技术领域technical field
本发明涉及导航技术，尤其涉及一种无人机空间导航方法、无人机控制系统及控制装置。The present invention relates to navigation technology, in particular to a space navigation method for unmanned aerial vehicles, an unmanned aerial vehicle control system and a control device.
背景技术Background technique
现有技术中无人机的导航设备可包括：人工遥控装置、包含机载摄像在内的传感器导航装置，以及机载全球定位系统(GlobalPositioning System，简称GPS)导航仪等。The navigation equipment of UAV in the prior art may include: manual remote control device, sensor navigation device including airborne camera, and airborne Global Positioning System (Global Positioning System, referred to as GPS) navigator, etc.
然而，人工遥控装置耗费人力，通过人眼确定无人机的飞行状态无法使无人机持续工作较长时间，且无法精确控制无人机，进而无法扩大无人机应用范围。However, the manual remote control device consumes manpower, and determining the flight state of the drone by human eyes cannot make the drone work continuously for a long time, and the drone cannot be precisely controlled, thereby failing to expand the application range of the drone.
包括机载摄像在内的传感器导航装置容易增加无人机的负载，导致无人机的可持续工作时间不长；此外，该传感器导航装置无法对周边障碍物、无人机需到达的目标物进行较好判断。The sensor navigation device including the airborne camera is easy to increase the load of the UAV, resulting in a short continuous working time of the UAV; in addition, the sensor navigation device cannot detect the surrounding obstacles and the target that the UAV needs to reach. make better judgments.
GPS导航仪对无人机的导航在较长时间和较长距离上精度比较高，但是GPS导航仪无法实现无人机在室内的导航，在室外，GPS导航仪无法对无人机周边复杂地形进行识别和侦查。The accuracy of GPS navigator for UAV navigation is relatively high in a long time and long distance, but GPS navigator cannot realize the indoor navigation of UAV. for identification and detection.
发明内容Contents of the invention
本发明提供一种无人机空间导航方法、无人机控制系统及控制装置，用于实现在室内或室外精确掌握无人机的飞行状态，实现无人机的智能化自主飞行。The invention provides a UAV space navigation method, a UAV control system and a control device, which are used to accurately grasp the flight state of the UAV indoors or outdoors, and realize the intelligent autonomous flight of the UAV.
第一方面，本发明提供一种无人机空间导航方法，包括：In a first aspect, the present invention provides a method for spatial navigation of an unmanned aerial vehicle, comprising:
确定无人机的飞行范围，根据所述飞行范围调整图像采集装置的图像采集范围，所述图像采集装置用于实时采集所述无人机的图像；Determine the flight range of the unmanned aerial vehicle, adjust the image acquisition range of the image acquisition device according to the flight range, and the image acquisition device is used to collect the image of the unmanned aerial vehicle in real time;
根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息和所述无人机当前的状态参数；According to the image of the UAV collected by the image acquisition device in real time, determine the current location information of the UAV and the current state parameters of the UAV;
根据所述无人机的位置信息、所述状态参数和预设的飞行轨迹，确定所述无人机的调整信息；determining adjustment information of the drone according to the position information of the drone, the state parameters and a preset flight trajectory;
将所述调整信息发送所述无人机，以使所述无人机根据所述调整信息调整当前的航向和速度以完成所述预设的飞行轨迹。Sending the adjustment information to the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information to complete the preset flight trajectory.
可选地，所述根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息，包括：Optionally, the determining the current location information of the drone according to the image of the drone collected by the image acquisition device in real time includes:
对每一图像采集装置中一帧以上的图像进行处理，确定每一图像中所述无人机的二维坐标信息；Processing images of more than one frame in each image acquisition device to determine the two-dimensional coordinate information of the drone in each image;
将所述无人机对应的所有二维坐标信息进行转换，获得所述无人机在三维空间的位置信息。All the two-dimensional coordinate information corresponding to the UAV is converted to obtain the position information of the UAV in three-dimensional space.
