WO2019104641A1 - Véhicule aérien sans pilote, son procédé de commande et support d'enregistrement - Google Patents

Véhicule aérien sans pilote, son procédé de commande et support d'enregistrement Download PDF

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Publication number
WO2019104641A1
WO2019104641A1 PCT/CN2017/113948 CN2017113948W WO2019104641A1 WO 2019104641 A1 WO2019104641 A1 WO 2019104641A1 CN 2017113948 W CN2017113948 W CN 2017113948W WO 2019104641 A1 WO2019104641 A1 WO 2019104641A1
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WIPO (PCT)
Prior art keywords
drone
adjusting
target
information
photographing device
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PCT/CN2017/113948
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English (en)
Chinese (zh)
Inventor
刘根淼
王洪涛
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深圳市大疆创新科技有限公司
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Priority to CN201780036299.8A priority Critical patent/CN109643131A/zh
Priority to PCT/CN2017/113948 priority patent/WO2019104641A1/fr
Publication of WO2019104641A1 publication Critical patent/WO2019104641A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

Definitions

  • Embodiments of the present invention relate to a drone, a control method thereof, and a recording medium, and more particularly to an industrial application field of a drone.
  • the fixed-wing UAV with vertical take-off and landing has advantages over multi-axis UAVs in terms of battery life and flight speed, and is very suitable for application in the inspection industry, such as inspection highways. Inspection pipelines, etc.
  • the inspection operation is generally performed by the following steps:
  • the drone will fly according to the route, and the camera carried on the drone will collect the video of the lot where the drone passes.
  • the vertical take-off and landing fixed-wing UAV when the vertical take-off and landing fixed-wing UAV is performing the waypoint mission, it will deviate from the preset route to a certain extent when the corner and wind speed are large.
  • the camera mounted on the drone cannot capture. Go to the desired target (highway, oil pipeline), etc., or the content captured by the camera is not a preset target.
  • the embodiment of the invention provides a drone, a control method thereof and a recording medium, which can dynamically control the drone so that the photographing device mounted on the drone can always shoot the target.
  • a control method for a drone that is based on a predetermined route planned for a target and that is photographed by a photographing device provided on the drone is provided.
  • the method includes the following steps: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, according to the current flight information and The planned flight information adjusts the drone such that the photographing device always photographs the target.
  • a control method for a drone the drone flying according to a predetermined route planned for a target, and photographing the target by a photographing device provided on the drone,
  • the method includes the following steps: recognizing the target in an image captured by the photographing device, and adjusting the drone according to a change in the image in the image, so that the photographing device always performs the target on the target Shooting.
  • a third aspect of the present invention provides a drone that, according to a predetermined route planned for a target, includes: a photographing device that photographs the target; and one or more processors for individually or collectively Performing the following process: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, and the unmanned according to the current flight information and the planned flight information The machine performs adjustment so that the photographing device always shoots the target.
  • a fourth aspect of the present invention relates to a drone that, according to a predetermined route planned for a target, includes: a photographing device that photographs the target; and one or more processors for performing separately or collectively Processing: identifying the target in an image captured by the camera, and adjusting the drone according to a change in the image in the image, so that the camera always shoots the target .
  • a recording medium having recorded a program for executing a computer of a drone that photographs a target according to a predetermined route planned for a target and is photographed by a photographing device provided thereon Processing: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, and performing the drone on the drone according to the current flight information and the planned flight information.
  • the adjustment is such that the photographing device always shoots the target.
  • a recording medium having a program for causing a drone that is based on a predetermined route planned for a target and photographed by a photographing device provided thereon to perform the following processing : identifying the target in the image captured by the imaging device, and adjusting the drone according to a change in the image in the image, so that the imaging device always captures the target.
  • FIG. 1 is a schematic view showing a drone 100 according to a first embodiment of the present invention and an application scenario thereof.
  • FIG. 2 is a flowchart showing a method of controlling the drone 100 according to the first embodiment of the present invention.
  • Fig. 3 is a flow chart showing a specific example of step S1003 in Fig. 2 .
  • Fig. 4 is a view showing a specific example of Fig. 3 for explanation.
  • Fig. 5 is a flow chart showing another specific example of step S1003 in Fig. 2 .
  • Fig. 6 is a schematic view for explaining a specific example of Fig. 5.
  • Fig. 7 is a schematic diagram showing a drone 200 according to a second embodiment of the present invention and an application scenario thereof.
  • FIG. 8 is a flowchart showing a method of controlling the drone 200 according to the second embodiment of the present invention.
  • Fig. 9 is a flowchart showing a specific example of step S2002 in Fig. 8.
  • FIG. 10 are schematic views for explaining a flowchart of a specific example of FIG. 9.
  • Fig. 11 is a flow chart showing another specific example of step S2002 in Fig. 8.
