
In a preferred embodiment, the step of generating the turntable control command according to the first remote sensing image at the current time and the second remote sensing image at the previous time in the remote sensing image sequence specifically includes: performing image processing on a first remote sensing image at the current moment and a second remote sensing image at the previous moment, and extracting target river contours in the first remote sensing image and the second remote sensing image; determining deflection attitude parameters of the target river in the image according to the distance from the target river outline in the first remote sensing image to the image boundary and the distance from the target river outline in the second remote sensing image to the image boundary; and generating a turntable control instruction based on the deflection attitude parameter so as to correct the deflection attitude parameter after the turntable mechanism executes the image acquisition steering action at the later moment.
In this embodiment, when the turntable control instruction is generated according to the first remote sensing image at the current time and the second remote sensing image at the previous time in the remote sensing image sequence, the target river profile is extracted from the remote sensing images (the extraction mode can be extracted through the color feature gap between the river and the river bank), the deflection condition of the target river in the process is reflected according to the position change relation between the position of the target river profile in the acquisition picture at the current time and the position change relation between the target river profile in the acquisition picture at the previous time, and then the turntable mechanism on the target unmanned plane is controlled to deflect according to the deflection condition of the target river, so that the target river deflects towards the middle as far as possible in the acquisition picture, and the lack of integrity of acquired data caused by running out of the picture is avoided.
In a preferred embodiment, the deflection attitude parameter is a difference D1 between a first distance from the target river profile in the first remote sensing image to the left boundary of the image and a first distance from the target river profile in the second remote sensing image to the right boundary of the image, and a difference D2 between a second distance from the target river track in the second remote sensing image to the left boundary of the image and a second distance from the target river track in the second remote sensing image to the right boundary of the image is subtracted to obtain a deflection quantized value; based on the deflection attitude parameters, generating a turntable control instruction, which specifically comprises the following steps: judging whether the deflection attitude parameter exceeds the allowable quantization value range of the deflection error, if so, determining a turntable control instruction according to the product of the deflection attitude parameter and a preset turntable deflection adjustment proportion; the turntable control instruction comprises a turntable deflection direction and a turntable deflection angle, the turntable deflection angle is the product of a deflection attitude parameter and a preset turntable deflection adjustment proportion, and the turntable deflection direction is the boundary direction with smaller distance in the distances from the target river profile in the second remote sensing image to the left boundary of the image and the right boundary of the image.
Specifically, when a turntable control instruction is generated, a deflection quantized value of a difference value D1 between a remote sensing image at the current moment and a boundary of two images is subtracted from a deflection quantized value of a difference value D2 between a remote sensing image at the previous moment and a boundary of two images to serve as a deflection attitude parameter of a target river, and when the turntable mechanism is regulated, a turntable deflection angle is determined by calculating a product of the deflection attitude parameter and a preset turntable deflection regulation proportion, wherein the turntable deflection direction is the direction with smaller distance from a target river contour in a second remote sensing image to the left boundary direction and the right boundary direction. The preset turntable deflection adjustment proportion can be preset with a plurality of values, and the values are selected according to the flying speed condition of the target unmanned aerial vehicle when the unmanned aerial vehicle is used; specifically, when the flying speed is faster, in order to maintain the target river always located in the acquisition picture, a larger preset turntable deflection adjustment proportion needs to be set, so that the turntable for unmanned plane river remote sensing image acquisition can control the rotation speed of the remote sensing image acquisition device to be higher than the speed of river deflection.
In a preferred embodiment, the step of generating the turntable control command according to the first remote sensing image at the current time and the second remote sensing image at the previous time in the remote sensing image sequence further includes: invoking a river information base of a target river, acquiring a river profile image of the target river in front of a diversion branch and a confluence branch, and extracting river profile features in the river profile image; based on the river profile characteristics and the target river profile extracted from the first remote sensing image, carrying out river profile comparison, and judging whether the acquisition position corresponding to the first remote sensing image at the current moment is the position of the target river corresponding to the front of the diversion branch and the confluence branch; if yes, calibrating a turntable control instruction generated based on the deflection attitude parameter into an invalid state; when the turntable control command marked as the invalid state is received and identified by the turntable mechanism, the image acquisition steering action corresponding to the turntable control command is not executed.
In some cases, the target river may have an influence caused by the conditions of a diversion branch and a confluence branch, that is, when the remote sensing image is acquired, if the image has the diversion branch and the river branch, an error in calculating the deflection of the river may be caused. In view of the above, the present embodiment extracts, in advance, a river profile image of a target river before a shunt branch and a confluence branch from a river information base of the target river, compares the characteristics of the river profile image with the target river profile extracted from the first remote sensing image, and considers that the target unmanned aerial vehicle is immediately about to shoot the shunt branch or the river branch when the characteristics are successfully matched, and in this case, in order to keep the remote sensing image acquisition device to continue to perform image acquisition along the current river track, invalidating the generated turntable control instruction is required, that is, calibrating the turntable control instruction generated by the target unmanned aerial vehicle according to the deflection gesture parameter to be invalid when the image characteristics of the shunt branch or the river branch are detected or in a subsequent period of time, so that when the turntable mechanism receives the instruction that the calibration is invalid, the corresponding steering action is not executed.