可选地，所述根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前的状态参数，包括：Optionally, determining the current state parameters of the UAV according to the image of the UAV collected by the image acquisition device in real time includes:
确定所述无人机当前位置信息对应的第一时间点，获取无人机在第二时间点的位置信息；所述第二时间点小于所述第一时间点，且所述第一时间点与所述第二时间点的差值为预设值；Determine the first time point corresponding to the current position information of the UAV, and obtain the position information of the UAV at a second time point; the second time point is smaller than the first time point, and the first time point The difference with the second time point is a preset value;
根据所述无人机在第一时间点的位置信息、第二时间点的位置信息，确定所述无人机当前的航向和当前的飞行速度。According to the position information of the UAV at the first time point and the position information at the second time point, the current heading and the current flight speed of the UAV are determined.
可选地，若所述无人机预设的飞行轨迹是到达所述飞行范围内的目标物，则所述根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息和所述无人机当前的状态参数的步骤之前，所述方法还包括：Optionally, if the preset flight trajectory of the UAV is to reach the target within the flight range, then according to the image of the UAV collected by the image acquisition device in real time, it is determined that the UAV Before the steps of the current location information of the man-machine and the current state parameters of the drone, the method also includes:
确定所述目标物在所述飞行范围内的位置信息；determining the position information of the target within the flight range;
相应地，所述根据所述无人机的位置信息、所述状态参数和预设的飞行轨迹，确定所述无人机的调整信息，包括：Correspondingly, the determining the adjustment information of the UAV according to the position information of the UAV, the state parameters and the preset flight trajectory includes:
根据所述目标物的位置信息、所述无人机的位置信息和所述无人机的状态参数，确定所述无人机的调整信息。According to the position information of the target object, the position information of the UAV and the state parameters of the UAV, the adjustment information of the UAV is determined.
可选地，所述确定所述目标物在所述飞行范围内的位置信息，包括：Optionally, the determining the position information of the target within the flight range includes:
采用图像识别方式从所述图像采集装置的视频图像中识别出所述目标物，并确定每一视频图像中所述目标物的二维坐标信息；Recognizing the target object from the video images of the image acquisition device in an image recognition manner, and determining the two-dimensional coordinate information of the target object in each video image;
将所述目标物对应的所有二维坐标信息进行转换，获取所述目标物在三维空间的位置信息。All the two-dimensional coordinate information corresponding to the target object is converted to obtain the position information of the target object in three-dimensional space.
第二方面，本发明提供一种无人机控制系统，包括：In a second aspect, the present invention provides an unmanned aerial vehicle control system, comprising:
控制装置和两个以上的图像采集装置；Control device and more than two image acquisition devices;
所述图像采集装置用于实时采集所述无人机的图像；The image acquisition device is used for real-time acquisition of the image of the drone;
所述控制装置用于根据所述图像采集装置采集的图像确定所述无人机的位置信息和所述无人机的状态参数，以及根据所述位置信息和所述状态参数确定发送所述无人机的调整信息，以使所述无人机根据所述调整信息调整当前的航向和速度。The control device is used to determine the position information of the UAV and the state parameters of the UAV according to the images collected by the image acquisition device, and determine to send the UAV according to the position information and the state parameters. The adjustment information of the man-machine, so that the UAV adjusts the current heading and speed according to the adjustment information.
可选地，任意两个图像采集装置的固定方位不相同。Optionally, the fixed orientations of any two image acquisition devices are different.
第三方面，本发明提供一种控制装置，包括：In a third aspect, the present invention provides a control device, comprising:
飞行范围确定单元，用于确定无人机的飞行范围，根据所述飞行范围调整图像采集装置的图像采集范围，所述图像采集装置用于实时采集所述无人机的图像；The flight range determination unit is used to determine the flight range of the UAV, and adjust the image acquisition range of the image acquisition device according to the flight range, and the image acquisition device is used to collect images of the UAV in real time;
无人机参数获取单元，用于根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息和所述无人机当前的状态参数；The UAV parameter acquisition unit is used to determine the current position information of the UAV and the current state parameters of the UAV according to the image of the UAV collected by the image acquisition device in real time;
调整信息确定单元，用于根据所述无人机参数获取单元获取的位置信息、状态参数和预设的飞行轨迹，确定所述无人机的调整信息；An adjustment information determination unit, configured to determine the adjustment information of the UAV according to the position information, state parameters and preset flight trajectory acquired by the UAV parameter acquisition unit;
发送单元，用于将所述调整信息确定单元确定的所述调整信息发送所述无人机，以使所述无人机根据所述调整信息调整当前的航向和速度以完成所述预设飞行轨迹。A sending unit, configured to send the adjustment information determined by the adjustment information determination unit to the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information to complete the preset flight track.
