WO2023019445A1 - Procédé de traitement d'image, véhicule aérien sans pilote et support de stockage - Google Patents
Procédé de traitement d'image, véhicule aérien sans pilote et support de stockage Download PDFInfo
- Publication number
- WO2023019445A1 WO2023019445A1 PCT/CN2021/113096 CN2021113096W WO2023019445A1 WO 2023019445 A1 WO2023019445 A1 WO 2023019445A1 CN 2021113096 W CN2021113096 W CN 2021113096W WO 2023019445 A1 WO2023019445 A1 WO 2023019445A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- attitude
- light intensity
- intensity sensor
- unmanned aerial
- aerial vehicle
- Prior art date
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- 238000003672 processing method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 61
- 238000012545 processing Methods 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims description 33
- 238000009434 installation Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 16
- 238000005286 illumination Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 12
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- 238000013480 data collection Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
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Images
Classifications
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Definitions
- Fig. 8 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
- Figure 9 is a schematic block diagram of an unmanned aerial vehicle in another embodiment.
- the light intensity sensor outputs an analog electrical signal under lighting conditions
- brightness information can be determined according to the analog electrical signal output by the light intensity sensor.
- the photographing device further includes a color camera.
- the color camera can also be controlled to photograph the target plot to obtain a color image; and according to the color image Image enhancement is performed on each reflectance image.
- the attitude adjustment is controlled according to the target state of the attitude adjustment device corresponding to the current attitude of the light intensity sensor device, so that the angle between the detection direction of the light intensity sensor and the horizontal plane is basically equal to the preset value.
- the status of the attitude adjustment device may include at least one of the following: the rotation direction, rotation range, and rotation position of the motor in the attitude adjustment device.
- the controlling the attitude adjustment device to adjust the attitude of the light sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light sensor includes: according to the The current attitude of the unmanned aerial vehicle and the installation relationship between the unmanned aerial vehicle and the light intensity sensor determine the current attitude of the light intensity sensor; control the attitude adjustment device to adjust the light according to the current attitude of the light intensity sensor Strong sensor pose.
- the method further includes: when the current sun altitude angle is greater than or equal to a first altitude angle threshold, controlling the attitude adjustment device to fix the light intensity sensor.
- the current unmanned aerial vehicle In order to ensure the compensation effect for the change of ambient light, the current unmanned aerial vehicle usually requires the completion of data collection between 12:00 noon and 2:00 p.m. when the sun altitude angle is basically the highest in the day, but This also greatly shortens the operation time, which is not conducive to carrying out large-scale data collection operations.
- the operating area can be obtained by the terminal device according to the user's area setting operation, or obtained by the position sensor mounted on the unmanned aerial vehicle or the terminal device.
- the position sensor includes, for example, a GPS sensor, an RTK sensor, and is certainly not limited to this.
- the operation area may also be a latitude and longitude, or an administrative division, or a geographical area.
- the determination of the operation time of the second sun altitude angle information it can be made that during the operation time, the brightness information collected by the light intensity sensor is less affected by the flight direction and/or attitude of the unmanned aerial vehicle, and the brightness information more acurrate.
- the sun altitude angle during the operation time is relatively high, and it is difficult for the light intensity sensor to face the sun due to the adjustment of the attitude or flight direction of the unmanned aerial vehicle, which can avoid or reduce the light intensity when the unmanned aerial vehicle adjusts the flight direction or attitude.
- the brightness information collected by the sensor changes greatly, so that the streak phenomenon on the image after the light compensation processing can be reduced or eliminated.
- the second elevation angle threshold is determined according to the performance of the light intensity sensor. So that when the sun altitude angle is greater than the second altitude angle threshold value, the unmanned aerial vehicle adjusts the flight direction or attitude, and the brightness information collected by the light intensity sensor changes little, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same , the data collected by the light intensity sensor is more accurate. Therefore, it is possible to provide an operation time that matches the optical characteristics of the illumination sensor and can ensure that the optical sensor effectively collects data, and helps the optical sensor to collect effective data.