In this embodiment, a turntable control method for unmanned aerial vehicle river remote sensing image acquisition is provided, by analyzing the deflection condition of a target river from a first remote sensing image at the current moment and a second remote sensing image at the previous moment, so as to generate a control instruction of an unmanned aerial vehicle turntable, so that a remote sensing image acquisition device follows the target river to carry out corresponding offset steering, thereby deferring the time of a target river offset image acquisition picture, leaving longer reaction time for unmanned aerial vehicle operators to control unmanned aerial vehicle deflection, enabling remote sensing data acquisition of the target river to have higher integrity, and being capable of simultaneously taking into account the image acquisition rate and the integrity of the remote sensing data to a certain extent, and a more efficient remote sensing image acquisition method is provided.
Referring to fig. 2, fig. 2 is a block diagram of a turntable control device for acquiring a river remote sensing image of an unmanned aerial vehicle according to an embodiment of the present invention.
As shown in fig. 2, a turntable control device for acquiring a river remote sensing image of an unmanned aerial vehicle according to an embodiment of the present invention includes:
The determining module 10 is used for calling a river information base of the target river to obtain different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
A generating module 20, configured to generate and send a flight control instruction to a target unmanned aerial vehicle based on the target flight altitude;
The execution module 30 is used for extracting the target flight height in the flight control instruction when the target unmanned aerial vehicle receives the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
The acquisition module 40 is used for acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence;
The generating module 50 is configured to generate a turntable control instruction according to a first remote sensing image at a current moment and a second remote sensing image at a previous moment in the remote sensing image sequence;
The sending module 60 is configured to send the turntable control instruction to a turntable mechanism that connects the target unmanned aerial vehicle and the remote sensing image acquisition device, so that the turntable mechanism performs an image acquisition steering action;
and the acquisition module 70 is used for driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment after the turntable mechanism executes the image acquisition steering action.
Other embodiments or specific implementation manners of the turntable control device for acquiring river remote sensing images of unmanned aerial vehicle can refer to the above method embodiments, and are not repeated here.
It is appreciated that in the description herein, reference to the terms "one embodiment," "another embodiment," "other embodiments," or "first through nth embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (4)
1. The turntable control method for unmanned aerial vehicle river remote sensing image acquisition is characterized by comprising the following steps of:
S1: calling a river information base of the target river to obtain different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
S2: generating and sending a flight control instruction to a target unmanned aerial vehicle based on the target flight altitude;
s3: when receiving a flight control instruction, a target unmanned aerial vehicle extracts a target flight height in the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
s4: acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence; the method specifically comprises the following steps:
After detecting that the current flight height of the target unmanned aerial vehicle reaches the error allowable range of the target flight height, generating a remote sensing image sequence at an initial moment; wherein, the remote sensing image sequence at the initial moment is empty;
after the remote sensing image acquisition device acquires the remote sensing image, updating the remote sensing image sequence, and putting the remote sensing image acquired at each moment into the remote sensing image sequence according to time sequence to obtain the remote sensing image sequence at each moment when the target object executes the flight acquisition task;
S5: generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence; the method specifically comprises the following steps:
Performing image processing on a first remote sensing image at the current moment and a second remote sensing image at the previous moment, and extracting target river contours in the first remote sensing image and the second remote sensing image;
Determining deflection attitude parameters of the target river in the image according to the distance from the target river outline in the first remote sensing image to the image boundary and the distance from the target river outline in the second remote sensing image to the image boundary;
Generating a turntable control instruction based on the deflection attitude parameter so as to correct the deflection attitude parameter after the turntable mechanism executes the image acquisition steering action at the later moment;
s6: transmitting the turntable control instruction to a turntable mechanism connected with the target unmanned aerial vehicle and the remote sensing image acquisition device so as to enable the turntable mechanism to execute image acquisition steering action;
S7: and after the turntable mechanism executes the image acquisition steering action, driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment.
