WO2021115166A1 - Determining device, flying object, determining method, and program - Google Patents

Determining device, flying object, determining method, and program Download PDF

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Publication number
WO2021115166A1
WO2021115166A1 PCT/CN2020/133222 CN2020133222W WO2021115166A1 WO 2021115166 A1 WO2021115166 A1 WO 2021115166A1 CN 2020133222 W CN2020133222 W CN 2020133222W WO 2021115166 A1 WO2021115166 A1 WO 2021115166A1
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WO
WIPO (PCT)
Prior art keywords
flying
illuminance
uav
illuminance sensor
flying object
Prior art date
Application number
PCT/CN2020/133222
Other languages
French (fr)
Chinese (zh)
Inventor
沈思杰
陈斌
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080074344.0A priority Critical patent/CN114599582A/en
Publication of WO2021115166A1 publication Critical patent/WO2021115166A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles

Definitions

  • the invention relates to a determination device, a flying body, a determination method and a program.
  • Patent Document 1 discloses an unmanned aerial vehicle including a multi-band sensor and an illuminance sensor.
  • Patent Document 1 U.S. Patent Application Publication No. 2017/0356799 Specification.
  • the illuminance measured by the illuminance sensor sometimes deviates due to the difference in the angle formed by the incident direction of sunlight and the flying direction of the flying object.
  • the determining device can determine the flight path of a flying object including an illuminance sensor.
  • the determining device may include a circuit configured to obtain the date, time and position of the flying object while the illuminance is measured by the illuminance sensor.
  • the circuit is configured to determine the flight path of the flying object so that the angle between the direction of the sun and the flying direction of the flying object based on the date, time and position is included in the preset angle range.
  • the preset angle range may include 90 degrees.
  • the date and time may be the first time point in the measurement period during which the flying object is flying while measuring the illuminance by the illuminance sensor.
  • the first time point may be an intermediate time point during the measurement period.
  • the flying object involved in one aspect of the present invention may include the above-mentioned determining device and an illuminance sensor, and fly along a flight path.
  • the illuminance sensor may include a first light receiving element that detects illuminance in a first wavelength region, a second light receiving element that detects illuminance in a second wavelength region, and a third light receiving element that detects illuminance in a third wavelength region.
  • the illuminance sensor can be arranged on the top of the flying body.
  • the flying body also includes a camera.
  • the flying body may further include a support mechanism that can control the attitude of the camera device to support the camera device.
  • the supporting mechanism may be arranged in an area on the side opposite to the top of the flying body.
  • the imaging device may be a multi-spectral camera that photographs a subject in each of a plurality of wavelength bands.
  • the flying body may include multiple rotors.
  • the determination method can determine the flight path of a flying object including an illuminance sensor.
  • the determination method may include the following steps: acquiring the date, time and location of the flying object while the illuminance is measured by the illuminance sensor.
  • the determining method may include the steps of determining the flight path of the flying object so that the angle formed by the direction of the sun and the flying direction of the flying object based on the date, time and position is included in a preset angle range.
  • the program according to one aspect of the present invention may be a program for causing a computer to function as the above-mentioned determining device.
  • the deviation of the illuminance measured by the illuminance sensor can be suppressed.
  • FIG. 1 is a diagram showing an example of the appearance of an unmanned aerial vehicle (UAV) and a remote operation device;
  • UAV unmanned aerial vehicle
  • FIG. 2 is a diagram showing an example of the appearance of the camera system mounted on the UAV;
  • FIG. 3 is a diagram showing another example of the appearance of the imaging system mounted on the UAV.
  • FIG. 4 is a diagram showing an example of functional blocks of UAV
  • Figure 5 is a diagram for explaining the relationship between the attitude of the UAV and the direction of the sun;
  • Figure 6 is a diagram for explaining the relationship between the attitude of the UAV and the direction of the sun;
  • FIG. 7 is a diagram showing an example of an image representing NDVI including a stripe pattern along the flying direction of the UAV;
  • FIG. 8 is a diagram for explaining the relationship between the flying direction of the UAV and the direction of the sun;
  • FIG. 9 is a diagram for explaining the relationship between the flying direction of the UAV and the direction of the sun.
  • FIG. 10 is a flowchart showing an example of the process of determining the flight path of the UAV
  • FIG. 11 is a diagram showing an example of the hardware configuration.
  • the blocks can represent (1) a stage of a process of performing an operation or (2) a "part" of a device that performs an operation.
  • Specific stages and "parts" can be implemented by programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits. May include integrated circuits (ICs) and/or discrete circuits.
  • Programmable circuits may include reconfigurable hardware circuits.
  • Reconfigurable hardware circuits can include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate array (FPGA), programmable logic array (PLA) ) And other memory components.
  • the computer-readable medium may include any tangible device that can store instructions to be executed by a suitable device.
  • the computer-readable medium with instructions stored thereon includes a product including instructions that can be executed to create means for performing operations specified by the flowchart or block diagram.
  • electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like may be included.
  • the computer readable medium may include floopy (registered trademark) disk floppy disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), electrically erasable programmable read-only memory (EEPROM (registered trademark)), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) ) CDs, memory sticks, integrated circuit cards, etc.
  • floopy registered trademark
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • flash memory electrically erasable programmable read-only memory
  • SRAM static random access memory
  • CD-ROM compact disc read-only memory
  • DVD digital versatile disc
  • RTM Blu-ray
  • the computer-readable instructions may include any one of source code or object code described in any combination of one or more programming languages.
  • the source code or object code includes a traditional procedural programming language.
  • Traditional procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or Smalltalk, JAVA (registered trademark), C++, etc.
  • the computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device.
  • the processor or programmable circuit can execute computer-readable instructions to create means for performing operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, control devices, micro control devices, and the like.
  • FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote operation device 300.
  • the UAV 10 includes a UAV main body 20, a universal joint 50, a plurality of camera devices 60, a camera system 100, and a sensor unit 600.
  • UAV10 is an example of a moving body.
  • Moving objects include concepts such as flying objects moving in the air, vehicles moving on the ground, and ships moving on the water. Flying objects that move in the air include not only UAVs, but also other concepts such as aircraft, airships, and helicopters that move in the air.
  • the UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section.
  • the UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors.
  • the UAV main body 20 uses, for example, four rotors to make the UAV 10 fly.
  • the number of rotors is not limited to four.
  • UAV10 can also be a fixed-wing aircraft without rotors.
  • the sensor unit 600 includes an illuminance sensor and an RTK.
  • the sensor unit 600 may be disposed on the top of the UAV main body 20.
  • the so-called top shows the area of the UAV main body 20 on the side where the rotor of the UAV main body 20 is provided. It is not only the apex of the UAV body 20.
  • the imaging system 100 is an imaging multispectral camera that captures an object included in a desired imaging range in each of a plurality of wavelength bands.
  • the imaging system 100 is an example of an imaging device.
  • the universal joint 50 rotatably supports the camera system 100.
  • the universal joint 50 is an example of a supporting mechanism.
  • the universal joint 50 may be provided at the bottom (area) of the UAV main body 20 on the side opposite to the top.
  • the gimbal 50 uses an actuator to rotatably support the camera system 100 around a pitch axis.
  • the universal joint 50 uses an actuator to further support the camera system 100 rotatably around the roll axis and the yaw axis, respectively.
  • the gimbal 50 can change the posture of the camera system 100 by rotating the camera system 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 10 in order to control the flight of the UAV 10.
  • the two camera devices 60 can be installed on the nose of the UAV 10, that is, on the front side.
  • the other two camera devices 60 may be installed on the bottom surface of the UAV 10.
  • the two imaging devices 60 on the front side may be paired to function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may also be paired to function as a stereo camera.
  • the imaging device 60 can detect the existence of an object included in the imaging range of the imaging device 60 and measure the distance to the object.
  • the imaging device 60 is an example of a measuring device that measures an object existing in the imaging direction of the imaging system 100.
  • the measuring device may be another sensor such as an infrared sensor or an ultrasonic sensor that measures an object existing in the imaging direction of the imaging system 100.
  • the three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of camera devices 60.
  • the number of imaging devices 60 included in the UAV 10 is not limited to four. It is sufficient that the UAV 10 includes at least one camera device 60.
  • the UAV 10 may also include at least one camera 60 on the nose, tail, side, bottom, and top surfaces of the UAV 10, respectively.
  • the viewing angle that can be set in the camera device 60 may be larger than the viewing angle that can be set in the camera system 100.
  • the imaging device 60 may have a single focus lens or a fisheye lens.
  • the remote operation device 300 communicates with the UAV 10 and performs remote operation on the UAV 10.
  • the remote operation device 300 can wirelessly communicate with the UAV 10.
  • the remote operation device 300 transmits to the UAV 10 instruction information indicating various instructions related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, advancing, retreating, and rotating.
  • the instruction information includes, for example, instruction information for raising the height of the UAV 10.
  • the indication information may indicate the height at which the UAV10 should be located.
  • the UAV 10 moves to be located at the height indicated by the instruction information received from the remote operation device 300.
  • the instruction information may include an ascending instruction to raise the UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if the ascending command is received, the ascent of UAV10 can be restricted.
  • FIG. 2 is a diagram showing an example of the appearance of the imaging system 100 mounted on the UAV 10.
  • the camera system 100 is a multispectral camera that captures image data of each of a plurality of preset wavebands.
  • the imaging system 100 includes an imaging device 110 for R, an imaging device 120 for G, an imaging device 130 for B, an imaging device 140 for RE, and an imaging device 150 for NIR.
  • the imaging system 100 can record each image data captured by the imaging device 110 for R, the imaging device 120 for G, the imaging device 130 for B, the imaging device 140 for RE, and the imaging device 150 for NIR as a multispectral image.
  • Multispectral images can be used, for example, to predict the health and vitality of crops.