  • FIG. 12 are schematic views for explaining a flowchart of a specific example of FIG. 11.
  • a component when a component is called “fixed to” another component, it can be directly There may also be a centered component on another component. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a schematic view showing a drone 100 according to a first embodiment of the present invention and an application scenario thereof.
  • the configuration of the unmanned aerial vehicle 100 that is not closely related to the description of the embodiment is omitted.
  • the drone 100 may be, for example, any of a multi-axis drone, a fixed-wing drone, or a vertical take-off drone, including a pan/tilt head 101 and a photographing device 102.
  • the drone 100 flies according to a predetermined route planned in advance for the target 110, and the target device 110 is photographed by the imaging device 102 mounted on the drone 100, and the target 110 is photographed while flying, and the target inspection is completed. .
  • the pan/tilt 101 is connected to the drone 100 and is used to mount the imaging device 102.
  • the pan/tilt has a plurality of rotatable shafts that can be rotated in various directions to adjust the photographing direction of the photographing device 102.
  • the imaging device 102 is mounted on the pan/tilt head 101 for imaging a target.
  • the photographing device 102 may be various types of photographing devices such as a camera that can take high-definition images, a camera that shoots continuous video, a night vision device that takes infrared images, and the like.
  • the imaging device 102 may also include a plurality of cameras that face different directions or have different functions.
  • the target facility for target 110 drone inspection preferably a target line extending linearly, such as highways, oil pipelines, coastlines, transmission cables, etc.
  • FIG. 2 is a flowchart showing a method of controlling the drone 100 according to the first embodiment of the present invention.
  • step S1001 the drone 100 calculates a flight letter of the drone plan according to the predetermined route. interest.
  • the predetermined route is a route planned in advance for the target inspection plan, and is composed of the route route and the height of each waypoint, and can be planned by a ground station for controlling the drone 100 not shown. It is also possible to plan by the drone 100 itself by operating the drone 100.
  • the drone 100 calculates the flight information of the drone 100 based on the predetermined route described above.
  • the flight information herein is information that the drone 100 controls the motion during the flight, including at least one of the position information of the drone, the flight attitude information, and the camera status information.
  • the location information of the drone includes at least one of GPS information and altitude information.
  • it is not limited to the location information under the GPS system, and may be location information determined by at least one system of GPS, Beidou, Galileo, and GLONASS.
  • the flight attitude information includes the flight speed, yaw angle, roll angle, pitch angle, and the like of the current flight of the drone 100.
  • the imaging device status information includes imaging parameter information of the imaging device 102 and posture information of the pan-tilt 101.
  • the shooting parameter information of the photographing device 102 includes zoom magnification, shooting resolution, shutter speed, aperture, white balance, exposure compensation, and the like.
  • the attitude information of the pan/tilt head 101 includes the angles of the respective rotation axes of the pan-tilt head 101 and the like.
  • step S1001 the planned flight attitude information of the drone and the planned camera state information are determined, for example, based on the position information of the target 110 and the position information of the predetermined course.
  • the planned flight attitude information of the drone and the planned shooting state information are preferably adjusted so that the target 110 can be captured clearly and completely by the camera 102.
  • step S1002 the current flight information of the drone 100 is acquired.
  • various types of flight information of the drone 100 are acquired by various sensors (not shown) provided in the drone 100.
  • step S1003 the drone 100 is adjusted based on the current flight information and the planned flight information, so that the imaging device 102 always captures the target 110.
  • Fig. 3 is a flow chart showing a specific example of step S1003 in Fig. 2 .
  • the drone 100 is adjusted after confirming that the current flight information of the drone 100 deviates from the planned flight information.
  • step S10031 the planned flight information of the current time is acquired.
  • the height information Hj in the planned flight information at the current time is acquired.
  • step S10032 a first difference between the current flight information and the planned flight information at the current time is calculated.
  • Fig. 4 is a view showing a specific example of Fig. 3 for explanation. It is assumed that during the flight of the drone 100, its height becomes Hd due to a sudden change in the airflow so as to deviate from the height Hj in the planned flight information. As shown in the figure, if the drone 100 is not adjusted, the imaging range of the imaging device 102 of the drone 100 will deviate from the original area A (the range indicated by the wide broken line) capable of covering the target 110 to the area B ( The range indicated by the narrow dashed line), so that the target 110 cannot be captured.
  • the original area A the range indicated by the wide broken line
  • the area B The range indicated by the narrow dashed line
  • the drone 100 is adjusted according to the first difference.
  • the drone 100 is adjusted based on the difference ⁇ H so that the photographing range of the photographing device 102 of the drone 100 is maintained as the area A, so that the target 110 is always photographed.
  • the imaging range of the device 102 is changed from the area B (the range indicated by the narrow broken line) to the area A (the range indicated by the solid line), that is, the imaging range is maintained as the area A.
