CN109213187A - A kind of displacement of unmanned plane determines method, apparatus and unmanned plane - Google Patents
A kind of displacement of unmanned plane determines method, apparatus and unmanned plane Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 93
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
本发明公开了一种无人机的位移确定方法、装置及无人机，在采集到周围环境的光照度之后，若确定所述光照度不高于设定的光照度阈值，则可选择红外相机对无人机视界范围内的地面区域进行图像采集，以得到红外图像，并可基于所述红外图像以及所述无人机距离地面的高度信息，计算所述无人机的对地偏移量，以及可根据所述无人机的对地偏移量，确定所述无人机的位移。相比于现有技术，在本发明实施例中，在没有光照或者光照度较低的环境中，仍然能够对无人机视界范围内的地面区域进行图像采集，并能够保证采集到的图像的纹理清晰度，从而提升了无人机位移确定的准确性、适用性以及安全性。
The invention discloses a method and device for determining the displacement of an unmanned aerial vehicle, and the unmanned aerial vehicle. After collecting the illuminance of the surrounding environment, if it is determined that the illuminance is not higher than a set illuminance threshold, an infrared camera can be selected to detect the unmanned aerial vehicle. Image acquisition is performed on the ground area within the human-machine field of view to obtain an infrared image, and based on the infrared image and the height information of the UAV from the ground, the ground offset of the UAV can be calculated, and The displacement of the UAV can be determined according to the offset of the UAV to the ground. Compared with the prior art, in the embodiment of the present invention, in an environment with no illumination or low illumination, the image capture of the ground area within the field of view of the drone can still be performed, and the texture of the captured image can be guaranteed. Therefore, the accuracy, applicability and safety of UAV displacement determination are improved.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of displacement of unmanned plane determine method, apparatus and nobody
Machine.
Background technique
Currently, unmanned plane is weaker in GPS (Global Positioning System, global positioning system) signal
Environment, such as when in indoor, bridge opening region, usually can realize itself by the vision positioning mode based on optic flow technique
Displacement determines.
Specifically, unmanned plane can measure distance apart from ground based on the distance measuring sensor of itself, and can based on itself
Camera carries out Image Acquisition to ground；And the displacement of unmanned plane can be determined based on the offset over the ground being calculated.Wherein,
The offset over the ground be according in collected two continuous frames image, the positional relationship of marker it is corresponding with ground coordinate close
System's determination.But existing camera has strict requirements to the illumination of ambient enviroment in imaging, in no illumination or
In the lower situation of person's illuminance, the textural characteristics of acquired image are difficult to identify, this may will lead to optical flow algorithm
Calculated result failure or error are larger, and then may reduce the determining accuracy of unmanned plane displacement；
That that is, the displacement of existing unmanned plane determines method, there are accuracys is lower, applicability is lower and safe
The poor problem of property.
Summary of the invention
The embodiment of the invention provides a kind of displacements of unmanned plane to determine method, apparatus and unmanned plane, existing to solve
The displacement of unmanned plane determine accuracy is lower, applicability is lower and safety is lower problem present in method.
The embodiment of the invention provides a kind of displacements of unmanned plane to determine method, comprising:
Acquire the illuminance of ambient enviroment；
If it is determined that the illuminance then selects infrared camera to unmanned plane vision range not higher than the illuminance threshold value of setting
Interior ground region carries out Image Acquisition, to obtain infrared image；
Elevation information based on the infrared image and the unmanned plane apart from ground calculates the unmanned plane over the ground
Offset；
According to the offset over the ground of the unmanned plane, the displacement of the unmanned plane is determined.
Correspondingly, the embodiment of the invention also provides a kind of displacement determining devices of unmanned plane, comprising:
Acquisition module, for acquiring the illuminance of ambient enviroment；
Selecting module, for if it is determined that the illuminance then selects infrared camera pair not higher than the illuminance threshold value of setting
Ground region in unmanned plane vision range carries out Image Acquisition, to obtain infrared image；
Computing module calculates institute for the elevation information based on the infrared image and the unmanned plane apart from ground
State the offset over the ground of unmanned plane；
Determining module determines the displacement of the unmanned plane for the offset over the ground according to the unmanned plane.
Further, the embodiment of the invention also provides a kind of unmanned plane, including described in the embodiment of the present invention nobody
The displacement determining device of machine.
In addition, the embodiment of the invention also provides a kind of calculating equipment, including memory and processor, in which:
The memory, for storing program instruction；
The processor executes this hair according to the program of acquisition for calling the program instruction stored in the memory
The displacement of bright unmanned plane as described in the examples determines method.
Further more, the computer storage medium is stored with the embodiment of the invention also provides a kind of computer storage medium
Computer executable instructions, the computer executable instructions are for executing the computer described in the embodiment of the present invention
The displacement of unmanned plane determines method.