  • NDVI normalized vegetation index
  • IR represents the reflectance in the near-infrared region
  • R represents the reflectance of red in the visible light region
  • the imaging device 110 for R includes a filter that transmits light in the red region, and outputs an R image signal that is an image signal in the red region.
  • the wavelength band of the red region is, for example, 620 nm to 750 nm.
  • the wavelength band of the red region may be a specific wavelength band in the red region, for example, it may be 663 nm to 673 nm.
  • the imaging device for G 120 includes a filter that transmits light in the green region, and outputs a G image signal that is an image signal in the green region.
  • the wavelength band of the green region is, for example, 500 nm to 570 nm.
  • the wavelength band of the green region may be a specific wavelength band in the green region, for example, it may be 550 nm to 570 nm.
  • the imaging device 130 for B includes a filter that transmits light in the blue region, and outputs a B image signal that is an image signal in the blue region.
  • the wavelength band of the blue region is, for example, 450 nm to 500 nm.
  • the wavelength band of the blue region may be a specific wavelength band in the blue region, for example, it may be 465 nm to 485 nm.
  • the imaging device 140 for RE includes a filter that transmits light in the red-side region wavelength band, and outputs an RE image signal that is an image signal in the red-side region wavelength band.
  • the wavelength band of the red border region is, for example, 705 nm to 745 nm.
  • the wavelength band of the red border region can be 712nm ⁇ 722nm.
  • the NIR imaging device 150 includes a filter that transmits light in the near-infrared region, and outputs an image signal in the near-infrared region, that is, an NIR image signal.
  • the wavelength band of the near infrared region is, for example, 800 nm to 2500 nm.
  • the wavelength band of the near infrared region may be 800 nm to 900 nm.
  • FIG. 3 is a diagram showing another example of the appearance of the imaging system 100 mounted on the UAV 10.
  • the imaging system 100 also includes an imaging device 160 for RGB, which is similar to the imaging system 100 shown in FIG. 2 in this regard. different.
  • the RGB imaging device 160 may be the same as a normal camera, and includes an optical system and an image sensor.
  • the image sensor may include a filter that is configured by a Bayer array and transmits light in the red region, a filter that transmits light in the green region, and a filter that transmits light in the blue region.
  • the RGB imaging device 160 can output RGB images.
  • the wavelength band of the red region may be 620 nm to 750 nm.
  • the wavelength band of the green region may be 500 nm to 570 nm.
  • the wavelength band of the blue region is 450 nm to 500 nm.
  • FIG. 4 shows an example of the functional blocks of UAV10.
  • UAV10 includes UAV control unit 30, memory 32, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement device 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, camera The device 60 and the camera system 100.
  • the communication interface 36 communicates with other devices such as the remote operation device 300.
  • the communication interface 36 can receive instruction information including various instructions to the UAV control unit 30 from the remote operation device 300.
  • the memory 32 stores the UAV control unit 30's response to the propulsion unit 40, GPS receiver 41, inertial measurement unit (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, imaging device 60, and
  • the imaging system 100 performs programs and the like necessary for control.
  • the memory 32 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 32 may be provided inside the UAV main body 20. It can be configured to be detachable from the UAV main body 20.
  • the UAV control unit 30 controls the flying and shooting of the UAV 10 in accordance with a program stored in the memory 32.
  • the UAV control unit 30 may be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the UAV control unit 30 controls the flight and shooting of the UAV 10 in accordance with instructions received from the remote operation device 300 via the communication interface 36.
  • the propulsion unit 40 propels the UAV10.
  • the propulsion part 40 includes a plurality of rotors and a plurality of drive motors that rotate the plurality of rotors.
  • the propulsion unit 40 rotates a plurality of rotors via a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to cause the UAV 10 to fly.
  • the GPS receiver 41 receives a plurality of signals showing the time transmitted from a plurality of GPS satellites.
  • the GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received signals.
  • IMU42 detects the posture of UAV10.
  • the IMU42 detects the acceleration of the UAV10 in the three-axis directions of front and back, left and right, and up and down, and the angular velocity in the three-axis directions of pitch, roll, and yaw as the attitude of the UAV10.
  • the magnetic compass 43 detects the position of the nose of the UAV10.
  • the barometric altimeter 44 detects the flying altitude of the UAV10.
  • the barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure to altitude to detect the altitude.
  • the temperature sensor 45 detects the temperature around the UAV 10.
  • the humidity sensor 46 detects the
  • UAV10 also includes a sensor unit 600.
  • the sensor unit 600 may be disposed on the top of the UAV main body 20.
  • the sensor unit 600 includes an MCU 70, an RTK 80 and an illuminance sensor 500.
  • the MCU70 is a control circuit that controls the RTK80 and the illuminance sensor 500.
  • RTK80 is a real-time dynamic GPS. The RTK80 locates the UAV10 through RTK positioning based on the location information of the base station set in the predetermined location.
  • the illuminance sensor 500 measures the surrounding illuminance.
  • the illuminance sensor 500 includes a plurality of light receiving elements arranged on a substrate.
  • the illuminance sensor 500 includes a first light receiving element, a second light receiving element, and a third light receiving element.
  • the first light receiving element can receive a wavelength in the range of 400 nm or more and 700 nm or less.
  • the second light-receiving element can receive a wavelength in the range of 700 nm or more and 900 nm or less.
  • the third light-receiving element can receive a wavelength in the range of 900 nm or more and 1500 nm or less.
  • the coefficient is k
  • the pixel value of the desired wavelength region is N
  • the illuminance (solar intensity) is L
  • the reflectance used when deriving NDVI and the like can be approximated by k ⁇ N/L.
  • k is a coefficient for aligning the unit of the pixel value with the unit of illuminance.
  • the imaging system 100 is controlled via the universal joint 50 to maintain a preset imaging direction such as vertically downward. Therefore, even if the posture of the UAV 10 changes, the pixel value of the image in each wavelength region captured by the imaging system 100 does not change.
  • the illuminance sensor 500 if the posture of the UAV 10 changes, the posture of the illuminance sensor 500 also changes. When the posture of the illuminance sensor 500 changes, the amount of light received by the light-receiving surface of the illuminance sensor 500 may change.
  • the posture of the illuminance sensor 500 changes due to the different arrangement positions of the multiple light-receiving sensors, so the light received by the light-receiving surface of the illuminance sensor 500 The amount may change. That is, when the posture of the UAV 10 changes, the illuminance measured by the illuminance sensor 500 may change. In this case, the ratio of the pixel value to the illuminance changes, so indices such as NDVI may change.
  • the spectrum of sunlight received by the illuminance sensor 500 changes. For example, as shown in FIG. 6, in the evening, the proportion of red component light increases. The ratio of each color component of the illuminance measured by the illuminance sensor 500 becomes uneven.
  • the UAV10 is incident on the illuminance sensor 500 The incident angle of sunlight is different.
  • the posture of the UAV 10 changes, and the ratio of each color component measured by the illuminance sensor 500 changes.
  • the ratio of the pixel value to the illuminance changes, and the index such as NDVI varies according to the flying direction of the UAV10.
  • Fig. 7 is an example showing an image of NDVI.
  • the magnitude of the illuminance measured by the illuminance sensor 500 varies according to the flying direction of the UAV 10 relative to the sun. Therefore, as shown in FIG. 7, the image showing NDVI becomes a striped pattern along the flying direction of the UAV 10.
  • the UAV control unit 30 determines the flight path of the UAV 10 so that the angle formed by the direction of the sun and the flight direction of the UAV 10 is included in the preset angle range.
  • the preset angle range includes 90 degrees.
  • the UAV control unit 30 can determine the flight path of the UAV 10 so that the direction of the sun intersects the flight direction of the UAV 10. As shown in Fig. 8, the UAV control unit 30 can determine that the flight path of UAV10 is not a flight path in which the direction of the sun and the flight direction 703 of UAV10 are the same, but the direction of the sun and the flight direction of UAV10 are perpendicular to the flight path. 704.
  • the UAV control unit 30 can acquire the date, time and position (latitude/longitude) of the UAV 10 flying while measuring the illuminance by the illuminance sensor 500.
  • the date and time may be the first time point in the preset measurement period during which the UAV 10 is flying while measuring the illuminance by the illuminance sensor 500.
  • the first time point may be, for example, an intermediate time point during the measurement period.
  • the so-called intermediate time point does not only mean the time point in the middle from the start time to the end time of the measurement period.
  • the so-called intermediate time point may be a certain time point from the start time to the end time of the measurement period.
  • the first time point may be the initial time point or the last time point.
  • the UAV control unit 30 can determine the azimuth angle 801 of the sun 800 as shown in FIG. 9 based on the date, time and position.
  • the UAV control unit 30 can determine the flight path of the UAV 10 so that the direction perpendicular to the azimuth shown by the azimuth angle 801 becomes the flight direction of the UAV 10.
  • FIG. 10 is a flowchart showing an example of a process in which the UAV control unit 30 determines the flight path of the UAV 10.
  • the UAV control unit 30 edits the flight path of the UAV 10 (S100).
  • the UAV control unit 30 edits the flight path so that it can receive the measurement target area on the map and measure the reflectance of the entire area.
  • the UAV control unit 30 receives the date, time and position (latitude and longitude) at which the UAV 10 flew while measuring the illuminance by the illuminance sensor 500.
  • the UAV control unit 30 calculates the azimuth angle of the sun based on the date, time and position.
  • the UAV control unit 30 determines the direction of the sun at the time of flight based on the azimuth angle (S102).
  • the UAV control unit 30 may obtain the azimuth angle of the sun from an external server via the network based on the date, time and position.