  • Fig. 5 is a flow chart showing another specific example of step S1003 in Fig. 2 .
  • the flight information of the next time (a given time) of the unmanned aerial vehicle 100 is expected to change greatly, before the flight information is greatly changed, advance (or at the time when the change occurs) The drone 100 is adjusted.
  • the planned flight information of the next time is acquired.
  • the height information Hjn in the planned flight information at the next time is acquired.
  • step S10032' a second difference between the current flight information and the planned flight information at the next moment is calculated.
  • Fig. 6 is a schematic view for explaining a specific example of Fig. 5.
  • the current height is Hd, but the height of the planned flight information at the next moment will become Hjn due to obstacles such as buildings and fixed facilities.
  • the imaging range of the imaging device 102 of the drone 100 will deviate from the original region A (the range indicated by the wide broken line) capable of covering the target 110 at the next timing. Go to the area B (the range indicated by the narrow dotted line) so that the target 110 cannot be captured.
  • step S10033' the drone is adjusted according to the second difference.
  • the drone 100 is adjusted based on the difference ⁇ H so that the photographing range of the photographing device 102 of the drone 100 is maintained as the area A, so that the target 110 is always photographed.
  • the imaging range of the device 102 is changed from the area B (the range indicated by the narrow broken line) to the area A (the range indicated by the solid line), that is, the imaging range is maintained as the area A.
  • the next time in the specific example may be a predetermined time unit, and the time unit is greater than or equal to the time required for the drone to be adjusted, so that the foreseeable flight information will be greatly changed. Or the drone 100 is adjusted at the time when the change occurs.
  • the present invention is not limited thereto, and the first difference value and the second difference value are not limited to the height change obtained based on the change in the height information, or may be further changed according to the GPS information, the flight attitude (flight speed, yaw angle, horizontal The amount of change in the overall flight state calculated, such as the change in the roll angle and the pitch angle.
  • the adjustment of the drone 100 is not limited to the angle adjustment of the pan/tilt head 101, and includes adjustment of the flight state of the drone 100 and/or the photographing state of the photographing device 102.
  • the adjustment of the flight state of the drone 100 includes: adjusting the position of the drone 100 and/or adjusting the flight attitude of the drone 100. Adjusting the position of the drone 100, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The flight attitude is adjusted, including adjusting at least one of a yaw angle, a roll angle, a pitch angle, and a speed of the drone.
  • adjusting the photographing state of the photographing device 102 includes adjusting the photographing parameters of the photographing device and/or adjusting the posture of the pan/tilt head 101; wherein the photographing parameters of the photographing device include the zoom magnification.
  • the imaging device 102 can always capture the target 110 by adjusting the flight state of the drone 100, and specifically adjusting which aspect or aspects of the flight state, the adjustment needs, the adjustment conditions, Other factors such as the characteristics of the drone and weather conditions are appropriate.
  • the drone can be dynamically controlled so that the photographing device mounted on the drone can always photograph the target.
  • Fig. 7 is a schematic diagram showing a drone 200 according to a second embodiment of the present invention and an application scenario thereof.
  • the same portions as those in the first embodiment are denoted by the same reference numerals, and the detailed description is omitted.
  • the drone 200 may be, for example, any of a multi-axis drone, a fixed-wing drone, or a vertical take-off drone, including a pan/tilt head 101 and a photographing device 102.
  • the pan/tilt 101 is connected to the drone 100 and is used to mount the imaging device 102.
  • the imaging device 102 is mounted on the pan/tilt head 101 for imaging a target.
  • the target 110 is a target facility for the drone inspection, and the target 110 in the present embodiment is not limited to the target extending linearly.
  • the drone 200 of the second embodiment differs from the drone 100 of the first embodiment in the control method thereof.
  • the drone 200 of the second embodiment will be described in detail focusing on the difference.
  • the drone 200 of the second embodiment is not limited to flying in accordance with a predetermined planned route, and the drone 200 of the second embodiment can be applied as long as it is a scene in which the target is photographed during the flight.
  • FIG. 8 is a flowchart showing a method of controlling the drone 200 according to the second embodiment of the present invention.
  • step S2001 the target 110 in the image captured by the imaging device 102 is identified.
  • a recognition method based on the target feature point a recognition method based on the target shape, a template-based recognition method, a feature identification-based recognition method, artificial intelligence, machine learning, or a combination thereof may be used.
  • step S2002 the drone 200 is adjusted in accordance with the change in the image of the target 110, so that the photographing device 102 always photographs the target 110.
  • FIG. 9 is a flowchart showing a specific example of step S2002 in FIG. 8, and FIG. 10 is a schematic diagram for explaining a flowchart of a specific example of FIG. 9.
  • FIG. 10(A) is a diagram showing a situation in which the target 110 is within the range of the predetermined position Py in the image.