The present invention has the beneficial effect that:
The embodiment of the invention provides a kind of displacements of unmanned plane to determine method, apparatus and unmanned plane, around collecting
After the illuminance of environment, however, it is determined that infrared camera then may be selected to nothing not higher than the illuminance threshold value of setting in the illuminance
Ground region in man-machine vision range carries out Image Acquisition, to obtain infrared image, and can based on the infrared image and
Elevation information of the unmanned plane apart from ground calculates the offset over the ground of the unmanned plane, and can be according to the unmanned plane
Offset over the ground, determine the displacement of the unmanned plane.Compared with the prior art, in embodiments of the present invention, in no illumination
Or in the lower environment of illuminance, it still is able to carry out the ground region in unmanned plane vision range Image Acquisition, and energy
Enough guarantee the texture definition of acquired image, to improve unmanned plane displacement determining accuracy and applicability；And
Since illumination is no longer to influence the determining limiting factor of unmanned plane displacement, thus also can avoid because the erroneous judgement of illuminance is brought
Security risk, and then promote the determining safety of unmanned plane displacement.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
The displacement that Fig. 1 show the unmanned plane provided in the embodiment of the present invention one determines the flow diagram of method；
Fig. 2 (a) show the schematic diagram of the former frame infrared image provided in the embodiment of the present invention one；
Fig. 2 (b) show the schematic diagram of the current infrared image provided in the embodiment of the present invention one:
The displacement that Fig. 3 show a kind of possible unmanned plane provided in the embodiment of the present invention one determines that the process of method is shown
It is intended to；
Fig. 4 show the structural schematic diagram of the displacement determining device of the unmanned plane provided in the embodiment of the present invention two；
Fig. 5 show the structural schematic diagram of the hovering system of the unmanned plane provided in the embodiment of the present invention two；
Fig. 6 show a kind of possible structural representation of the hovering system of the unmanned plane provided in the embodiment of the present invention two
Figure；
Fig. 7 show the structural schematic diagram of calculating equipment described in the embodiment of the present invention three.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Embodiment one:
Determine that accuracy present in method is lower, applicability is lower and peace to solve the displacement of existing unmanned plane
The poor problem of full property, the displacement that the embodiment of the present invention one provides a kind of unmanned plane determine method, as shown in Figure 1, it is this
The displacement of unmanned plane described in inventive embodiments one determines the flow diagram of method.Specifically, as shown in Figure 1, of the invention
The displacement of unmanned plane described in embodiment one determines that method can comprise the following steps that
Step 101: acquiring the illuminance of ambient enviroment.
Wherein, the ambient enviroment can refer to the ambient enviroment of corresponding unmanned plane, the indoor environment etc. as where unmanned plane,
This is not repeated.
Optionally, the illuminance of ambient enviroment is acquired, it may include:
By the sensitive chip being arranged independently of respective camera, the illuminance of ambient enviroment is acquired；And/or
By Visible Light Camera, Image Acquisition is carried out to ambient enviroment, and determine based on the gray value of acquired image
The illuminance of ambient enviroment.
Certainly, it should be noted that the sensitive chip may also be arranged on corresponding camera, as long as can be to ring around
The illuminance in border accurately acquire, and is not limited in any way to this.
When needing to determine the illuminance of ambient enviroment by gray value, surrounding can be determined according to the size of gray value
The size of the illuminance of environment, for example, when the gray value is higher, it may be determined that the illuminance of the ambient enviroment is higher, institute
State gray value it is lower when, it may be determined that the illuminance of the ambient enviroment is lower, does not repeat this.
It should be noted that under normal conditions, if being previously provided with sensitive chip, can preferentially select sensitive chip to carry out
The acquisition of illuminance can preferentially select camera to carry out the acquisition of illuminance if being not provided with sensitive chip in advance.
Optionally, the illuminance of ambient enviroment is acquired, comprising:
The illuminance of acquisition ambient enviroment in real time；And/or
Every setting duration, the illuminance of ambient enviroment is acquired.
That is, it is generally the case that spirit can be carried out according to actual demand to the frequency of ambient enviroment illuminance acquisition
It is arranged livingly, if the precision of demand is higher, needs the acquisition of real-time perfoming ambient enviroment illuminance, if the precision of demand
It is lower, then this can not be limited in any way every the acquisition of setting duration progress ambient enviroment illuminance.
Wherein, it should be noted that the setting duration can flexible setting according to the actual situation, such as may be configured as 1 second,
1 minute or 2 hours etc., as long as can satisfy actual acquisition demand, the embodiment of the present invention was not limited in any way this.