  • the UAV control unit 30 determines whether the angle formed by the flying direction of the UAV 10 on the flight path and the direction of the sun is within a preset angle range (S104). If the angle formed by the flying direction of the UAV 10 and the direction of the sun is within the preset angle range, the UAV control unit 30 does not correct the flight path, but makes the UAV 10 fly according to the flight path, and the camera system 100 performs shooting and control
  • the illuminance sensor 500 performs illuminance measurement (S106). On the other hand, if the angle between the flight direction of UAV10 and the direction of the sun is outside the preset angle range, the UAV control unit 30 corrects the flight path so that the angle between the flight direction of UAV10 and the direction of the sun is at the preset angle. Within the angle range (S108). Then, the UAV control unit 30 causes the UAV 10 to fly along the corrected flight path, and the imaging system 100 performs imaging and the illuminance sensor 500 performs illuminance measurement (S106).
  • the memory 32 may also store information associated with the date, time, position, and the azimuth perpendicular to the sun in advance.
  • the UAV control unit 30 may not calculate the position of the sun, but refer to the memory 32 to directly determine the flight direction of the UAV 10 based on the date, time and position, so that the angle formed by the flight direction of the UAV 10 and the direction of the sun is within a preset angle range.
  • the UAV control unit 30 determines the flight path of the UAV 10 so that the angle between the direction of the sun and the flight direction of the UAV 10 based on the date, time and position of the measurement object is included in the preset angle range. While the UAV control unit 30 causes the UAV 10 to fly along the flight path, the imaging system 100 performs imaging and the illuminance sensor 500 performs illuminance measurement. As a result, it is possible to suppress variations in the illuminance measured by the illuminance sensor 500 due to the change in the posture of the UAV 10. Therefore, it is possible to suppress variation in an index such as NVDI derived using the illuminance measured by the illuminance sensor 500.
  • an index such as NVDI derived using the illuminance measured by the illuminance sensor 500.
  • FIG. 11 shows an example of a computer 1200 that may fully or partially embody various aspects of the present invention.
  • the program installed on the computer 1200 can make the computer 1200 function as an operation associated with the device according to the embodiment of the present invention or one or more "parts" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts".
  • This program enables the computer 1200 to execute the process or stages of the process involved in the embodiment of the present invention.
  • Such a program may be executed by the CPU 1212, so that the computer 1200 executes specified operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.
  • the computer 1200 of this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other through a host control device 1210.
  • the computer 1200 further includes a communication interface 1222, an input/output unit, which is connected to the host control device 1210 through the input/output controller 1220.
  • the computer 1200 also includes a ROM 1230.
  • the CPU 1212 operates in accordance with programs stored in the ROM 1230 and RAM 1214 to control each unit.
  • the communication interface 1222 communicates with other electronic devices through the network.
  • the hard disk drive can store programs and data used by the CPU 1212 in the computer 1200.
  • the ROM 1230 stores therein a boot program executed by the computer 1200 during operation, and/or a program dependent on the hardware of the computer 1200.
  • the program is provided through a computer-readable recording medium such as CR-ROM, USB memory, or IC card, or a network.
  • the program is installed in RAM 1214 or ROM 1230 which is also an example of a computer-readable recording medium, and is executed by CPU 1212.
  • the information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above.
  • the apparatus or method can be constituted by realizing the operation or processing of information according to the use of the computer 1200.
  • the CPU 1212 can execute a communication program loaded in the RAM 1214, and based on the processing described in the communication program, instructs the communication interface 1222 to perform communication processing.
  • the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as RAM 1214 or USB memory under the control of the CPU 1212, and sends the read transmission data to the network or receives the data from the network. The received data is written into the receiving buffer provided in the recording medium, etc.
  • the CPU 1212 can make the RAM 1214 read all or necessary parts of files or databases stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.
  • an external recording medium such as a USB memory
  • the CPU 1212 can perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, and information retrieval/retrieval/information specified by the instruction sequence of the program described in various places in this disclosure. Replace various types of processing, and write the results back to RAM 1214.
  • the CPU 1212 can search for information in files, databases, and the like in the recording medium. For example, when multiple entries having the attribute value of the first attribute respectively associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 may retrieve the attribute value of the specified first attribute from the multiple entries. The item that matches the condition is read, and the attribute value of the second attribute stored in the item is read, so as to obtain the attribute value of the second attribute that is associated with the first attribute that meets the predetermined condition.
  • the programs or software modules described above may be stored on the computer 1200 or on a computer-readable storage medium near the computer 1200.
  • a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium so that the program can be provided to the computer 1200 via the network.

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Abstract

When a flying object comprising an illuminance sensor (500) measures illuminance by means of the illuminance sensor (500) in flight, since an angle formed between an incident direction of sunlight and a flight direction of the flying object varies, the illuminance measured by the illuminance sensor (500) may produce a deviation. The determining device may determine a flight path of the flying object comprising the illuminance sensor (500). The determining device comprises a circuit configured to: obtain a date and time and location of flight of the flying object measuring the illuminance by means of the illuminance sensor (500); and determining a flight path of the flying object, such that an angle formed between the direction of the sun and the flight direction of the flying object based on the date and time and the location is comprised within a preset angle range.

Description

确定装置、飞行体、确定方法以及程序Determining device, flying body, determining method and procedure 技术领域Technical field
本发明涉及一种确定装置、飞行体、确定方法以及程序。The invention relates to a determination device, a flying body, a determination method and a program.
背景技术Background technique
专利文献1中公开了一种包括多频带传感器和照度传感器的无人机。Patent Document 1 discloses an unmanned aerial vehicle including a multi-band sensor and an illuminance sensor.
[专利文献1]美国专利申请公开第2017/0356799号说明书。[Patent Document 1] U.S. Patent Application Publication No. 2017/0356799 Specification.
发明内容Summary of the invention
当包括照度传感器的飞行体在飞行过程中由照度传感器测量照度时，由于太阳光的入射方向与飞行体的飞行方向所成的角度不同，照度传感器测量的照度有时会产生偏差。When a flying object including an illuminance sensor measures the illuminance by the illuminance sensor during flight, the illuminance measured by the illuminance sensor sometimes deviates due to the difference in the angle formed by the incident direction of sunlight and the flying direction of the flying object.
本发明的一个方面所涉及的确定装置可以确定包括照度传感器的飞行体的飞行路径。确定装置可包括配置成如下的电路：获取飞行体在由照度传感器测量照度的同时进行飞行的日期时间以及位置。电路配置为：确定飞行体的飞行路径，使得基于日期时间以及位置的太阳的方向与飞行体的飞行方向所成的角度包含在预设的角度范围内。The determining device according to an aspect of the present invention can determine the flight path of a flying object including an illuminance sensor. The determining device may include a circuit configured to obtain the date, time and position of the flying object while the illuminance is measured by the illuminance sensor. The circuit is configured to determine the flight path of the flying object so that the angle between the direction of the sun and the flying direction of the flying object based on the date, time and position is included in the preset angle range.
预设的角度范围可包括90度。The preset angle range may include 90 degrees.
日期时间可以为飞行体在由照度传感器测量照度的同时进行飞行的测量期间内的第一时间点。The date and time may be the first time point in the measurement period during which the flying object is flying while measuring the illuminance by the illuminance sensor.
第一时间点可以为测量期间的中间时间点。The first time point may be an intermediate time point during the measurement period.
本发明的一个方面所涉及的飞行体可包括上述确定装置和照度传感器，并沿飞行路径飞行。The flying object involved in one aspect of the present invention may include the above-mentioned determining device and an illuminance sensor, and fly along a flight path.
照度传感器可以包括检测第一波长区域的照度的第一受光元件、检测第二波长区域的照度的第二受光元件和检测第三波长区域的照度的第三受光元件。The illuminance sensor may include a first light receiving element that detects illuminance in a first wavelength region, a second light receiving element that detects illuminance in a second wavelength region, and a third light receiving element that detects illuminance in a third wavelength region.
照度传感器可设置于飞行体的顶部。The illuminance sensor can be arranged on the top of the flying body.
飞行体还包括摄像装置。The flying body also includes a camera.
飞行体还可包括可以控制摄像装置的姿态地支撑摄像装置的支撑机构。支撑机构可设置于飞行体的与顶部相对侧的区域。The flying body may further include a support mechanism that can control the attitude of the camera device to support the camera device. The supporting mechanism may be arranged in an area on the side opposite to the top of the flying body.
摄像装置可以为在多个波段的每个波段对被摄体进行拍摄的多光谱相机。The imaging device may be a multi-spectral camera that photographs a subject in each of a plurality of wavelength bands.
飞行体可以包括多个旋翼。The flying body may include multiple rotors.
本发明的一个方面所涉及的确定方法可以确定包括照度传感器的飞行体的飞行路径。确定方法可包括如下步骤：获取飞行体在由照度传感器测量照度的同时进行飞行的日期时间以及位置。确定方法可包括如下步骤：确定飞行体的飞行路径，使得基于日期时间以及位置的太阳的方向与飞行体的飞行方向所成的角度包含在预设的角度范围。The determination method according to an aspect of the present invention can determine the flight path of a flying object including an illuminance sensor. The determination method may include the following steps: acquiring the date, time and location of the flying object while the illuminance is measured by the illuminance sensor. The determining method may include the steps of determining the flight path of the flying object so that the angle formed by the direction of the sun and the flying direction of the flying object based on the date, time and position is included in a preset angle range.
本发明的一个方面所涉及的程序可以是一种用于使计算机作为上述确定装置而发挥功能的程序。The program according to one aspect of the present invention may be a program for causing a computer to function as the above-mentioned determining device.
根据本发明的一个方面，由于结合太阳的方向来确定飞行体的飞行路径，因而能够抑制照度传感器测量的照度的偏差。According to one aspect of the present invention, since the flight path of the flying object is determined in combination with the direction of the sun, the deviation of the illuminance measured by the illuminance sensor can be suppressed.