- the unmanned aerial vehicle When the unmanned aerial vehicle is flying, by adjusting the angle between the detection direction of the light intensity sensor and the horizontal plane to be greater than or equal to the preset value, it is possible to make the unmanned aerial vehicle have different headings and Attitude, the angle of sunlight incident on the light intensity sensor can also be kept basically the same, so the influence of the flight direction and/or attitude of the UAV on the brightness information collected by the light intensity sensor can be reduced, and more accurate brightness information can be obtained.
- the attitude adjustment device is controlled to fix the light intensity sensor.
- the second solar altitude angle information of the operation area on the operation date is determined.
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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
La demande concerne un procédé de traitement d'image, consistant à : commander un dispositif de réglage d'attitude afin de régler l'attitude d'un capteur d'intensité lumineuse, de telle sorte qu'une direction de détection du capteur d'intensité lumineuse soit tournée vers le dessus du fuselage d'un véhicule aérien sans pilote (S110); commander le capteur d'intensité lumineuse afin d'acquérir des informations de luminosité (S120); et réaliser d'un traitement de compensation de lumière sur une image en fonction des informations de luminosité, l'image étant photographiée par un dispositif de photographie monté sur le véhicule aérien sans pilote (S130). De cette manière, l'image peut être traitée en fonction d'informations de luminosité plus précises. La présente demande concerne en outre un véhicule aérien sans pilote et un support de stockage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/113096 WO2023019445A1 (fr) | 2021-08-17 | 2021-08-17 | Procédé de traitement d'image, véhicule aérien sans pilote et support de stockage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/113096 WO2023019445A1 (fr) | 2021-08-17 | 2021-08-17 | Procédé de traitement d'image, véhicule aérien sans pilote et support de stockage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023019445A1 true WO2023019445A1 (fr) | 2023-02-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2021/113096 WO2023019445A1 (fr) | 2021-08-17 | 2021-08-17 | Procédé de traitement d'image, véhicule aérien sans pilote et support de stockage |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2023019445A1 (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268170A (zh) * | 2023-10-23 | 2023-12-22 | 广州天海翔航空科技有限公司 | 一种无人机弹射控制方法、装置、设备和存储介质 |
Citations (5)
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|---|---|---|---|---|
| WO2013143190A1 (fr) * | 2012-03-27 | 2013-10-03 | 江苏振发新能源科技发展有限公司 | Système de poursuite solaire pour un service automatique de production d'énergie photovoltaïque |
| CN106027915A (zh) * | 2016-07-05 | 2016-10-12 | 杨珊珊 | 无人飞行器的补光***及其补光方法 |
| CN205726068U (zh) * | 2016-07-05 | 2016-11-23 | 杨珊珊 | 无人飞行器的补光装置 |
| CN110720210A (zh) * | 2018-07-11 | 2020-01-21 | 深圳市大疆创新科技有限公司 | 照明设备控制方法、设备、飞行器及*** |
| CN110832419A (zh) * | 2018-07-25 | 2020-02-21 | 深圳市大疆创新科技有限公司 | 一种无人机控制方法、***及无人机 |
-
2021
- 2021-08-17 WO PCT/CN2021/113096 patent/WO2023019445A1/fr unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013143190A1 (fr) * | 2012-03-27 | 2013-10-03 | 江苏振发新能源科技发展有限公司 | Système de poursuite solaire pour un service automatique de production d'énergie photovoltaïque |
| CN106027915A (zh) * | 2016-07-05 | 2016-10-12 | 杨珊珊 | 无人飞行器的补光***及其补光方法 |
| CN205726068U (zh) * | 2016-07-05 | 2016-11-23 | 杨珊珊 | 无人飞行器的补光装置 |
| CN110720210A (zh) * | 2018-07-11 | 2020-01-21 | 深圳市大疆创新科技有限公司 | 照明设备控制方法、设备、飞行器及*** |
| CN110832419A (zh) * | 2018-07-25 | 2020-02-21 | 深圳市大疆创新科技有限公司 | 一种无人机控制方法、***及无人机 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117268170A (zh) * | 2023-10-23 | 2023-12-22 | 广州天海翔航空科技有限公司 | 一种无人机弹射控制方法、装置、设备和存储介质 |
| CN117268170B (zh) * | 2023-10-23 | 2024-03-22 | 广州天海翔航空科技有限公司 | 一种无人机弹射控制方法、装置、设备和存储介质 |
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