Step 102: if it is determined that the illuminance then selects infrared camera to unmanned plane not higher than the illuminance threshold value of setting
Ground region in vision range carries out Image Acquisition, to obtain infrared image.
Wherein, it should be noted that the illuminance threshold value can flexible setting according to the actual situation, such as may be configured as 1Lux
(lux is reduced to Lx), 10Lux or 20Lux etc., the embodiment of the present invention is not limited in any way this.
Ground region in unmanned plane vision range described herein usually can refer to shoot by the camera of unmanned plane
The ground region arrived, the ground region usually can refer to the other objects of ground itself and distribution on the ground, be such as distributed in
Mountains and rivers, river, high building on ground etc..
Certainly, typically, the displacement of unmanned plane described in the embodiment of the present invention determines that method is to be applicable in ring indoors
In border, thus in embodiments of the present invention, the ground region can be indoor pendent lamp, tables and chairs, bottom plate etc., as long as space bit
Setting in the lower section of unmanned plane, it is believed that not repeating in the ground region this.
It follows that in embodiments of the present invention, due to using infrared camera to ground area in unmanned plane vision range
Domain has carried out Image Acquisition, thus in no illumination or the lower environment of illuminance, it still is able to guarantee collected red
The texture definition of outer image, and then can guarantee the accuracy of the subsequent offset over the ground being calculated and to unmanned plane control
The accuracy of system.That is, being able to ascend the determining accuracy of unmanned plane displacement.
Step 103: the elevation information based on the infrared image and the unmanned plane apart from ground, calculate it is described nobody
The offset over the ground of machine.
Wherein, the elevation information generally can be the unmanned plane obtained by corresponding distance measuring sensor measurement apart from ground
Elevation information；The distance measuring sensor may be generally disposed on the unmanned plane, such as may be provided at the unmanned plane wing,
Tail, head etc., as long as the information that can guarantee that measurement obtains being capable of the distance between accurate characterization unmanned plane and ground；
Certainly, it should be noted that in order to guarantee the accuracy of the elevation information, the distance measuring sensor may also include multiple distributions
Sub- distance measuring sensor in the multiple positions of unmanned plane.
In addition, the distance measuring sensor (or each sub- distance measuring sensor) generally can be ultrasonic range finder sensor, micro-
Wave radar range finding sensor etc., does not repeat this.
Specifically, the elevation information based on the infrared image and the unmanned plane apart from ground, calculate it is described nobody
The offset over the ground of machine, it may include:
Determine the pixel difference between current infrared image and former frame infrared image；
Based on the pixel difference and the elevation information, the offset over the ground is determined.
Wherein, the current infrared image refers to current time by the infrared camera acquired image, before described
One frame infrared image refer to before current infrared image by the infrared camera it is collected, with the current infrared image
Continuous image.That is, the current infrared image and the former frame infrared image can be two frame infrared images of continuous acquisition,
This is not repeated.
Specifically, the former frame infrared image can be as shown in Fig. 2 (a), and the current infrared image can be such as Fig. 2 (b) institute
Show.It should be noted that X-axis described in Fig. 2 and Y-axis generally can be the ground region in the unmanned plane vision range
Transverse and longitudinal coordinate, described (0,0) point generally can be pre-set reference origin.It should be noted that the reference origin can root
According to actual conditions flexible setting, such as the reference can be set by any point in the ground region in unmanned plane vision range
Origin or described reference origin etc. is set by the location point where a certain marker, this is not repeated.
It is assumed that a certain marker P (being located at the jobbie on the ground region in the unmanned plane vision range) exists
Coordinate in the former frame infrared image can be P1 (x1, y1), the coordinate in the current infrared image can for P2 (x2,
Y2), then it can determine and collecting in former frame infrared image to the time for collecting current infrared image, the marker P's
Coordinate is moved to (x2, y2) from (x1, y1), and then can be based on existing Image Feature Point Matching algorithm, is determined described previous
Pixel difference between frame infrared image and the current infrared image such as can be (△ x, △ y).
Later, it can be based on the pixel difference and the elevation information, determine the offset over the ground, that is, can be by existing
Some optical flow algorithms calculate the offset over the ground.For example, it is assumed that the pixel difference is (△ x, △ y), then it can pass through following public affairs
The offset over the ground is calculated in formula 1:
Wherein, the dx indicates the physical length of each pixel on sensitive chip, and the dy is indicated on sensitive chip
Each pixel physical width, the f indicates the focal length of the infrared camera, and the H indicates elevation information, the Δ x
Indicate the pixel difference in the X-axis between first infrared image and second infrared image, the Δ y indicates described the
The pixel difference in Y-axis between one infrared image and second infrared image, the DX indicate the unmanned plane along X-axis
Mobile distance, the DY indicate the distance that the unmanned plane is moved along the Y-axis.