另外，上述本发明的内容中没有穷举本发明的所有必要的特征。另外，这些特征群的子集也可形成发明。In addition, all the necessary features of the present invention are not exhaustive in the content of the present invention described above. In addition, subsets of these feature groups can also form inventions.
附图说明Description of the drawings
图1是示出无人驾驶航空器(UAV)及远程操作装置的外观的一个示例的图；FIG. 1 is a diagram showing an example of the appearance of an unmanned aerial vehicle (UAV) and a remote operation device;
图2是示出搭载于UAV上的摄像***的外观的一个示例的图；2 is a diagram showing an example of the appearance of the camera system mounted on the UAV;
图3是示出搭载于UAV上的摄像***的外观的另一个示例的图。FIG. 3 is a diagram showing another example of the appearance of the imaging system mounted on the UAV.
图4是示出UAV的功能块的一个示例的图；FIG. 4 is a diagram showing an example of functional blocks of UAV;
图5是用于对UAV的姿态与太阳方向的关系进行说明的图；Figure 5 is a diagram for explaining the relationship between the attitude of the UAV and the direction of the sun;
图6是用于对UAV的姿态与太阳方向的关系进行说明的图；Figure 6 is a diagram for explaining the relationship between the attitude of the UAV and the direction of the sun;
图7是示出包括沿UAV的飞行方向的条纹图案的表示NDVI的图像的一个示例的图；FIG. 7 is a diagram showing an example of an image representing NDVI including a stripe pattern along the flying direction of the UAV;
图8是用于对UAV的飞行方向与太阳方向的关系进行说明的图；FIG. 8 is a diagram for explaining the relationship between the flying direction of the UAV and the direction of the sun;
图9是用于对UAV的飞行方向与太阳方向的关系进行说明的图；FIG. 9 is a diagram for explaining the relationship between the flying direction of the UAV and the direction of the sun;
图10是示出对UAV的飞行路径进行确定的过程的一个示例的流程图；FIG. 10 is a flowchart showing an example of the process of determining the flight path of the UAV;
图11是示出硬件构成的一个示例的图。FIG. 11 is a diagram showing an example of the hardware configuration.
【符号说明】【Symbol Description】
10 UAV10 UAV
20 UAV主体20 UAV subject
30 UAV控制部30 UAV Control Department
32 存储器32 Memory
36 通信接口36 Communication interface
40 推进部40 Promotion Department
41 GPS接收器41 GPS receiver
42 惯性测量装置42 Inertial measurement device
43 磁罗盘43 Magnetic Compass
44 气压高度计44 Barometric Altimeter
45 温度传感器45 Temperature sensor
46 湿度传感器46 Humidity sensor
50 万向节50 universal joint
60 摄像装置60 Camera device
100 摄像***100 Camera system
110 R用摄像装置110 Camera for R
120 G用摄像装置120 Camera device for G
130 B用摄像装置130 Camera B for
140 RE用摄像装置140 Camera device for RE
150 NIR用摄像装置150 NIR camera device
160 RGB用摄像装置160 RGB camera
300 远程操作装置300 remote operation device
500 照度传感器500 illuminance sensor
600 传感器单元600 sensor unit
1200 计算机1200 Computer
1210 主机控制器1210 Host Controller
1212 CPU1212 CPU
1214 RAM1214 RAM
1220 输入/输出控制器1220 Input/Output Controller
1222 通信接口1222 Communication interface
1230 ROM1230 ROM
具体实施方式Detailed ways
以下，通过发明的实施方式来说明本发明，但是以下的实施方式并不限定权利要求书所涉及的发明。此外，实施方式中所说明的所有特征组合对于发明的解决方案未必是必须的。对本领域普通技术人员来说，显然可以对以下实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。Hereinafter, the present invention will be described through the embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, all the feature combinations described in the embodiments are not necessarily necessary for the solution of the invention. It is obvious to a person of ordinary skill in the art that various changes or improvements can be made to the following embodiments. It is obvious from the description of the claims that all such changes or improvements can be included in the technical scope of the present invention.
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人则不会提出异议。但是，在除此以外的情况下，保留一切的著作权。The claims, the description, the drawings of the description, and the summary of the description include matters that are the subject of copyright protection. As long as anyone makes copies of these files as indicated in the patent office's documents or records, the copyright owner will not raise an objection. However, in other cases, all copyrights are reserved.
本发明的各种实施方式可参照流程图及框图来描述，这里，方框可表示(1)执行操作的过程的阶段或者(2)具有执行操作的作用的装置的“部”。特定的阶段和“部”可以通过可编程电路和/或处理器来实现。专用电路可以包括数字和/或模拟硬件电路。可以包括集成电路(IC)和/或分立电路。可编程电路可以包括可重构硬件电路。可重构硬件电路可以包括逻辑与、逻辑或、逻辑异或、逻辑与非、逻辑或非、及其它逻辑操作、触发器、寄存器、现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)等存储器元件等。Various embodiments of the present invention can be described with reference to flowcharts and block diagrams. Here, the blocks can represent (1) a stage of a process of performing an operation or (2) a "part" of a device that performs an operation. Specific stages and "parts" can be implemented by programmable circuits and/or processors. Dedicated circuits may include digital and/or analog hardware circuits. May include integrated circuits (ICs) and/or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits can include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate array (FPGA), programmable logic array (PLA) ) And other memory components.
计算机可读介质可以包括可以对由适宜的设备执行的指令进行存储的任意有形设备。其结果是，其上存储有指令的计算机可读介质包括一种包括指令的产品，该指令可被执行以创建用于执行流程图或框图所指定的操作的手段。作为计算机可读介质的示例，可以包括电子存储介质、磁存储介质、光学存储介质、电磁存储介质、半导体存储介质等。作为计算机可读介质的更具体的示例，可以包括floopy(注册商标)disk软盘、软磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或者闪存)、电可擦可编程只读存储器(EEPROM(注册商标))、静态随机存取存储器(SRAM)、光盘只读存储器(CD-ROM)、数字多用途光盘(DVD)、蓝光(RTM)光盘、记忆棒、集成电路卡等。The computer-readable medium may include any tangible device that can store instructions to be executed by a suitable device. As a result, the computer-readable medium with instructions stored thereon includes a product including instructions that can be executed to create means for performing operations specified by the flowchart or block diagram. As examples of computer-readable media, electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like may be included. As a more specific example of the computer readable medium, it may include floopy (registered trademark) disk floppy disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), electrically erasable programmable read-only memory (EEPROM (registered trademark)), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) ) CDs, memory sticks, integrated circuit cards, etc.
计算机可读指令可以包括由一种或多种编程语言的任意组合描述的源代码或者目标代码中的任意一个。源代码或者目标代码包括传统的程序式编程语言。传统的程序式编程语言可以为汇编指令、指令集架构(ISA)指令、机器指令、与机器相关的指令、微代码、固件指令、状态设置数据、或者Smalltalk、JAVA(注册商标)、C++等面向对象编程语言以及“C”编程语言或者类似的编程语言。计算机可读指令可以在本地或者经由局域网(LAN)、互联网等广域网(WAN)提供给通用计算机、专用计算机或者其它可编程数据处理装置的处理器或可编程电路。处理器或可编程电路可以执行计算机可读指令，以创建用于执行流程图或框 图所指定操作的手段。处理器的示例包括计算机处理器、处理单元、微处理器、数字信号处理器、控制装置、微控制装置等。The computer-readable instructions may include any one of source code or object code described in any combination of one or more programming languages. The source code or object code includes a traditional procedural programming language. Traditional procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or Smalltalk, JAVA (registered trademark), C++, etc. Object programming language and "C" programming language or similar programming language. The computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. The processor or programmable circuit can execute computer-readable instructions to create means for performing operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, control devices, micro control devices, and the like.
图1示出无人驾驶航空器(UAV)10及远程操作装置300的外观的一个示例。UAV10包括UAV主体20、万向节50、多个摄像装置60、摄像***100以及传感器单元600。UAV10为移动体的一个示例。移动体包括在空中移动的飞行体、在地面移动的车辆、在水上移动的船舶等的概念。在空中移动的飞行体不仅包括UAV，还包括在空中移动的其它的飞行器、飞艇、直升机等的概念。FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote operation device 300. The UAV 10 includes a UAV main body 20, a universal joint 50, a plurality of camera devices 60, a camera system 100, and a sensor unit 600. UAV10 is an example of a moving body. Moving objects include concepts such as flying objects moving in the air, vehicles moving on the ground, and ships moving on the water. Flying objects that move in the air include not only UAVs, but also other concepts such as aircraft, airships, and helicopters that move in the air.
UAV主体20包括多个旋翼。多个旋翼为推进部的一个示例。UAV主体20通过控制多个旋翼的旋转而使UAV10飞行。UAV主体20使用例如四个旋翼来使UAV10飞行。旋翼的数量不限于四个。另外，UAV10也可以是没有旋翼的固定翼机。The UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section. The UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors. The UAV main body 20 uses, for example, four rotors to make the UAV 10 fly. The number of rotors is not limited to four. In addition, UAV10 can also be a fixed-wing aircraft without rotors.