2. The turntable control method for acquiring the river remote sensing image of the unmanned aerial vehicle according to claim 1, wherein the deflection attitude parameter is a deflection quantized value obtained by subtracting a difference D2 between a second distance from the target river track in the second remote sensing image to the left boundary of the image and a second distance from the right boundary of the image from a difference D1 between a first distance from the target river profile in the first remote sensing image to the left boundary of the image and a first distance from the target river profile in the first remote sensing image to the right boundary of the image; based on the deflection attitude parameters, generating a turntable control instruction, which specifically comprises the following steps:
Judging whether the deflection attitude parameter exceeds the allowable quantization value range of the deflection error, if so, determining a turntable control instruction according to the product of the deflection attitude parameter and a preset turntable deflection adjustment proportion;
the turntable control instruction comprises a turntable deflection direction and a turntable deflection angle, the turntable deflection angle is the product of a deflection attitude parameter and a preset turntable deflection adjustment proportion, and the turntable deflection direction is the boundary direction with smaller distance in the distances from the target river profile in the second remote sensing image to the left boundary of the image and the right boundary of the image.
3. The turntable control method for unmanned aerial vehicle river remote sensing image acquisition according to claim 2, wherein the step of generating turntable control instructions according to a first remote sensing image at a current time and a second remote sensing image at a previous time in the remote sensing image sequence further comprises:
Invoking a river information base of a target river, acquiring a river profile image of the target river in front of a diversion branch and a confluence branch, and extracting river profile features in the river profile image;
Based on the river profile characteristics and the target river profile extracted from the first remote sensing image, carrying out river profile comparison, and judging whether the acquisition position corresponding to the first remote sensing image at the current moment is the position of the target river corresponding to the front of the diversion branch and the confluence branch;
if yes, calibrating a turntable control instruction generated based on the deflection attitude parameter into an invalid state; when the turntable control command marked as the invalid state is received and identified by the turntable mechanism, the image acquisition steering action corresponding to the turntable control command is not executed.
4. A turntable control device for unmanned aerial vehicle river remote sensing image acquisition, characterized in that the device comprises:
The determining module is used for calling a river information base of the target river and acquiring different river surface width change curves of the target river along the river track in different flood and drought periods; determining a target river width change curve according to the current time for executing the flight acquisition task, and estimating the current maximum river surface width value of the target river based on the target river width change curve; determining the target flying height of the target unmanned aerial vehicle according to the maximum river surface width value of the target river and the image acquisition range angle of the remote sensing image acquisition device;
Wherein the target flight altitude is: taking a safe shooting distance value corresponding to the current maximum river surface width value of the target river as a base, and taking the diagonal angle of the image acquisition range angle as the base as a height value corresponding to the base in a triangle; the safe shooting distance value is the product of the current maximum river surface width value of the target river and a preset ratio K, wherein the preset ratio K is greater than 1;
The generation module is used for generating and sending flight control instructions to the target unmanned aerial vehicle based on the target flight height;
The execution module is used for extracting the target flight height in the flight control instruction when the target unmanned aerial vehicle receives the flight control instruction; generating a flying mechanism driving signal based on the current flying height of the target object and the target flying height, and driving a flying mechanism to execute a flying height adjusting action according to the flying mechanism driving signal; when the current flying height of the target object is detected to reach the error allowable range of the target flying height, driving a remote sensing image acquisition device to execute an acquisition task of the target river remote sensing image;
The acquisition module is used for acquiring a remote sensing image sequence when the target unmanned aerial vehicle executes a flight acquisition task; the remote sensing image sequence comprises a plurality of remote sensing images which are arranged according to the acquisition time sequence; the method specifically comprises the following steps:
After detecting that the current flight height of the target unmanned aerial vehicle reaches the error allowable range of the target flight height, generating a remote sensing image sequence at an initial moment; wherein, the remote sensing image sequence at the initial moment is empty;
after the remote sensing image acquisition device acquires the remote sensing image, updating the remote sensing image sequence, and putting the remote sensing image acquired at each moment into the remote sensing image sequence according to time sequence to obtain the remote sensing image sequence at each moment when the target object executes the flight acquisition task;
The generation module is used for generating a turntable control instruction according to a first remote sensing image at the current moment and a second remote sensing image at the previous moment in the remote sensing image sequence; the method specifically comprises the following steps:
Performing image processing on a first remote sensing image at the current moment and a second remote sensing image at the previous moment, and extracting target river contours in the first remote sensing image and the second remote sensing image;
Determining deflection attitude parameters of the target river in the image according to the distance from the target river outline in the first remote sensing image to the image boundary and the distance from the target river outline in the second remote sensing image to the image boundary;
Generating a turntable control instruction based on the deflection attitude parameter so as to correct the deflection attitude parameter after the turntable mechanism executes the image acquisition steering action at the later moment;
The transmitting module is used for transmitting the turntable control instruction to a turntable mechanism connected with the target unmanned aerial vehicle and the remote sensing image acquisition device so that the turntable mechanism executes image acquisition steering action;
and the acquisition module is used for driving the remote sensing image acquisition device to execute the acquisition task of the target river remote sensing image at the later moment after the turntable mechanism executes the image acquisition steering action.
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