It should be noted that corresponding sensitive chip ought be not provided in advance, but infrared camera is selected to carry out illuminance
Acquisition when, then the dx can indicate the physical length of each pixel on the photosensitive element of the infrared camera, the dy
The physical width that can indicate each pixel on the photosensitive element of infrared camera, does not repeat this.
Step 104: according to the offset over the ground of the unmanned plane, determining the displacement of the unmanned plane.
For example, it is assumed that the offset over the ground of the unmanned plane be (10cm, 15cm), then can determine the unmanned plane relatively on
The displacement of the generation of one position (stop position, such as hovering position) is (10cm, 15cm), is not repeated this.
Optionally, when selection infrared camera carries out Image Acquisition to the ground region in unmanned plane vision range, institute
The displacement for stating unmanned plane determines that method may also include that
Infrared light filling is carried out to the ground region in the unmanned plane vision range.
Specifically, infrared light filling is carried out to the ground region in the unmanned plane vision range, it may include:
By opening the infrared light compensating lamp being arranged on the infrared camera, to the ground in the unmanned plane vision range
Face region carries out infrared light filling；And/or
By opening the infrared light compensating lamp being arranged in except the infrared camera, to the ground in the unmanned plane vision range
Face region carries out infrared light filling.
It should be noted that the infrared light compensating lamp being arranged in except the infrared camera usually may include being arranged in ground area
Infrared light compensating lamp, the infrared light compensating lamp being arranged in the other positions (such as wing, tail) of the unmanned plane in domain etc. are right
This is not repeated.
Further, after determining the offset over the ground of the unmanned plane, the displacement of the unmanned plane determines method also
Can include:
Receive hovering instruction when, according to the offset over the ground, unmanned plane is controlled, with realize it is described nobody
The hovering of machine.
It should be noted that the hovering instruction is usually to be sent to corresponding unmanned plane or nothing by corresponding controller
Man-machine displacement determining device, and the format of the hovering instruction can flexible setting according to the actual situation, such as may be configured as
1011,1022 etc., the embodiment of the present invention is not limited in any way this.
Specifically, when receiving hovering instruction, according to the offset over the ground, unmanned plane is controlled, to realize
The hovering of the unmanned plane, it may include:
When receiving hovering instruction, according to the offset over the ground, determination is contrary, big with the offset over the ground
Small identical reserve migration amount over the ground；
According to the reserve migration amount over the ground, the movement of the unmanned plane is controlled, to realize the hovering of the unmanned plane.
For example, it is assumed that the offset over the ground can be (DX, DY), then the reserve migration amount over the ground can be (- DX ,-DY),
I.e. when receive hovering instruction when, can first determine that the offset over the ground of unmanned plane described in current time, and can be based on it is described right
Ground offset determines corresponding reversed offset over the ground, and can control the unmanned plane according to the reversed offset over the ground and carry out
Reverse movement, to achieve the purpose that unmanned plane hovers；And since the amount of reserve migration over the ground is big with the offset over the ground
Small identical vector, it is thus possible to guarantee the accuracy of unmanned plane hovering.
In addition, it is necessary to explanation, when the displacement determining device of the unmanned plane is also equipped with corresponding store function, also
Collected infrared image is stored as reference ir image when will can receive hovering instruction first, what subsequent acquisition arrived
Each infrared image all only carries out the calculating of offset over the ground with the reference ir image, and can be according to pair being calculated
Ground offset determines corresponding reserve migration amount over the ground, and can carry out unmanned plane according to the amount of reserve migration over the ground being calculated
Control, thus can also further be promoted unmanned plane hovering accuracy.Furthermore in order to promote the accuracy of unmanned plane hovering,
The calculating that can also repeatedly carry out offset over the ground, does not repeat this.
Further, the displacement of the unmanned plane determines that method may also include that
If it is determined that the illuminance is higher than the illuminance threshold value of setting, then select Visible Light Camera to the unmanned plane visual field
Ground region in range carries out Image Acquisition, to obtain visible images；
Elevation information based on the visible images and the unmanned plane apart from ground calculates pair of the unmanned plane
Ground offset.
It should be noted that can also continue to execute step described in the embodiment of the present invention after determining offset over the ground
Rapid 104, until realizing that the displacement of the unmanned plane determines.In addition, after executing the step 104, if receiving corresponding outstanding
When stop instruction, also the unmanned plane can be controlled according to the offset over the ground and realize hovering, this is not repeated.
That is, it is real that Visible Light Camera same as the prior art still can be used in the higher environment of illuminance
The acquisition of existing image, details are not described herein again.