传感器单元600包括照度传感器以及RTK。传感器单元600可设置于UAV主体20的顶部。所谓顶部示出的是UAV主体20的设置有UAV主体20旋翼一侧的区域。它不仅是UAV主体20的顶点。摄像***100是在多个波段的每个波段对包含在所期望的摄像范围内的对象进行拍摄的拍摄用多光谱相机。摄像***100为摄像装置的一个示例。万向节50可旋转地支撑摄像***100。万向节50为支撑机构的一个示例。万向节50可设置于UAV主体20的与顶部相对侧的底部(区域)。例如，万向节50使用致动器围绕俯仰轴可旋转地支撑摄像***100。万向节50使用致动器进一步分别以滚转轴和偏航轴为中心可旋转地支撑摄像***100。万向节50可通过使摄像***100以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转，来变更摄像***100的姿态。The sensor unit 600 includes an illuminance sensor and an RTK. The sensor unit 600 may be disposed on the top of the UAV main body 20. The so-called top shows the area of the UAV main body 20 on the side where the rotor of the UAV main body 20 is provided. It is not only the apex of the UAV body 20. The imaging system 100 is an imaging multispectral camera that captures an object included in a desired imaging range in each of a plurality of wavelength bands. The imaging system 100 is an example of an imaging device. The universal joint 50 rotatably supports the camera system 100. The universal joint 50 is an example of a supporting mechanism. The universal joint 50 may be provided at the bottom (area) of the UAV main body 20 on the side opposite to the top. For example, the gimbal 50 uses an actuator to rotatably support the camera system 100 around a pitch axis. The universal joint 50 uses an actuator to further support the camera system 100 rotatably around the roll axis and the yaw axis, respectively. The gimbal 50 can change the posture of the camera system 100 by rotating the camera system 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
多个摄像装置60是为了控制UAV10的飞行而对UAV10的周围进行拍摄的传感用相机。两个摄像装置60可以设置于UAV10的机头、即正面。并且，其它两个摄像装置60可以设置于UAV10的底面。正面侧的两个摄像装置60可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置60也可以成对，起到立体相机的作用。摄像装置60可以检测包含在摄像装置60的摄像范围内的对象的存在以及测量到对象的距离。摄像装置60为对存在于摄像***100的摄像方向上的对象进行测量的测量装置的一个示例。测量装置也可以为对存在于摄像***100的摄像方向上的对象进行测量的红外传感器、超声波传感器等的其它的传感器。可以根据由多个摄像装置60所拍摄的图像来生成UAV10周围的三维空间数据。UAV10所包括的摄像装置60的数量不限于四个。UAV10包括至少一个摄像装置60即可。UAV10也可以在UAV10的机头、机尾、侧面、底面及顶面分别包括至少一个摄像装置60。摄像装置 60中可设定的视角可大于摄像***100中可设定的视角。摄像装置60也可以具有单焦点镜头或鱼眼镜头。The plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 10 in order to control the flight of the UAV 10. The two camera devices 60 can be installed on the nose of the UAV 10, that is, on the front side. In addition, the other two camera devices 60 may be installed on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired to function as a stereo camera. The imaging device 60 can detect the existence of an object included in the imaging range of the imaging device 60 and measure the distance to the object. The imaging device 60 is an example of a measuring device that measures an object existing in the imaging direction of the imaging system 100. The measuring device may be another sensor such as an infrared sensor or an ultrasonic sensor that measures an object existing in the imaging direction of the imaging system 100. The three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of camera devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. It is sufficient that the UAV 10 includes at least one camera device 60. The UAV 10 may also include at least one camera 60 on the nose, tail, side, bottom, and top surfaces of the UAV 10, respectively. The viewing angle that can be set in the camera device 60 may be larger than the viewing angle that can be set in the camera system 100. The imaging device 60 may have a single focus lens or a fisheye lens.
远程操作装置300与UAV10通信，对UAV10进行远程操作。远程操作装置300可以与UAV10进行无线通信。远程操作装置300向UAV10发送表示上升、下降、加速、减速、前进、后退、旋转等与UAV10的移动有关的各种指令的指示信息。指示信息包括例如使UAV10的高度上升的指示信息。指示信息可以表示UAV10应该位于的高度。UAV10进行移动，以位于从远程操作装置300接收的指示信息所表示的高度。指示信息可以包括使UAV10上升的上升指令。UAV10在接受上升指令的期间上升。在UAV10的高度已达到上限高度时，即使接收上升指令，也可以限制UAV10上升。The remote operation device 300 communicates with the UAV 10 and performs remote operation on the UAV 10. The remote operation device 300 can wirelessly communicate with the UAV 10. The remote operation device 300 transmits to the UAV 10 instruction information indicating various instructions related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, advancing, retreating, and rotating. The instruction information includes, for example, instruction information for raising the height of the UAV 10. The indication information may indicate the height at which the UAV10 should be located. The UAV 10 moves to be located at the height indicated by the instruction information received from the remote operation device 300. The instruction information may include an ascending instruction to raise the UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if the ascending command is received, the ascent of UAV10 can be restricted.
图2是示出搭载于UAV10上的摄像***100的外观的一个示例的图。摄像***100是对预设的多个波段每个波段的图像数据进行拍摄的多光谱相机。摄像***100包括R用摄像装置110、G用摄像装置120、B用摄像装置130、RE用摄像装置140以及NIR用摄像装置150。摄像***100能够将由R用摄像装置110、G用摄像装置120、B用摄像装置130、RE用摄像装置140以及NIR用摄像装置150拍摄的各个图像数据作为多光谱图像进行记录。多光谱图像可用于例如对农作物的健康状态以及活力进行预测。FIG. 2 is a diagram showing an example of the appearance of the imaging system 100 mounted on the UAV 10. The camera system 100 is a multispectral camera that captures image data of each of a plurality of preset wavebands. The imaging system 100 includes an imaging device 110 for R, an imaging device 120 for G, an imaging device 130 for B, an imaging device 140 for RE, and an imaging device 150 for NIR. The imaging system 100 can record each image data captured by the imaging device 110 for R, the imaging device 120 for G, the imaging device 130 for B, the imaging device 140 for RE, and the imaging device 150 for NIR as a multispectral image. Multispectral images can be used, for example, to predict the health and vitality of crops.
多光谱图像例如用来计算归一化植被指数(NDVI)。NDVI由下式表示。The multispectral image is used, for example, to calculate the normalized vegetation index (NDVI). NDVI is represented by the following formula.
【式1】【Formula 1】
Figure PCTCN2020133222-appb-000001
Figure PCTCN2020133222-appb-000001
IR表示近红外线区域反射率，R表示可见光区域中红色的反射率。IR represents the reflectance in the near-infrared region, and R represents the reflectance of red in the visible light region.
R用摄像装置110包括使红色区域波段的光透过的滤波器，并输出红色区域波段的图像信号即R图像信号。红色区域的波段例如为620nm～750nm。红色区域的波段可以是红色区域中特定的波段，例如可以是663nm～673nm。The imaging device 110 for R includes a filter that transmits light in the red region, and outputs an R image signal that is an image signal in the red region. The wavelength band of the red region is, for example, 620 nm to 750 nm. The wavelength band of the red region may be a specific wavelength band in the red region, for example, it may be 663 nm to 673 nm.
G用摄像装置120包括使绿色区域波段的光透过的滤波器，并输出绿色区域波段的图像信号即G图像信号。绿色区域的波段例如是500nm～570nm。绿色区域的波段可以是绿色区域中特定的波段，例如可以是550nm～570nm。The imaging device for G 120 includes a filter that transmits light in the green region, and outputs a G image signal that is an image signal in the green region. The wavelength band of the green region is, for example, 500 nm to 570 nm. The wavelength band of the green region may be a specific wavelength band in the green region, for example, it may be 550 nm to 570 nm.
B用摄像装置130包括使蓝色区域波段的光透过的滤波器，并输出蓝色区域波段的图像信号即B图像信号。蓝色区域的波段例如是450nm～500nm。蓝色区域的波段可以是蓝色区域中特定的波段，例如可以是465nm～485nm。The imaging device 130 for B includes a filter that transmits light in the blue region, and outputs a B image signal that is an image signal in the blue region. The wavelength band of the blue region is, for example, 450 nm to 500 nm. The wavelength band of the blue region may be a specific wavelength band in the blue region, for example, it may be 465 nm to 485 nm.
RE用摄像装置140包括使红边区域波段的光透过的滤波器，并输出红边区域波段的图像信号即RE图像信号。红边区域的波段例如是705nm～745nm。红边区域的波段可以是712nm～722nm。The imaging device 140 for RE includes a filter that transmits light in the red-side region wavelength band, and outputs an RE image signal that is an image signal in the red-side region wavelength band. The wavelength band of the red border region is, for example, 705 nm to 745 nm. The wavelength band of the red border region can be 712nm～722nm.
NIR用摄像装置150包括使近红外线区域波段的光透过的滤波器，并输出近红外线区域波段的图像信号即NIR图像信号。近红外线区域的波段例如是800nm～2500nm。近红外线区域的波段可以是800nm～900nm。The NIR imaging device 150 includes a filter that transmits light in the near-infrared region, and outputs an image signal in the near-infrared region, that is, an NIR image signal. The wavelength band of the near infrared region is, for example, 800 nm to 2500 nm. The wavelength band of the near infrared region may be 800 nm to 900 nm.
图3是示出搭载于UAV10上的摄像***100的外观的另一个示例的图。摄像***100除了G用摄像装置120、B用摄像装置130、RE用摄像装置140以及NIR用摄像装置150之外还包括RGB用摄像装置160，在这一点上与图2所示的摄像***100不同。RGB用摄像装置160可与普通的相机相同，包括光学***及图像传感器。图像传感器可以包括以拜耳阵列构成且使红色区域波段的光透过的滤波器、使绿色区域波段的光透过的滤波器以及使蓝色区域波段的光透过的滤波器。RGB用摄像装置160可以输出RGB图像。例如，红色区域的波段可以是620nm～750nm。例如，绿色区域的波段可以是500nm～570nm。例如，蓝色区域的波段是450nm～500nm。FIG. 3 is a diagram showing another example of the appearance of the imaging system 100 mounted on the UAV 10. In addition to the imaging device 120 for G, the imaging device 130 for B, the imaging device 140 for RE, and the imaging device 150 for NIR, the imaging system 100 also includes an imaging device 160 for RGB, which is similar to the imaging system 100 shown in FIG. 2 in this regard. different. The RGB imaging device 160 may be the same as a normal camera, and includes an optical system and an image sensor. The image sensor may include a filter that is configured by a Bayer array and transmits light in the red region, a filter that transmits light in the green region, and a filter that transmits light in the blue region. The RGB imaging device 160 can output RGB images. For example, the wavelength band of the red region may be 620 nm to 750 nm. For example, the wavelength band of the green region may be 500 nm to 570 nm. For example, the wavelength band of the blue region is 450 nm to 500 nm.