可选地，所述无人机参数获取单元，具体用于Optionally, the UAV parameter acquisition unit is specifically used for
对每一图像采集装置中一帧以上的图像进行处理，确定每一图像中所述无人机的二维坐标信息；Processing images of more than one frame in each image acquisition device to determine the two-dimensional coordinate information of the drone in each image;
将所述无人机对应的所有二维坐标信息进行转换，获得所述无人机在三维空间的位置信息；converting all the two-dimensional coordinate information corresponding to the drone to obtain the position information of the drone in three-dimensional space;
确定所述无人机当前位置信息对应的第一时间点，获取无人机在第二时间点的位置信息；所述第二时间点小于所述第一时间点，且所述第一时间点与所述第二时间点的差值为预设值；Determine the first time point corresponding to the current position information of the UAV, and obtain the position information of the UAV at a second time point; the second time point is smaller than the first time point, and the first time point The difference with the second time point is a preset value;
根据所述无人机在第一时间点的位置信息、第二时间点的位置信息，确定所述无人机当前的航向和当前的飞行速度。According to the position information of the UAV at the first time point and the position information at the second time point, the current heading and the current flight speed of the UAV are determined.
由上述技术方案可知，本发明的无人机空间导航方法、无人机控制系统及控制装置，首先确定无人机的飞行范围并调整图像采集装置的图像采集范围，进而根据图像采集装置采集的图像获取无人机当前的位置信息和状态参数，结合获取的无人机当前的位置信息和当前的状态参数，以及预设的飞行轨迹确定无人机的调整信息，以使无人机根据调整信息调整当前的航向和速度以完成所述预设的飞行轨迹，进而实现在室内或室外精确掌握无人机的飞行状态，实现了无人机的智能化自主飞行。It can be seen from the above technical solutions that the UAV space navigation method, UAV control system and control device of the present invention first determine the flight range of the UAV and adjust the image acquisition range of the image acquisition device, and then according to the image acquisition device collected. The image acquires the current position information and state parameters of the UAV, combined with the obtained UAV’s current position information and current state parameters, and the preset flight trajectory to determine the adjustment information of the UAV, so that the UAV can adjust according to the The information adjusts the current heading and speed to complete the preset flight trajectory, and then realizes the precise control of the flight status of the drone indoors or outdoors, and realizes the intelligent autonomous flight of the drone.
附图说明Description of drawings
图1为本发明一实施例提供的无人机空间导航方法的流程示意图；Fig. 1 is a schematic flow chart of a method for spatial navigation of an unmanned aerial vehicle provided by an embodiment of the present invention;
图2为本发明另一实施例提供的无人机空间导航方法的流程示意图；FIG. 2 is a schematic flow chart of a method for spatial navigation of a drone provided in another embodiment of the present invention;
图3为本发明一实施例提供的图像采集装置的分布示意图；Fig. 3 is a schematic distribution diagram of an image acquisition device provided by an embodiment of the present invention;
图4为本发明另一实施例提供的无人机控制系统的结构示意图；FIG. 4 is a schematic structural diagram of a UAV control system provided by another embodiment of the present invention;
图5为本发明一实施例提供的控制装置的结构示意图。Fig. 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
图1为本发明一实施例提供的无人机空间导航方法的流程示意图，如图1所示，本实施例的无人机空间导航方法如下所述。FIG. 1 is a schematic flowchart of a method for spatial navigation of a UAV provided by an embodiment of the present invention. As shown in FIG. 1 , the method for spatial navigation of a UAV in this embodiment is as follows.
101、确定无人机的飞行范围，根据所述飞行范围调整图像采集装置的图像采集范围，所述图像采集装置用于实时采集所述无人机的图像。101. Determine the flight range of the UAV, and adjust the image acquisition range of the image acquisition device according to the flight range, and the image acquisition device is used to collect images of the UAV in real time.
可理解的是，在确定无人机飞行之前，需要对无人机的飞行的工作范围即飞行范围标定，以便确定图像采集装置的视频采集范围。It can be understood that before the flight of the UAV is determined, the flying working range of the UAV, ie, the flight range, needs to be calibrated so as to determine the video acquisition range of the image acquisition device.