In the following, it is detailed to determine that method carries out to the displacement of unmanned plane described in the embodiment of the present invention with a specific example
Ground introduction, as shown in figure 3, it determines the process of method for a kind of displacement of possible unmanned plane described in the embodiment of the present invention
Schematic diagram.Specifically, from the figure 3, it may be seen that the displacement of the unmanned plane determines that method can comprise the following steps that
The first step starts；
Second step acquires ambient light illumination L；
Third step, judges whether the illuminance L is not less than the illuminance threshold value L0 of setting；Wherein, the illuminance threshold
Value L0 can be stored in advance in corresponding memory (memory of the visual processing unit of such as unmanned plane is medium), can also temporarily into
Row setting, is not limited in any way this.
4th step, if so, being shot using infrared camera to the ground region in unmanned plane vision range；
5th step, if it is not, being shot using Visible Light Camera to the ground region in unmanned plane vision range；
6th step determines the displacement of unmanned plane based on optical flow algorithm.
It should be noted that in embodiments of the present invention, infrared integrated camera can be used, wherein may include infrared cutoff
Optical filter and full impregnated spectral filter (such as may include that IR-CUT automatically switches filter), can be according to the light of ambient enviroment
Strong and weak switching.For example, control IR cut filter can be switched to automatically (or manually) in the illuminance abundance of ambient enviroment
Piece；In the illuminance deficiency of ambient enviroment, control full impregnated spectral filter can be switched to automatically (or manually).Furthermore it is cutting
When shifting to full impregnated spectral filter, also openable infrared light filling to guarantee the clarity of the image texture taken, and then guarantees
Unmanned plane displacement determining accuracy and applicability, moreover it is possible to promote the safety that unmanned plane is displaced the method for determination.
Further, after executing above-mentioned 6th step, unmanned plane can also be controlled according to the offset over the ground
System, to realize the hovering of the unmanned plane, so that the accurate fixed and practicability of unmanned plane hovering can not only be promoted, moreover it is possible to mention
Rise the safety of the unmanned plane hovering.
Certainly, it should be noted that in embodiments of the present invention, independent infrared camera and visible light phase also can be used
Machine realizes the shooting of the image under varying environment respectively.In addition, it is necessary to explanation, when the infrared camera with it is described visible
When light camera is respectively arranged, also settable corresponding switch unit, to realize the infrared camera and Visible Light Camera
Between switching.Wherein, switch unit can be the device that opens the light accordingly, such as can be transistor, and hardware switch etc. does not appoint this
What is limited.
The displacement that the embodiment of the present invention one provides a kind of unmanned plane determines method, in the illuminance for collecting ambient enviroment
Later, however, it is determined that infrared camera then may be selected to unmanned plane vision range not higher than the illuminance threshold value of setting in the illuminance
Interior ground region carries out Image Acquisition, to obtain infrared image, and can based on the infrared image and the unmanned plane away from
Elevation information from the ground, calculates the offset over the ground of the unmanned plane, and can according to the offset over the ground of the unmanned plane,
Determine the displacement of the unmanned plane.Compared with the prior art, in embodiments of the present invention, lower in no illumination or illuminance
Environment in, still be able to carry out Image Acquisition to the ground region in unmanned plane vision range, and can guarantee collected
The texture definition of image, to improve unmanned plane displacement determining accuracy and applicability；And since illumination is no longer
The determining limiting factor of unmanned plane displacement is influenced, thus also can avoid security risk brought by the erroneous judgement because of illuminance, into
And promote the determining safety of unmanned plane displacement.
Embodiment two:
Based on inventive concept identical with the embodiment of the present invention one, second embodiment of the present invention provides a kind of positions of unmanned plane
Determining device is moved, as shown in figure 4, its structural representation for the displacement determining device of unmanned plane described in the embodiment of the present invention two
Figure.Specifically, as shown in Figure 4, the displacement determining device of unmanned plane described in the embodiment of the present invention can include:
Acquisition module 41 can be used for acquiring the illuminance of ambient enviroment；
Selecting module 42 can be used for if it is determined that the illuminance then selects infrared phase not higher than the illuminance threshold value of setting
Machine carries out Image Acquisition to the ground region in unmanned plane vision range, to obtain infrared image；
Computing module 43 can be used for the elevation information based on the infrared image and the unmanned plane apart from ground, meter
Calculate the offset over the ground of the unmanned plane；
Determining module 44 can be used for the offset over the ground according to the unmanned plane, determine the displacement of the unmanned plane.