  • step S20021 the position of the target 110 at the current time in the image is acquired.
  • the center of gravity, the center, the symmetry line, or the center of the circumscribed circle of the target, or the like can be used as the position of the target in the image.
  • the position of the symmetry line of the target 110 is taken as the position of the target 110 in the image.
  • Fig. 10(B) is a view showing a state in which the flying posture of the drone 200 is changed due to the airflow or the like, and the current position Pd of the target 110 in the image deviates from the range of the predetermined position Py.
  • a third difference between the current position Pd and the preset position Py is calculated.
  • the target can be tracked and the current position Pd can be confirmed and calculated by any one of a region-based tracking algorithm, a feature-based tracking algorithm, a contour-based tracking algorithm, a model-based tracking algorithm, and a detection-based tracking algorithm.
  • step S20023 the drone 200 is adjusted based on the third difference.
  • FIG. 11 is a flowchart showing another specific example of step S2002 in FIG. 8, and FIG. 12 is a schematic diagram for explaining a flowchart of a specific example of FIG. FIG. 12(A) is a diagram showing a situation when the size of the target 110 is a predetermined size Sy in the image.
  • step S20021' the size of the target 110 at the current time in the image is acquired.
  • the width, length, height, area, volume, etc. of the target can be targeted in the image. size.
  • the size of the width of the target 110 is taken as the size of the target 110 in the image.
  • Fig. 12(B) is a view showing a case where the flying height of the drone 200 rises due to an air flow or the like, and the current size Sd of the target 110 deviates from the predetermined size Sy (smaller).
  • step S20022' the fourth difference between the current size Sd and the preset size Sy is calculated.
  • the tracking target and the current size Sd can be tracked and calculated by any one of a region-based tracking algorithm, a feature-based tracking algorithm, a contour-based tracking algorithm, a model-based tracking algorithm, and a detection-based tracking algorithm.
  • step S20023' the drone 200 is adjusted based on the fourth difference.
  • the predetermined size Sy that is, the target 110 is always photographed.
  • the adjustment of the drone 200 is not limited to the above specific examples, and includes adjustment of the flight state of the drone 200 and/or the photographing state of the photographing device 102.
  • the adjustment of the flight state of the drone 200 includes: adjusting the position of the drone 200 and/or adjusting the flight attitude of the drone 200. Adjusting the position of the drone 200, including adjusting the GPS coordinates of the drone and/or adjusting the altitude of the drone; adjusting the flight attitude of the drone, including the yaw angle of the drone, At least one of a roll angle, a pitch angle, and a speed is adjusted.
  • adjusting the photographing state of the photographing device 102 includes adjusting the photographing parameters of the photographing device and/or adjusting the posture of the pan/tilt head 101; wherein the photographing parameters of the photographing device include an optical zoom magnification and/or a digital zoom Magnification.
  • the imaging device 102 can always capture the target 110 by adjusting the flight state of the drone 200, and specifically adjusting which aspect or aspects of the flight state, the adjustment needs, the adjustment conditions, UAV characteristics, weather conditions, etc. Other factors are appropriate to decide.
  • the drone can be dynamically controlled so that the imaging device mounted on the drone can always capture the target.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Selon un mode de réalisation, la présente invention concerne un procédé de commande de véhicule aérien sans pilote, dans lequel : un véhicule aérien sans pilote vole selon un itinéraire prédéterminé qui est pré-planifié pour une cible, et un dispositif de capture d'image qui est disposé sur le véhicule aérien sans pilote capture des images de la cible, comprenant les étapes suivantes : selon l'itinéraire prédéterminé, calcul d'informations de vol qui sont planifiées par le véhicule aérien sans pilote (S1001) ; obtention d'informations de vol actuelles du véhicule aérien sans pilote (S1002) ; ajustement du véhicule aérien sans pilote en fonction des informations de vol actuelles et des informations de vol planifiées de manière que le dispositif de capture d'image capture en continu des images de la cible (S1003). Le procédé de commande de véhicule aérien sans pilote selon la présente invention peut permettre au dispositif de capture d'image qui est transporté sur le véhicule aérien sans pilote de capturer en continu des images de la cible, ce qui permet d'augmenter efficacement l'efficacité du véhicule aérien sans pilote lors de la réalisation d'une inspection de ligne et de travaux similaires.
PCT/CN2017/113948 2017-11-30 2017-11-30 Véhicule aérien sans pilote, son procédé de commande et support d'enregistrement WO2019104641A1 (fr)

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CN201780036299.8A CN109643131A (zh) 2017-11-30 2017-11-30 无人机、其控制方法以及记录介质
PCT/CN2017/113948 WO2019104641A1 (fr) 2017-11-30 2017-11-30 Véhicule aérien sans pilote, son procédé de commande et support d'enregistrement

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