图4示出UAV10的功能块的一个示例。UAV10包括UAV控制部30、存储器32、通信接口36、推进部40、GPS接收器41、惯性测量装置42、磁罗盘43、气压高度计44、温度传感器45、湿度传感器46、万向节50、摄像装置60及摄像***100。FIG. 4 shows an example of the functional blocks of UAV10. UAV10 includes UAV control unit 30, memory 32, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement device 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, camera The device 60 and the camera system 100.
通信接口36与远程操作装置300等的其它装置通信。通信接口36可以从远程操作装置300接收包括对UAV控制部30的各种指令的指示信息。存储器32存储UAV控制部30对推进部40、GPS接收器41、惯性测量装置(IMU)42、磁罗盘43、气压高度计44、温度传感器45、湿度传感器46、万向节50、摄像装置60及摄像***100进行控制所需的程序等。存储器32可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM、以及USB存储器等闪存中的至少一个。存储器32可以设置于UAV主体20的内部。其可以设置成可从UAV主体20上拆卸下来。The communication interface 36 communicates with other devices such as the remote operation device 300. The communication interface 36 can receive instruction information including various instructions to the UAV control unit 30 from the remote operation device 300. The memory 32 stores the UAV control unit 30's response to the propulsion unit 40, GPS receiver 41, inertial measurement unit (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, imaging device 60, and The imaging system 100 performs programs and the like necessary for control. The memory 32 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 32 may be provided inside the UAV main body 20. It can be configured to be detachable from the UAV main body 20.
UAV控制部30按照储存在存储器32中的程序来控制UAV10的飞行及拍摄。UAV控制部30可以由CPU或MPU等微处理器以及MCU等微控制器等构成。UAV控制部30按照经由通信接口36从远程操作装置300接收到的指令来控制UAV10的飞行及拍摄。推进部40推进UAV10。推进部40包括多个旋翼和使多个旋翼旋转的多个驱动电机。推进部40按照来自UAV控制部30的指令，经由多个驱动电机使多个旋翼旋转，以使UAV10飞行。The UAV control unit 30 controls the flying and shooting of the UAV 10 in accordance with a program stored in the memory 32. The UAV control unit 30 may be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and shooting of the UAV 10 in accordance with instructions received from the remote operation device 300 via the communication interface 36. The propulsion unit 40 propels the UAV10. The propulsion part 40 includes a plurality of rotors and a plurality of drive motors that rotate the plurality of rotors. The propulsion unit 40 rotates a plurality of rotors via a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to cause the UAV 10 to fly.
GPS接收器41接收示出从多个GPS卫星发送的时间的多个信号。GPS接收器41根据所接收的多个信号来计算GPS接收器41的位置(纬度及经度)、即UAV10的位置(纬度及经度)。IMU42检测UAV10的姿态。IMU42检测UAV10的前后、左右以及上下的三轴方向的加速度和俯仰、滚转以及偏航三轴方向的角速度，作为UAV10的姿态。磁罗盘43检测UAV10的机头的方位。气压高度计44检测UAV10的飞行高度。气压高度计44检测UAV10周围的气压，并将检测到的气压换算为高度，以检测高度。温度传感器45检测UAV10周围的温度。湿度传感器46检测UAV10周围的湿度。The GPS receiver 41 receives a plurality of signals showing the time transmitted from a plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received signals. IMU42 detects the posture of UAV10. The IMU42 detects the acceleration of the UAV10 in the three-axis directions of front and back, left and right, and up and down, and the angular velocity in the three-axis directions of pitch, roll, and yaw as the attitude of the UAV10. The magnetic compass 43 detects the position of the nose of the UAV10. The barometric altimeter 44 detects the flying altitude of the UAV10. The barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure to altitude to detect the altitude. The temperature sensor 45 detects the temperature around the UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.
UAV10还包括传感器单元600。传感器单元600可设置于UAV主体20的顶部。传感器单元600包括MCU70、RTK80以及照度传感器500。MCU70是控制RTK80和照度传感器500的控制电路。RTK80是实时动态GPS。RTK80根据设置在预定位置的基站的位置信息，通过RTK定位来定位UAV10的位置。UAV10 also includes a sensor unit 600. The sensor unit 600 may be disposed on the top of the UAV main body 20. The sensor unit 600 includes an MCU 70, an RTK 80 and an illuminance sensor 500. The MCU70 is a control circuit that controls the RTK80 and the illuminance sensor 500. RTK80 is a real-time dynamic GPS. The RTK80 locates the UAV10 through RTK positioning based on the location information of the base station set in the predetermined location.
照度传感器500测量周围的照度。照度传感器500包括布置于基板上的多个受光元件。照度传感器500包括第一受光元件、第二受光元件以及第三受光元件。第一受光元件可以接收在400nm以上且700nm以下范围内的波长。第二受光接收元件可以接收在700nm以上且900nm以下范围内的波长。第三受光接收元件可以接收在900nm以上且1500nm以下范围内的波长。The illuminance sensor 500 measures the surrounding illuminance. The illuminance sensor 500 includes a plurality of light receiving elements arranged on a substrate. The illuminance sensor 500 includes a first light receiving element, a second light receiving element, and a third light receiving element. The first light receiving element can receive a wavelength in the range of 400 nm or more and 700 nm or less. The second light-receiving element can receive a wavelength in the range of 700 nm or more and 900 nm or less. The third light-receiving element can receive a wavelength in the range of 900 nm or more and 1500 nm or less.
这里，设系数为k、所期望的波长区域的像素值为N、照度(日射强度)为L，则对NDVI等进行导出时所使用的反射率可以通过k×N/L近似表示。k为用于使像素值的单位与照度的单位一致的系数。Here, assuming that the coefficient is k, the pixel value of the desired wavelength region is N, and the illuminance (solar intensity) is L, the reflectance used when deriving NDVI and the like can be approximated by k×N/L. k is a coefficient for aligning the unit of the pixel value with the unit of illuminance.
即使UAV10的姿态发生变化，摄像***100也经由万向节50控制维持铅垂向下等预设的摄像方向。因此，即使UAV10的姿态发生变化，由摄像***100所拍摄的各个波长区域的图像的像素值也不变。但是，对于照度传感器500，若UAV10的姿态发生变化，则照度传感器500的姿态也发生变化。当照度传感器500的姿态发生变化时，照度传感器500的受光面所接收的光的量可能发生变化。当照度传感器500在多个波长区域的每个波长区域包括多个受光传感器时，由于多个受光传感器的布置位置不同，照度传感器500的姿态发生变化，因此照度传感器500的受光面所接收的光的量可能发生变化。即，当UAV10的姿态发生变化时，则由照度传感器500测量的照度可能发生变化。在该情况下，像素值与照度的比率发生变化，因此NDVI等指数可能发生变化。Even if the posture of the UAV 10 changes, the imaging system 100 is controlled via the universal joint 50 to maintain a preset imaging direction such as vertically downward. Therefore, even if the posture of the UAV 10 changes, the pixel value of the image in each wavelength region captured by the imaging system 100 does not change. However, with regard to the illuminance sensor 500, if the posture of the UAV 10 changes, the posture of the illuminance sensor 500 also changes. When the posture of the illuminance sensor 500 changes, the amount of light received by the light-receiving surface of the illuminance sensor 500 may change. When the illuminance sensor 500 includes multiple light-receiving sensors in each of the multiple wavelength regions, the posture of the illuminance sensor 500 changes due to the different arrangement positions of the multiple light-receiving sensors, so the light received by the light-receiving surface of the illuminance sensor 500 The amount may change. That is, when the posture of the UAV 10 changes, the illuminance measured by the illuminance sensor 500 may change. In this case, the ratio of the pixel value to the illuminance changes, so indices such as NDVI may change.
例如，如图5所示，UAV10沿太阳的方向(方位)向第一方向701飞行的飞行路径1的情况下和在向与第一方向701相反的第二方向飞行的飞行路径2的情况下，入射至照度传 感器500的太阳光的入射角度是不同的。由此，像素值与照度的比发生变化，根据UAV10的飞行方向，NDVI等指数会产生偏差。For example, as shown in FIG. 5, in the case of flight path 1 where the UAV 10 flies in the first direction 701 in the direction (azimuth) of the sun and in the case of flight path 2 in the second direction opposite to the first direction 701 , The incident angle of the sunlight incident on the illuminance sensor 500 is different. As a result, the ratio of the pixel value to the illuminance changes, and the index such as NDVI will deviate depending on the flying direction of the UAV10.
根据时间段不同，照度传感器500所接收的太阳光的光谱是变化的。例如，如图6所示，傍晚时，红色成分的光的比例增加。照度传感器500测量的照度的每个颜色成分的比例变得不均等。UAV10在沿太阳的方向(方位)向第一方向701飞行的飞行路径1的情况下和在向与第一方向701相反的第二方向飞行的飞行路径2的情况下，入射至照度传感器500的太阳光的入射角度是不同的。在这种情况下，UAV10的姿态发生变化，且由照度传感器500测量的各个颜色成分的比例发生变化。由此，像素值与照度的比发生变化，根据UAV10的飞行方向，NDVI等指数产生偏差。According to different time periods, the spectrum of sunlight received by the illuminance sensor 500 changes. For example, as shown in FIG. 6, in the evening, the proportion of red component light increases. The ratio of each color component of the illuminance measured by the illuminance sensor 500 becomes uneven. In the case of the flight path 1 flying in the first direction 701 in the direction (azimuth) of the sun and the flight path 2 flying in the second direction opposite to the first direction 701, the UAV10 is incident on the illuminance sensor 500 The incident angle of sunlight is different. In this case, the posture of the UAV 10 changes, and the ratio of each color component measured by the illuminance sensor 500 changes. As a result, the ratio of the pixel value to the illuminance changes, and the index such as NDVI varies according to the flying direction of the UAV10.