102、根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息和所述无人机当前的状态参数。102. Determine the current location information of the UAV and the current state parameters of the UAV according to the image of the UAV collected by the image acquisition device in real time.
举例来说，对每一图像采集装置中一帧以上的图像进行处理，确定每一图像中所述无人机的二维坐标信息；For example, processing more than one frame of images in each image acquisition device to determine the two-dimensional coordinate information of the drone in each image;
将所述无人机对应的所有二维坐标信息进行转换，获得所述无人机在三维空间的位置信息。All the two-dimensional coordinate information corresponding to the UAV is converted to obtain the position information of the UAV in three-dimensional space.
103、根据所述无人机的位置信息、所述状态参数和预设的飞行轨迹，确定所述无人机的调整信息。103. Determine adjustment information of the drone according to the position information of the drone, the state parameters, and a preset flight trajectory.
104、将所述调整信息发送所述无人机，以使所述无人机根据所述调整信息调整当前的航向和速度以完成所述预设飞行轨迹。104. Send the adjustment information to the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information to complete the preset flight trajectory.
在具体应用过程中，前述步骤102中的“根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前的状态参数”可具体如下的图中未示出的步骤102a和步骤102b。In a specific application process, the "determining the current state parameters of the UAV according to the image of the UAV captured by the image acquisition device in real time" in the aforementioned step 102 can be specifically as follows not shown in the figure Step 102a and Step 102b.
102a、确定所述无人机当前位置信息对应的第一时间点，获取无人机在第二时间点的位置信息；所述第二时间点小于所述第一时间点，且所述第一时间点与所述第二时间点的差值为预设值；102a. Determine the first time point corresponding to the current position information of the drone, and acquire the position information of the drone at a second time point; the second time point is smaller than the first time point, and the first time point The difference between the time point and the second time point is a preset value;
102b、根据所述无人机在第一时间点的位置信息、第二时间点的位置信息，确定所述无人机当前的航向和当前的飞行速度。102b. Determine the current heading and current flight speed of the drone according to the position information of the drone at the first time point and the position information at the second time point.
应说明的是，本实施例中的无人机中设置有可接收调整信息的接收单元。It should be noted that, the UAV in this embodiment is provided with a receiving unit capable of receiving adjustment information.
前述的预设的飞行轨迹可为无人机到达终点的飞行路线，或者无人机达到目标物的飞行路线等。举例来说，本实施例中无人机根据调整信息可以稳定的悬停在飞行路线的某一点上。The aforementioned preset flight path can be the flight route of the UAV reaching the destination, or the flight route of the UAV reaching the target, etc. For example, in this embodiment, the UAV can hover stably at a certain point of the flight route according to the adjustment information.
在本实施例中，上述无人机空间导航方法，首先确定无人机的飞行范围并调整图像采集装置的图像采集范围，进而根据图像采集装置采集的图像获取无人机当前的位置信息和状态参数，结合获取的无人机当前的位置信息和当前的状态参数，以及预设的飞行轨迹确定无人机的调整信息，以使无人机根据调整信息调整当前的航向和速度以完成所述预设的飞行轨迹，进而实现在室内或室外精确掌握无人机的飞行状态，实现了无人机的智能化飞行。In this embodiment, the above-mentioned UAV space navigation method first determines the flight range of the UAV and adjusts the image acquisition range of the image acquisition device, and then obtains the current position information and status of the UAV according to the images collected by the image acquisition device Parameters, combined with the acquired current position information and current state parameters of the UAV, and the preset flight trajectory to determine the adjustment information of the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information to complete the described Preset flight trajectory, so as to accurately grasp the flight status of the drone indoors or outdoors, and realize the intelligent flight of the drone.
图2示出了本发明另一实施例提供的无人机空间导航方法的流程示意图，图3示出了本发明一实施例提供的图像采集装置的分布示意图，结合图2和图3所示，本实施例的无人机空间导航方法如下所述。Fig. 2 shows a schematic flow chart of a UAV space navigation method provided by another embodiment of the present invention, and Fig. 3 shows a schematic diagram of the distribution of an image acquisition device provided by an embodiment of the present invention, combined with those shown in Fig. 2 and Fig. 3 , the UAV space navigation method of the present embodiment is as follows.