That is, in embodiments of the present invention, it may include for acquiring the acquisition module of the illuminance of ambient enviroment, using
In if it is determined that the illuminance then selects infrared camera to the ground in unmanned plane vision range not higher than the illuminance threshold value of setting
Face region carry out Image Acquisition, with obtain infrared image selecting module, for based on the infrared image and it is described nobody
Elevation information of the machine apart from ground, calculate the offset over the ground of the unmanned plane computing module and for according to it is described nobody
The offset over the ground of machine, determines the determining module of the displacement of the unmanned plane.Compared with the prior art, in the embodiment of the present invention
In, in no illumination or the lower environment of illuminance, it still is able to carry out the ground region in unmanned plane vision range
Image Acquisition, and can guarantee the texture definition of acquired image, to improve the determining accuracy of unmanned plane displacement
And applicability；And since illumination is no longer to influence the determining limiting factor of unmanned plane displacement, thus also can avoid because of illumination
Security risk brought by the erroneous judgement of degree, and then promote the determining safety of unmanned plane displacement.
Wherein, the acquisition module 41 generally can be corresponding sensitive chip, can also be the infrared camera sheet certainly
Body, the selecting module 42 generally can be corresponding camera switching device, do not repeat this.
It should be noted that the displacement determining device of unmanned plane described in the embodiment of the present invention can be used as an integrating device
It is integrated in corresponding unmanned plane, also can be used as the outside that a self-contained unit is independently arranged at corresponding unmanned plane, the present invention is implemented
Example is not limited in any way this.
Optionally, the acquisition module 41 is particularly used in the illuminance of acquisition ambient enviroment in real time；And/or Mei Geshe
Timing is long, acquires the illuminance of ambient enviroment.
Wherein, the setting duration can flexible setting according to the actual situation, such as may be configured as 1 second, 20 seconds or 1 minute
Deng the embodiment of the present invention is not limited in any way this.
Specifically, the computing module 43 is particularly used in and determines between current infrared image and former frame infrared image
Pixel difference；And it is based on the pixel difference and the elevation information, determine the offset over the ground.
Wherein, the specific calculation of the pixel difference can be found in content described in the embodiment of the present invention one, herein not
It repeats again.
Further, the displacement determining device of the unmanned plane may also include control module 45:
The control module 45 can be used for when receiving hovering instruction, according to the offset over the ground, to unmanned plane into
Row control, to realize the hovering of the unmanned plane.
Specifically, the control module 45 is particularly used in when receiving hovering instruction, is deviated over the ground according to described
Amount determines, size identical over the ground reserve migration amount contrary with the offset over the ground；And according to described reversed inclined over the ground
Shifting amount controls the movement of the unmanned plane, to realize the hovering of the unmanned plane.
Wherein, the hovering instruction generally can be corresponding controller and be sent to the unmanned plane displacement determining device,
This is not repeated.
Optionally, the displacement determining device of the unmanned plane may also include supplementary lighting module 46:
The supplementary lighting module 46 can be used for carrying out figure to the ground region in unmanned plane vision range in selection infrared camera
When as acquisition, infrared light filling is carried out to the ground region in the unmanned plane vision range.
For example, can be by opening the infrared light compensating lamp being arranged on the infrared camera, to the unmanned plane visual field model
Ground region in enclosing carries out infrared light filling；And/or by opening the infrared light compensating lamp being arranged in except the infrared camera,
Infrared light filling is carried out to the ground region in the unmanned plane vision range.
It should be noted that the infrared light compensating lamp being arranged in except the infrared camera usually may include being arranged in ground area
Infrared light compensating lamp, the infrared light compensating lamp being arranged in the other positions (such as wing, tail) of the unmanned plane in domain etc. are right
This is not repeated.
Further, the selecting module 42, it may also be used for if it is determined that the illuminance is higher than the illuminance threshold value of setting,
Visible Light Camera is selected to carry out Image Acquisition to the ground region in the unmanned plane vision range, then to obtain visible light figure
Picture；
The computing module 43, it may also be used for the height based on the visible images and the unmanned plane apart from ground
Information calculates the offset over the ground of the unmanned plane.
Correspondingly, the embodiment of the present invention two additionally provides a kind of unmanned plane, it may include described in the embodiment of the present invention two
The displacement determining device of unmanned plane.
Further, in order to realize the hovering of unmanned plane, the embodiment of the present invention two additionally provides a kind of hovering of unmanned plane
System, as shown in figure 5, its structural schematic diagram for the hovering system of unmanned plane described in the embodiment of the present invention two.Specifically,
As shown in Figure 5, the hovering system of unmanned plane described in the embodiment of the present invention two may include that controller 51 and the present invention are implemented
Unmanned plane 52 described in example two, in which:
The controller 51 can be used for sending hovering instruction to the unmanned plane；
The unmanned plane 52 can be used for realizing hovering when receiving hovering instruction.