图7是示出NDVI的图像的一个示例。在UAV10的飞行方向为沿着太阳方向的情况下，根据相对太阳的UAV10飞行方向，由照度传感器500测量的照度的大小是变化的。因此，如图7所示，示出NDVI的图像成为沿着UAV10的飞行方向的条纹图案。Fig. 7 is an example showing an image of NDVI. In the case where the flying direction of the UAV 10 is along the direction of the sun, the magnitude of the illuminance measured by the illuminance sensor 500 varies according to the flying direction of the UAV 10 relative to the sun. Therefore, as shown in FIG. 7, the image showing NDVI becomes a striped pattern along the flying direction of the UAV 10.
因此，在本实施方式中，UAV控制部30确定UAV10的飞行路径，使得太阳的方向与UAV10的飞行方向所成的角度包含在预设的角度范围内。预设的角度范围包括90度。UAV控制部30可以确定UAV10的飞行路径，使得太阳的方向与UAV10的飞行方向相交。如图8所示，UAV控制部30可以确定UAV10的飞行路径并非是太阳的方向与UAV10的飞行方向703是相同方向的飞行路径，而成为太阳的方向与UAV10的飞行方向成为垂直相交的飞行路径704。Therefore, in this embodiment, the UAV control unit 30 determines the flight path of the UAV 10 so that the angle formed by the direction of the sun and the flight direction of the UAV 10 is included in the preset angle range. The preset angle range includes 90 degrees. The UAV control unit 30 can determine the flight path of the UAV 10 so that the direction of the sun intersects the flight direction of the UAV 10. As shown in Fig. 8, the UAV control unit 30 can determine that the flight path of UAV10 is not a flight path in which the direction of the sun and the flight direction 703 of UAV10 are the same, but the direction of the sun and the flight direction of UAV10 are perpendicular to the flight path. 704.
UAV控制部30可以获取UAV10在由照度传感器500测量照度的同时进行飞行的日期时间以及位置(纬度/经度)。日期时间可以为UAV10在由照度传感器500测量照度的同时进行飞行的预设测量期间内的第一时间点。第一时间点例如可以为测量期间的中间时间点。所谓中间时间点并不仅意味着从测量期间的开始时刻到结束时刻的正中间的时间点。所谓中间时间点可以为从测量期间的开始时刻到结束时刻中的某一时间点。第一时间点可以为最初的时间点，或者最后的时间点。UAV控制部30可以基于日期时间以及位置来确定如图9所示的太阳800的方位角801。UAV控制部30可以确定UAV10的飞行路径，使得与方位角801所示出的方位垂直的方向成为UAV10的飞行方向。The UAV control unit 30 can acquire the date, time and position (latitude/longitude) of the UAV 10 flying while measuring the illuminance by the illuminance sensor 500. The date and time may be the first time point in the preset measurement period during which the UAV 10 is flying while measuring the illuminance by the illuminance sensor 500. The first time point may be, for example, an intermediate time point during the measurement period. The so-called intermediate time point does not only mean the time point in the middle from the start time to the end time of the measurement period. The so-called intermediate time point may be a certain time point from the start time to the end time of the measurement period. The first time point may be the initial time point or the last time point. The UAV control unit 30 can determine the azimuth angle 801 of the sun 800 as shown in FIG. 9 based on the date, time and position. The UAV control unit 30 can determine the flight path of the UAV 10 so that the direction perpendicular to the azimuth shown by the azimuth angle 801 becomes the flight direction of the UAV 10.
图10是示出UAV控制部30对UAV10的飞行路径进行确定的过程的一个示例的流程图。FIG. 10 is a flowchart showing an example of a process in which the UAV control unit 30 determines the flight path of the UAV 10.
UAV控制部30编辑UAV10的飞行路径(S100)。UAV控制部30编辑飞行路径，以便能够接收地图上的测量对象的区域，测量整个区域的反射率。然后，UAV控制部30接收UAV10在由照度传感器500测量照度的同时进行飞行的日期时间以及位置(经纬度)。UAV 控制部30根据该日期时间以及位置来计算出太阳的方位角。UAV控制部30根据该方位角来确定飞行时间点的太阳的方向(S102)。UAV控制部30也可以根据该日期时间以及位置，经由网络从外部的服务器来获取太阳的方位角。The UAV control unit 30 edits the flight path of the UAV 10 (S100). The UAV control unit 30 edits the flight path so that it can receive the measurement target area on the map and measure the reflectance of the entire area. Then, the UAV control unit 30 receives the date, time and position (latitude and longitude) at which the UAV 10 flew while measuring the illuminance by the illuminance sensor 500. The UAV control unit 30 calculates the azimuth angle of the sun based on the date, time and position. The UAV control unit 30 determines the direction of the sun at the time of flight based on the azimuth angle (S102). The UAV control unit 30 may obtain the azimuth angle of the sun from an external server via the network based on the date, time and position.
UAV控制部30判断飞行路径上的UAV10的飞行方向与太阳的方向所成的角度是否在预设的角度范围内(S104)。如果UAV10的飞行方向与太阳的方向所成的角度在预设的角度范围内，则UAV控制部30不修正飞行路径，而使UAV10按照该飞行路径飞行，并由摄像***100执行拍摄、以及由照度传感器500执行照度测量(S106)。另一方面，如果UAV10的飞行方向与太阳的方向所成的角度在预设的角度范围外，则UAV控制部30修正飞行路径，使得UAV10的飞行方向与太阳的方向所成的角度在预设的角度范围内(S108)。然后，UAV控制部30使UAV10按照修正后的飞行路径飞行，并由摄像***100执行拍摄、以及由照度传感器500执行照度测量(S106)。The UAV control unit 30 determines whether the angle formed by the flying direction of the UAV 10 on the flight path and the direction of the sun is within a preset angle range (S104). If the angle formed by the flying direction of the UAV 10 and the direction of the sun is within the preset angle range, the UAV control unit 30 does not correct the flight path, but makes the UAV 10 fly according to the flight path, and the camera system 100 performs shooting and control The illuminance sensor 500 performs illuminance measurement (S106). On the other hand, if the angle between the flight direction of UAV10 and the direction of the sun is outside the preset angle range, the UAV control unit 30 corrects the flight path so that the angle between the flight direction of UAV10 and the direction of the sun is at the preset angle. Within the angle range (S108). Then, the UAV control unit 30 causes the UAV 10 to fly along the corrected flight path, and the imaging system 100 performs imaging and the illuminance sensor 500 performs illuminance measurement (S106).
存储器32也可预先存储和日期时间以及位置、垂直于太阳的方位的方位相关联的信息。UAV控制部30可以不计算太阳的方位，而参照存储器32，根据日期时间以及位置，直接确定UAV10的飞行方向，使得UAV10的飞行方向与太阳的方向所成的角度在预设的角度范围内。The memory 32 may also store information associated with the date, time, position, and the azimuth perpendicular to the sun in advance. The UAV control unit 30 may not calculate the position of the sun, but refer to the memory 32 to directly determine the flight direction of the UAV 10 based on the date, time and position, so that the angle formed by the flight direction of the UAV 10 and the direction of the sun is within a preset angle range.
如上所述，根据本实施方式，UAV控制部30确定UAV10的飞行路径，使得基于测量对象的日期时间以及位置的太阳的方向与UAV10的飞行方向所成的角度包含在预设的角度范围内。UAV控制部30在使UAV10沿该飞行路径飞行的同时，由摄像***100执行拍摄、以及由照度传感器500执行照度的测量。由此，可抑制随着UAV10姿态的变化而照度传感器500测量的照度产生偏差。因此，可抑制使用了由照度传感器500测量的照度而导出的NVDI等指数产生偏差。As described above, according to this embodiment, the UAV control unit 30 determines the flight path of the UAV 10 so that the angle between the direction of the sun and the flight direction of the UAV 10 based on the date, time and position of the measurement object is included in the preset angle range. While the UAV control unit 30 causes the UAV 10 to fly along the flight path, the imaging system 100 performs imaging and the illuminance sensor 500 performs illuminance measurement. As a result, it is possible to suppress variations in the illuminance measured by the illuminance sensor 500 due to the change in the posture of the UAV 10. Therefore, it is possible to suppress variation in an index such as NVDI derived using the illuminance measured by the illuminance sensor 500.
图11示出可全部或部分地体现本发明的多个方面的计算机1200的一个示例。安装在计算机1200上的程序能够使计算机1200作为与本发明的实施方式所涉及的装置相关联的操作或者该装置的一个或多个“部”而起作用。或者，该程序能够使计算机1200执行该操作或者该一个或多个“部”。该程序能够使计算机1200执行本发明的实施方式所涉及的过程或者该过程的阶段。这种程序可以由CPU1212执行，以使计算机1200执行与本说明书所述的流程图及框图中的一些或者全部方框相关联的指定操作。FIG. 11 shows an example of a computer 1200 that may fully or partially embody various aspects of the present invention. The program installed on the computer 1200 can make the computer 1200 function as an operation associated with the device according to the embodiment of the present invention or one or more "parts" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts". This program enables the computer 1200 to execute the process or stages of the process involved in the embodiment of the present invention. Such a program may be executed by the CPU 1212, so that the computer 1200 executes specified operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.