应说明的是，在本实施例中，无人机可在室内飞行，且飞行轨迹可为飞机通过障碍物到达目标物，如图3所示。It should be noted that, in this embodiment, the drone can fly indoors, and the flight trajectory can be that the aircraft passes through obstacles to reach the target, as shown in FIG. 3 .
本实施例中的无人机控制系统可包括两个图像采集装置(如摄像机)，如图3所示，一个图像采集装置的采集范围可为无人机的最大飞行范围。当然，本实施例不限定无人机控制系统的图像采集装置的数量。The UAV control system in this embodiment may include two image acquisition devices (such as cameras), as shown in FIG. 3 , the acquisition range of one image acquisition device may be the maximum flight range of the UAV. Of course, this embodiment does not limit the number of image acquisition devices of the UAV control system.
在具体应用中，无人机控制系统中的图像采集装置可根据无人机的飞行范围预先安装，通过无人机控制系统调整多个图像采集装置的采集范围。In a specific application, the image acquisition device in the UAV control system can be pre-installed according to the flight range of the UAV, and the acquisition range of multiple image acquisition devices can be adjusted through the UAV control system.
201、确定无人机的飞行范围，根据所述飞行范围调整图像采集装置的图像采集范围，所述图像采集装置用于实时采集所述无人机的图像。201. Determine the flight range of the UAV, and adjust the image acquisition range of the image acquisition device according to the flight range, and the image acquisition device is used to collect images of the UAV in real time.
也就是说，在确定无人机飞行之前，需要对无人机的飞行的工作范围即飞行范围标定，进而确定图像采集装置的数量，以及每一图像采集装置的图像采集范围/视频采集范围。That is to say, before the UAV is determined to fly, it is necessary to calibrate the working range of the UAV, that is, the flight range, and then determine the number of image acquisition devices, and the image acquisition range/video acquisition range of each image acquisition device.
应说明的是，本实施例中每一图像采集装置的固定方位唯一，即任意两个图像采集装置的固定方位可不相同。可选地，每一图像采集装置的图像/视频采集范围可包含无人机的最大飞行范围。It should be noted that in this embodiment, the fixed orientation of each image acquisition device is unique, that is, the fixed orientations of any two image acquisition devices may be different. Optionally, the image/video acquisition range of each image acquisition device may include the maximum flight range of the drone.
当然，在具体应用中，图像采集装置的数量可根据飞行范围灵活设置，且通过视频拼接方式扩展每一图像采集装置的视频采集范围，进而可扩大无人机的最大飞行范围。Of course, in a specific application, the number of image acquisition devices can be flexibly set according to the flight range, and the video acquisition range of each image acquisition device can be expanded by video splicing, thereby expanding the maximum flight range of the drone.
202、根据图像采集装置采集的视频图像，确定所述目标物在所述飞行范围内的位置信息。202. Determine position information of the target object within the flight range according to the video images collected by the image collection device.
举例来说，采用图像识别方式从所述图像采集装置的视频图像中识别出所述目标物，并确定每一视频图像中所述目标物的二维坐标信息；For example, using an image recognition method to identify the target object from the video images of the image acquisition device, and determine the two-dimensional coordinate information of the target object in each video image;
进一步地，将所述目标物对应的所有二维坐标信息进行转换，获取所述目标物在三维空间的位置信息。Further, all the two-dimensional coordinate information corresponding to the target is converted to obtain the position information of the target in three-dimensional space.
也就是说，本实施例中目标物的位置信息为三维空间中位置坐标信息。That is to say, the position information of the target in this embodiment is the position coordinate information in the three-dimensional space.
在具体应用中，可采用局部特征描述算子的识别方式识别图像采集装置的视频图像中目标物的位置。In a specific application, the position of the target object in the video image of the image acquisition device can be identified by using the identification method of the local feature description operator.
203、根据所述图像采集装置实时采集的所述无人机的图像，对每一图像采集装置中一帧以上的图像进行处理，确定每一图像中所述无人机的二维坐标信息。203. According to the images of the UAV captured by the image acquisition device in real time, process more than one frame of images in each image acquisition device, and determine the two-dimensional coordinate information of the UAV in each image.
204、将所述无人机对应的所有二维坐标信息进行转换，获得无人机当前在三维空间的位置信息。204. Convert all two-dimensional coordinate information corresponding to the drone to obtain current position information of the drone in a three-dimensional space.