It should be noted that as shown in fig. 6, it can for one kind of the hovering system of unmanned plane described in the embodiment of the present invention
The structural schematic diagram of energy.Specifically, it will be appreciated from fig. 6 that unmanned plane hovering system usually may include that sensitive chip is (i.e. aforementioned to adopt
Collect module 41), camera (submodule in i.e. aforementioned selecting module 42), distance measuring sensor, visual processing unit (i.e. aforementioned hovering
Module 43 etc.) and controller.Wherein, the controller can be usually arranged independently of the unmanned plane, as that can be unmanned plane
Remote controler etc. does not repeat this.
The hovering of the displacement determining device, unmanned plane and unmanned plane of a kind of unmanned plane is provided in the embodiment of the present invention two
System, it may include for acquiring the acquisition module of the illuminance of ambient enviroment, being used for if it is determined that the illuminance is not higher than setting
Illuminance threshold value, then select infrared camera in unmanned plane vision range ground region carry out Image Acquisition, it is red to obtain
The selecting module of outer image, for the elevation information based on the infrared image and the unmanned plane apart from ground, calculate institute
State the computing module of the offset over the ground of unmanned plane and for the offset over the ground according to the unmanned plane, determine it is described nobody
The determining module of the displacement of machine.Compared with the prior art, in embodiments of the present invention, lower in no illumination or illuminance
In environment, it still is able to carry out Image Acquisition to the ground region in unmanned plane vision range, and can guarantee collected figure
The texture definition of picture, to improve unmanned plane displacement determining accuracy and applicability；And since illumination is no longer shadow
The determining limiting factor of unmanned plane displacement is rung, thus also can avoid because of security risk brought by the erroneous judgement of illuminance, in turn
Promote the determining safety of unmanned plane displacement.
Embodiment three:
The embodiment of the present invention three provides a kind of calculating equipment, as shown in fig. 7, it is meter described in the embodiment of the present invention
Calculate the structural schematic diagram of equipment.The calculating equipment is specifically as follows desktop computer, portable computer, smart phone, plate
Computer, personal digital assistant (Personal Digital Assistant, PDA) etc..Specifically, described in the embodiment of the present invention
Calculating equipment may include central processing unit (Center Processing Unit, CPU) 701, memory 702, input set
Standby 703 and output equipment 704 etc., input equipment 703 may include keyboard, mouse, touch screen etc., and output equipment 704 can be with
Including showing equipment, such as liquid crystal display (Liquid Crystal Display, LCD), cathode-ray tube (Cathode Ray
Tube, CRT) etc..
Memory 702 may include read-only memory (ROM) and random access memory (RAM), and to central processing unit
The program instruction and data stored in 701 offer memories 702.In embodiments of the present invention, memory 702 can be used for storing
The displacement of unmanned plane determines the program of method.
Central processing unit 701 by call memory 702 store program instruction, central processing unit 701 can be used for according to
The program instruction of acquisition executes: acquiring the illuminance of ambient enviroment；If it is determined that illuminance threshold of the illuminance not higher than setting
Value selects infrared camera to carry out Image Acquisition to the ground region in unmanned plane vision range, then to obtain infrared image；According to
The offset over the ground of the unmanned plane, determines the displacement of the unmanned plane.
Example IV:
The embodiment of the present invention four provides a kind of computer storage medium, by being stored as based on used in above-mentioned calculating equipment
Calculation machine program instruction, it includes the programs that the displacement for executing above-mentioned unmanned plane determines method.
The computer storage medium can be any usable medium or data storage device that computer can access, packet
Include but be not limited to magnetic storage (such as floppy disk, hard disk, tape, magneto-optic disk (MO) etc.), optical memory (such as CD, DVD,
BD, HVD etc.) and semiconductor memory (such as it is ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid
State hard disk (SSD)) etc..
It will be understood by those skilled in the art that the embodiment of the present invention can provide as method, apparatus (equipment) or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the present invention
The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the flow chart of device (equipment) and computer program product
And/or block diagram describes.It should be understood that each process in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer programs to refer to
Enable the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (16)
1. a kind of displacement of unmanned plane determines method characterized by comprising
Acquire the illuminance of ambient enviroment；
If it is determined that the illuminance then selects infrared camera in unmanned plane vision range not higher than the illuminance threshold value of setting
Ground region carries out Image Acquisition, to obtain infrared image；
Elevation information based on the infrared image and the unmanned plane apart from ground calculates the offset over the ground of the unmanned plane
Amount；
According to the offset over the ground of the unmanned plane, the displacement of the unmanned plane is determined.
2. the displacement of unmanned plane as described in claim 1 determines method, which is characterized in that the illuminance of ambient enviroment is acquired,
Include:
The illuminance of acquisition ambient enviroment in real time；And/or
Every setting duration, the illuminance of ambient enviroment is acquired.