本实施方式的计算机1200包括CPU1212以及RAM1214，它们通过主机控制装置1210相互连接。计算机1200还包括通信接口1222、输入/输出单元，它们通过输入/输出控制器 1220与主机控制装置1210连接。计算机1200还包括ROM1230。CPU1212按照ROM1230及RAM1214内存储的程序而工作，从而控制各单元。The computer 1200 of this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other through a host control device 1210. The computer 1200 further includes a communication interface 1222, an input/output unit, which is connected to the host control device 1210 through the input/output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates in accordance with programs stored in the ROM 1230 and RAM 1214 to control each unit.
通信接口1222通过网络与其他电子装置通信。硬盘驱动器可以存储计算机1200内的CPU1212所使用的程序及数据。ROM1230在其中存储运行时由计算机1200执行的引导程序等、和/或依赖于计算机1200的硬件的程序。程序通过CR-ROM、USB存储器或IC卡之类的计算机可读记录介质或者网络来提供。程序安装在也作为计算机可读记录介质的示例的RAM1214或ROM1230中，并通过CPU1212执行。这些程序中记述的信息处理由计算机1200读取，并引起程序与上述各种类型的硬件资源之间的协作。可以通过根据计算机1200的使用而实现信息的操作或者处理来构成装置或方法。The communication interface 1222 communicates with other electronic devices through the network. The hard disk drive can store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores therein a boot program executed by the computer 1200 during operation, and/or a program dependent on the hardware of the computer 1200. The program is provided through a computer-readable recording medium such as CR-ROM, USB memory, or IC card, or a network. The program is installed in RAM 1214 or ROM 1230 which is also an example of a computer-readable recording medium, and is executed by CPU 1212. The information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above. The apparatus or method can be constituted by realizing the operation or processing of information according to the use of the computer 1200.
例如，当在计算机1200和外部装置之间执行通信时，CPU1212可执行加载在RAM1214中的通信程序，并且基于通信程序中描述的处理，命令通信接口1222进行通信处理。通信接口1222在CPU1212的控制下，读取存储在RAM1214或USB存储器之类的记录介质内提供的发送缓冲区中的发送数据，并将读取的发送数据发送到网络，或者将从网络接收的接收数据写入记录介质内提供的接收缓冲区等中。For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded in the RAM 1214, and based on the processing described in the communication program, instructs the communication interface 1222 to perform communication processing. The communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as RAM 1214 or USB memory under the control of the CPU 1212, and sends the read transmission data to the network or receives the data from the network. The received data is written into the receiving buffer provided in the recording medium, etc.
此外，CPU1212可以使RAM1214读取USB存储器等外部记录介质所存储的文件或数据库的全部或者需要的部分，并对RAM1214上的数据执行各种类型的处理。接着，CPU1212可以将处理过的数据写回到外部记录介质中。In addition, the CPU 1212 can make the RAM 1214 read all or necessary parts of files or databases stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.
可以将各种类型的程序、数据、表格及数据库之类的各种类型的信息存储在记录介质中，并接受信息处理。对于从RAM1214读取的数据，CPU1212可执行在本公开的各处描述的、包括由程序的指令序列指定的各种类型的操作、信息处理、条件判断、条件转移、无条件转移、信息的检索/替换等各种类型的处理，并将结果写回到RAM1214中。此外，CPU1212可以检索记录介质内的文件、数据库等中的信息。例如，在记录介质中存储具有分别与第二属性的属性值相关联的第一属性的属性值的多个条目时，CPU1212可以从该多个条目中检索出与指定第一属性的属性值的条件相匹配的条目，并读取该条目内存储的第二属性的属性值，从而获取与满足预定条件的第一属性相关联的第二属性的属性值。It is possible to store various types of information such as various types of programs, data, tables, and databases in the recording medium and receive information processing. For the data read from the RAM 1214, the CPU 1212 can perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, and information retrieval/retrieval/information specified by the instruction sequence of the program described in various places in this disclosure. Replace various types of processing, and write the results back to RAM 1214. In addition, the CPU 1212 can search for information in files, databases, and the like in the recording medium. For example, when multiple entries having the attribute value of the first attribute respectively associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 may retrieve the attribute value of the specified first attribute from the multiple entries. The item that matches the condition is read, and the attribute value of the second attribute stored in the item is read, so as to obtain the attribute value of the second attribute that is associated with the first attribute that meets the predetermined condition.
以上描述的程序或者软件模块可以存储在计算机1200上或者计算机1200附近的计算机可读存储介质上。另外，连接到专用通信网络或因特网的服务器***中提供的诸如硬盘或RAM之类的记录介质可以用作计算机可读存储介质，从而可以经由网络将程序提供给计算机1200。The programs or software modules described above may be stored on the computer 1200 or on a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium so that the program can be provided to the computer 1200 via the network.
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to a person of ordinary skill in the art that various changes or improvements can be made to the above-mentioned embodiments. It is obvious from the description of the claims that all such changes or improvements can be included in the technical scope of the present invention.
应该注意的是，权利要求书、说明书以及说明书附图中所示的装置、***、程序以及方法中的动作、顺序、步骤以及阶段等各项处理的执行顺序，只要没有特别明示“在…之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及说明书附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。It should be noted that the execution order of the actions, sequences, steps, and stages of the devices, systems, programs, and methods in the claims, specification, and drawings of the specification, as long as there is no special indication that "before... ", "in advance", etc., and as long as the output of the previous processing is not used in the subsequent processing, it can be implemented in any order. Regarding the operating procedures in the claims, the specification, and the drawings in the specification, the description is made using "first", "next", etc. for convenience, but it does not mean that it must be implemented in this order.

Claims (13)

  1. 一种确定装置，其确定包括照度传感器的飞行体的飞行路径，其特征在于，包括配置成如下的电路：A determining device, which determines the flight path of a flying object including an illuminance sensor, is characterized in that it includes a circuit configured as follows:
    获取所述飞行体在由所述照度传感器测量照度的同时进行飞行的日期时间以及位置；Acquiring the date, time and position when the flying object was flying while the illuminance was measured by the illuminance sensor;
    确定所述飞行体的飞行路径，使得基于所述日期时间以及所述位置的太阳的方向与所述飞行体的飞行方向所成的角度包含在预设的角度范围内。The flight path of the flying body is determined so that the angle between the direction of the sun and the flying direction of the flying body based on the date and time and the position is included in a preset angle range.
  2. 根据权利要求1所述的确定装置，其特征在于，所述预设的角度范围包括90度。The determining device according to claim 1, wherein the preset angle range includes 90 degrees.
  3. 根据权利要求1所述的确定装置，其特征在于，所述日期时间为所述飞行体在由所述照度传感器测量照度的同时进行飞行的测量期间内的第一时间点。The determining device according to claim 1, wherein the date and time is the first time point in a measurement period during which the flying object is flying while the illuminance is measured by the illuminance sensor.
  4. 根据权利要求3所述的确定装置，其特征在于，所述第一时间点为所述测量期间的中间时间点。The determining device according to claim 3, wherein the first time point is an intermediate time point of the measurement period.
  5. 一种飞行体，其特征在于，包括根据权利要求1至4中任一项所述的确定装置和所述照度传感器，并沿所述飞行路径飞行。A flying body, characterized by comprising the determining device according to any one of claims 1 to 4 and the illuminance sensor, and flying along the flight path.
  6. 根据权利要求5所述的飞行体，其特征在于，所述照度传感器包括检测第一波长区域的照度的第一受光元件、检测第二波长区域的照度的第二受光元件和检测第三波长区域的照度的第三受光元件。The flying object according to claim 5, wherein the illuminance sensor includes a first light receiving element that detects illuminance in a first wavelength region, a second light receiving element that detects illuminance in a second wavelength region, and a third wavelength region that detects illuminance. The third light-receiving element of the illuminance.
  7. 根据权利要求5所述的飞行体，其特征在于，所述照度传感器设置于所述飞行体的顶部。The flying body according to claim 5, wherein the illuminance sensor is arranged on the top of the flying body.
  8. 根据权利要求7所述的飞行体，其特征在于，还包括摄像装置。The flying body according to claim 7, further comprising a camera device.
  9. 根据权利要求8所述的飞行体，其特征在于，还包括可控制所述摄像装置的姿态地支撑所述摄像装置的支撑机构，The flying body according to claim 8, further comprising a support mechanism that can control the attitude of the camera device to support the camera device,
    所述支撑机构设置于所述飞行体的与所述顶部相对侧的区域。The supporting mechanism is provided in an area of the flying body opposite to the top.
  10. 根据权利要求8所述的飞行体，其特征在于，所述摄像装置为在多个波段的每个波段对被摄体进行拍摄的多光谱相机。The flying object according to claim 8, wherein the imaging device is a multi-spectral camera that photographs the subject in each of a plurality of wavelength bands.
  11. 根据权利要求5所述的飞行体，其特征在于，包括多个旋翼。The flying body according to claim 5, characterized in that it comprises a plurality of rotors.
  12. 一种确定方法，其确定包括照度传感器的飞行体的飞行路径，其特征在于，包括以下步骤：A determination method, which determines the flight path of a flying object including an illuminance sensor, is characterized in that it includes the following steps:
    获取所述飞行体在由照度传感器测量照度的同时进行飞行的日期时间以及位置；Acquiring the date, time and position when the flying object was flying while the illuminance was measured by the illuminance sensor;
    确定所述飞行体的飞行路径，使得基于所述日期时间以及所述位置的太阳的方向与所述 飞行体的飞行方向所成的角度包含在预设的角度范围内。The flight path of the flying body is determined so that the angle between the direction of the sun and the flying direction of the flying body based on the date and time and the position is included in a preset angle range.
  13. 一种程序，其特征在于，其用于使计算机作为根据权利要求1至4中任一项所述的确定装置而发挥功能。A program characterized by causing a computer to function as the determining device according to any one of claims 1 to 4.
PCT/CN2020/133222 2019-12-13 2020-12-02 Determining device, flying object, determining method, and program WO2021115166A1 (en)

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