在具体应用中，每一图像采集装置可采用视频图像的帧差方式对运动的无人机进行检测，进而控制装置可在图像采集装置获取的视频图像中采用矩形标示无人机，并使矩形的中心点坐标近似代表无人机的当前二维坐标信息。In a specific application, each image acquisition device can use the frame difference method of the video image to detect the moving UAV, and then the control device can use a rectangle to mark the UAV in the video image acquired by the image acquisition device, and make the rectangle The coordinates of the center point of are approximately representing the current two-dimensional coordinate information of the UAV.
根据多个无人机的二维坐标信息可转换得到无人机的三维空间的位置信息。即根据多个图像采集装置的方位和无人机的二维坐标信息得到无人机的三维空间的位置信息。According to the two-dimensional coordinate information of multiple drones, the position information of the three-dimensional space of the drones can be converted. That is, the position information of the UAV in three-dimensional space is obtained according to the orientations of multiple image acquisition devices and the two-dimensional coordinate information of the UAV.
205、确定所述无人机当前位置信息对应的第一时间点，获取无人机在第二时间点的位置信息；所述第二时间点小于所述第一时间点，且所述第一时间点与所述第二时间点的差值为预设值。205. Determine the first time point corresponding to the current position information of the drone, and acquire the position information of the drone at a second time point; the second time point is smaller than the first time point, and the first time point The difference between the time point and the second time point is a preset value.
例如，预设值可为100ms，或者50ms等。For example, the preset value may be 100ms, or 50ms and so on.
206、根据所述无人机在第一时间点的位置信息、第二时间点的位置信息，确定所述无人机当前的航向和当前的飞行速度。206. Determine the current course and current flight speed of the drone according to the position information of the drone at the first time point and the position information at the second time point.
在具体应用中，根据无人机当前位置信息(即三维坐标信息)，可通过与图像采集装置的n帧图像之前确定的无人机三维空间的位置信息进行差值，得出无人机的航向(包括水平航向和垂直航向)，飞行速度等信息。N为大于零的正数。In a specific application, according to the current position information of the UAV (that is, the three-dimensional coordinate information), the difference between the position information of the UAV in the three-dimensional space determined before n frames of images of the image acquisition device can be obtained to obtain the UAV's position Heading (including horizontal heading and vertical heading), flight speed and other information. N is a positive number greater than zero.
207、根据所述无人机的位置信息、所述状态参数和所述目标物的位置信息，确定所述无人机的调整信息。207. Determine adjustment information of the drone according to the location information of the drone, the state parameter, and the location information of the target.
208、将所述调整信息发送所述无人机，以使所述无人机根据所述调整信息调整当前的航向和速度以绕过障碍物到达目标物。208. Send the adjustment information to the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information to avoid obstacles and reach the target.
上述无人机空间导航方法中的图像采集装置可实现对无人机的实时跟踪识别，获得无人机的位置信息和状态参数，进而可结合无人机的飞行轨迹向无人机发出调整信息/调整信号，使得无人机根据调整信息/调整信号对自身姿态如航向、速度等进行调整，进而完成飞行任务。The image acquisition device in the above UAV space navigation method can realize the real-time tracking and identification of the UAV, obtain the position information and state parameters of the UAV, and then send adjustment information to the UAV in combination with the flight trajectory of the UAV /Adjust the signal, so that the UAV can adjust its attitude such as heading, speed, etc. according to the adjustment information/adjustment signal, and then complete the flight mission.
本发明的无人机空间导航方法可控制无人机在室内进行飞行，且能够实现高精度的调整无人机状态参数，无需人工操控，实现自主式无人机智能作业。The UAV space navigation method of the present invention can control the UAV to fly indoors, and can adjust the state parameters of the UAV with high precision, without manual control, and realize the intelligent operation of the autonomous UAV.
应说明的是，前述步骤202中的目标物还可为无人机在飞行轨迹中的障碍物，由此，无人机控制系统可根据障碍物的位置信息，确定无人机的航向和速度，以调整无人机绕过障碍物，达到最终的目标物。It should be noted that the target in the aforementioned step 202 can also be an obstacle in the flight path of the UAV, so that the UAV control system can determine the course and speed of the UAV according to the position information of the obstacle , to adjust the UAV to bypass obstacles and reach the final target.