3. the displacement of unmanned plane as described in claim 1 determines method, which is characterized in that be based on the infrared image and institute
Elevation information of the unmanned plane apart from ground is stated, the offset over the ground of the unmanned plane is calculated, comprising:
Determine the pixel difference between current infrared image and former frame infrared image；
Based on the pixel difference and the elevation information, the offset over the ground is determined.
4. the displacement of unmanned plane as described in claim 1 determines method, which is characterized in that determining the unmanned plane over the ground
After offset, the displacement of the unmanned plane determines method further include:
When receiving hovering instruction, according to the offset over the ground, unmanned plane is controlled, to realize the unmanned plane
Hovering.
5. the displacement of unmanned plane as claimed in claim 4 determines method, which is characterized in that when receiving hovering instruction, root
According to the offset over the ground, unmanned plane is controlled, to realize the hovering of the unmanned plane, comprising:
When receiving hovering instruction, according to the offset over the ground, contrary, size phase is determined with the offset over the ground
Same reserve migration amount over the ground；
According to the reserve migration amount over the ground, the movement of the unmanned plane is controlled, to realize the hovering of the unmanned plane.
6. the displacement of unmanned plane as described in claim 1 determines method, which is characterized in that in selection infrared camera to unmanned plane
When ground region in vision range carries out Image Acquisition, the displacement of the unmanned plane determines method further include:
Infrared light filling is carried out to the ground region in the unmanned plane vision range.
7. the displacement of unmanned plane as described in any one of claims 1 to 6 determines method, which is characterized in that the unmanned plane
It is displaced the method for determination further include:
If it is determined that the illuminance is higher than the illuminance threshold value of setting, then select Visible Light Camera to the unmanned plane vision range
Interior ground region carries out Image Acquisition, to obtain visible images；
Elevation information based on the visible images and the unmanned plane apart from ground calculates the inclined over the ground of the unmanned plane
Shifting amount.
8. a kind of displacement determining device of unmanned plane characterized by comprising
Acquisition module, for acquiring the illuminance of ambient enviroment；
Selecting module, for if it is determined that the illuminance then selects infrared camera to nobody not higher than the illuminance threshold value of setting
Ground region in machine vision range carries out Image Acquisition, to obtain infrared image；
Computing module calculates the nothing for the elevation information based on the infrared image and the unmanned plane apart from ground
Man-machine offset over the ground；
Determining module determines the displacement of the unmanned plane for the offset over the ground according to the unmanned plane.
9. the displacement determining device of unmanned plane as described in claim 8, which is characterized in that
The acquisition module, specifically for acquiring the illuminance of ambient enviroment in real time；And/or around setting duration, acquisition
The illuminance of environment.
10. the displacement determining device of unmanned plane as claimed in claim 8, which is characterized in that
The computing module, specifically for the pixel difference between the current infrared image of determination and former frame infrared image；And it is based on
The pixel difference and the elevation information determine the offset over the ground.
11. the displacement determining device of unmanned plane as claimed in claim 8, which is characterized in that the displacement of the unmanned plane determines
Device further includes control module:
The control module, for according to the offset over the ground, controlling unmanned plane when receiving hovering instruction,
To realize the hovering of the unmanned plane.
12. the displacement determining device of unmanned plane as described in claim 11, which is characterized in that
The control module, specifically for when receiving hovering instruction, according to the offset over the ground, it is determining with it is described over the ground
Offset is contrary, the identical reserve migration amount over the ground of size；And according to the reserve migration amount over the ground, control it is described nobody
The movement of machine, to realize the hovering of the unmanned plane.
13. the displacement determining device of unmanned plane as claimed in claim 8, which is characterized in that the displacement of the unmanned plane determines
Device further includes supplementary lighting module:
The supplementary lighting module, for selection infrared camera in unmanned plane vision range ground region carry out Image Acquisition it
When, infrared light filling is carried out to the ground region in the unmanned plane vision range.
14. such as the displacement determining device of the described in any item unmanned planes of claim 8~13, which is characterized in that
The selecting module is also used to if it is determined that the illuminance then selects Visible Light Camera higher than the illuminance threshold value of setting
Image Acquisition is carried out to the ground region in the unmanned plane vision range, to obtain visible images；
The computing module is also used to the elevation information based on the visible images and the unmanned plane apart from ground, meter
Calculate the offset over the ground of the unmanned plane.
15. a kind of unmanned plane, which is characterized in that the displacement including the described in any item unmanned planes of claim 8~14 determines dress
It sets.
16. a kind of calculating equipment, which is characterized in that including memory and processor, in which:
The memory, for storing program instruction；
The processor requires 1 according to the program execution benefit of acquisition for calling the program instruction stored in the memory
The displacement of~7 described in any item unmanned planes determines method.
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