图4为本发明一实施例提供的无人机控制系统的结构示意图，如图4所示，本实施例的无人机控制系统可包括：控制装置41和两个以上的图像采集装置42；FIG. 4 is a schematic structural diagram of a UAV control system provided by an embodiment of the present invention. As shown in FIG. 4 , the UAV control system of this embodiment may include: a control device 41 and more than two image acquisition devices 42;
所述图像采集装置42用于实时采集所述无人机的图像；The image acquisition device 42 is used to acquire the image of the unmanned aerial vehicle in real time;
所述控制装置41用于根据所述图像采集装置42采集的图像确定所述无人机的位置信息和所述无人机的状态参数，以及根据所述位置信息和所述状态参数确定发送所述无人机的调整信息，以使所述无人机根据所述调整信息调整当前的航向和速度。The control device 41 is used to determine the position information of the UAV and the state parameters of the UAV according to the images collected by the image acquisition device 42, and determine the position information and the state parameters of the UAV to send the UAV according to the position information and the state parameters. The adjustment information of the UAV, so that the UAV adjusts the current heading and speed according to the adjustment information.
举例来说，图像采集装置42可为摄像机，或摄像头或者其他能够进行视频采集的装置。For example, the image acquisition device 42 may be a video camera, or a camera or other devices capable of video acquisition.
本实施例的图像采集装置42可通过传输线与控制装置41连接，由此，图像采集装置42可将实时采集的视频信息传输给控制装置41，以使控制装置41根据图像采集装置42采集的视频信息确定无人机的飞行范围、状态参数、位置信息等。The image acquisition device 42 of this embodiment can be connected with the control device 41 through a transmission line, thus, the image acquisition device 42 can transmit the video information collected in real time to the control device 41, so that the control device 41 can collect the video information according to the image acquisition device 42. The information determines the flight range, state parameters, location information, etc. of the UAV.
在本实施例中，多个图像采集装置42的固定方位可不相同。如图3中所示的两个图像采集装置42的固定方位可间隔一定的角度。也就是说，任意两个图像采集装置的固定方位不相同。当然，在飞行范围比较大的时候，可使两个或多个图像采集装置的固定方位相同，以通过视频拼接方式达到对飞行范围的覆盖。例如，在图3中，将图像采集装置架设于某一固定方位，该方位使得图像采集装置的视野能够包含无人机的最大飞行范围。将另一图像采集装置架设于与上述图像采集装置成一定角度的固定方位，该方位也能使得图像采集装置的视野能够包含无人机需要的最大飞行范围。由此，两个图像采集装置即可建立起无人机飞行的三维空间坐标系。当然，图3中的摄像机可根据无人机的飞行范围灵活增加数量，不局限于两台摄像机。位于同一平面的摄像机之间可通过视频拼接方式扩展视频采集范围。In this embodiment, the fixed orientations of the multiple image capture devices 42 may be different. The fixed orientations of the two image capture devices 42 as shown in FIG. 3 may be separated by a certain angle. That is to say, the fixed orientations of any two image acquisition devices are different. Of course, when the flight range is relatively large, the fixed orientations of two or more image acquisition devices can be the same, so as to achieve coverage of the flight range through video splicing. For example, in FIG. 3 , the image acquisition device is erected at a certain fixed orientation, which enables the field of view of the image acquisition device to include the maximum flight range of the drone. The other image acquisition device is erected at a fixed azimuth at a certain angle to the above image acquisition device, and this azimuth can also enable the field of view of the image acquisition device to include the maximum flight range required by the UAV. Thus, the two image acquisition devices can establish a three-dimensional space coordinate system for the flight of the drone. Of course, the number of cameras in Figure 3 can be flexibly increased according to the flight range of the UAV, and is not limited to two cameras. Video splicing can be used to expand the video collection range between cameras located on the same plane.
应说明的是，本实施例中的控制装置41中设置有无线发射模块，该无线发射模块可将调整信息发送无人机。当然，无人机中设置有无线接收模块，以便接收控制装置41发出的调整信息，进而根据调整信息调整自己的航向和速度，以绕过障碍物达到目标物，较好的完成飞行任务。It should be noted that the control device 41 in this embodiment is provided with a wireless transmitting module, which can send adjustment information to the drone. Of course, the drone is provided with a wireless receiving module to receive the adjustment information sent by the control device 41, and then adjust its course and speed according to the adjustment information, so as to bypass obstacles to reach the target and better complete the flight mission.
上述无人机控制系统能够控制无人机在室内或者一定范围的室外环境下实现自主飞行，实现了无人机的智能化自主飞行。The above-mentioned UAV control system can control the UAV to realize autonomous flight indoors or in a certain range of outdoor environment, realizing the intelligent autonomous flight of the UAV.
图5为本发明一实施例提供的控制装置的结构示意图，如图5所示，本实施例的控制装置可包括：飞行范围确定单元51、无人机参数获取单元52、调整信息确定单元53和发送单元54；Fig. 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention. As shown in Fig. 5, the control device of this embodiment may include: a flight range determination unit 51, a UAV parameter acquisition unit 52, and an adjustment information determination unit 53 and sending unit 54;
其中，飞行范围确定单元51用于确定无人机的飞行范围，根据所述飞行范围调整图像采集装置的图像采集范围，所述图像采集装置用于实时采集所述无人机的图像；Wherein, the flight range determination unit 51 is used to determine the flight range of the UAV, adjust the image acquisition range of the image acquisition device according to the flight range, and the image acquisition device is used to collect images of the UAV in real time;
无人机参数获取单元52用于根据所述图像采集装置实时采集的所述无人机的图像，确定所述无人机当前所在的位置信息和所述无人机当前的状态参数；The UAV parameter acquisition unit 52 is used to determine the current position information of the UAV and the current state parameters of the UAV according to the image of the UAV collected by the image acquisition device in real time;
调整信息确定单元53用于根据所述无人机参数获取单元获取的位置信息、状态参数和预设的飞行轨迹，确定所述无人机的调整信息；The adjustment information determination unit 53 is used to determine the adjustment information of the UAV according to the position information, state parameters and preset flight trajectory acquired by the UAV parameter acquisition unit;
发送单元54用于将所述调整信息确定单元确定的所述调整信息发送所述无人机，以使所述无人机根据所述调整信息调整当前的航向和速度以完成所述预设飞行轨迹。The sending unit 54 is used to send the adjustment information determined by the adjustment information determination unit to the UAV, so that the UAV adjusts the current course and speed according to the adjustment information to complete the preset flight track.
在具体应用中，前述的无人机参数获取单元52可具体用于：In a specific application, the aforementioned UAV parameter acquisition unit 52 can be specifically used for:
对每一图像采集装置中一帧以上的图像进行处理，确定每一图像中所述无人机的二维坐标信息；Processing images of more than one frame in each image acquisition device to determine the two-dimensional coordinate information of the drone in each image;
将所述无人机对应的所有二维坐标信息进行转换，获得所述无人机在三维空间的位置信息；converting all the two-dimensional coordinate information corresponding to the drone to obtain the position information of the drone in three-dimensional space;
确定所述无人机当前位置信息对应的第一时间点，获取无人机在第二时间点的位置信息；所述第二时间点小于所述第一时间点，且所述第一时间点与所述第二时间点的差值为预设值；Determine the first time point corresponding to the current position information of the UAV, and obtain the position information of the UAV at a second time point; the second time point is smaller than the first time point, and the first time point The difference with the second time point is a preset value;
根据所述无人机在第一时间点的位置信息、第二时间点的位置信息，确定所述无人机当前的航向和当前的飞行速度。According to the position information of the UAV at the first time point and the position information at the second time point, the current heading and the current flight speed of the UAV are determined.
本实施例中的控制装置可与多个图像采集装置结合，实现对无人机的智能控制，实现无人机在室内或室外都能够实现自主飞行。The control device in this embodiment can be combined with multiple image acquisition devices to realize the intelligent control of the UAV, and realize the autonomous flight of the UAV indoors or outdoors.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明权利要求所限定的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope defined by the claims of the present invention .
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| CN201410203558.XACN104007767A (en) | 2014-05-14 | 2014-05-14 | Unmanned aerial vehicle space navigation method, unmanned aerial vehicle control system and unmanned aerial vehicle control device |
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| CN201410203558.XACN104007767A (en) | 2014-05-14 | 2014-05-14 | Unmanned aerial vehicle space navigation method, unmanned aerial vehicle control system and unmanned aerial vehicle control device |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20140827 |