CN107239077A - A kind of unmanned plane displacement computing system and method - Google Patents
A kind of unmanned plane displacement computing system and method Download PDFInfo
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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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Abstract
The invention provides a kind of unmanned plane displacement computing system and method, using telephoto lens and short-focus lens in different height, its image is in inductor（Sensor）On identification difference, calculate telephoto lens and the rational weight of short-focus lens, such UAS just can change telephoto lens and the calculating weight of short-focus lens according to different flying heights, so that aircraft is in different flying heights, at a relatively high identification can be kept for X, Y-direction translational movement, the problem of translational movement identification when solving different flying heights is inconsistent, so as to accurately calculate the distance of unmanned plane during flying, reaches the purpose of unmanned stability contorting.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a system and a method for calculating the moving distance of an unmanned aerial vehicle.
Background
Most of existing optical flow visual modules for aircraft positioning adopt a design of combining an image module and a distance measuring module, wherein the image module is used for calculating X, Y (horizontal) direction movement amount, and the distance measuring module is used for calculating an absolute value in a Z (height) direction.
If the image module uses a single lens, the recognition (Pixel) of the image module for X, Y direction movement (Distance) will be reduced when the flight height (Altitude) is high. It can be seen from the following simple XY shift amount calculation formula that there is an error in the calculated shift amount.
If the image module adopts double lenses, namely a long-focus lens and a short-focus lens, the short-focus lens can obtain more scene information, but the identification degree is low when the object distance is far away, and the long-focus lens can obtain higher identification degree but lacks the scene information. In the prior art, a certain height is used as a criterion for switching different lenses, that is, an image with a short-focus lens below the certain height is completely used, and an image with a long-focus lens above the certain height is completely used, so that although the problem of reduced identification (Pixel) between different heights can be slightly improved, the problem is still limited, and the accuracy of the calculated moving distance still has errors.
Disclosure of Invention
The invention aims to provide a system and a method for calculating the moving distance of an unmanned aerial vehicle, which solve the problem of inconsistent translation amount identification degrees of the unmanned aerial vehicle at different flight heights, so that the flying distance of the unmanned aerial vehicle can be accurately calculated, and the aim of unmanned stable control is fulfilled.
In order to solve the technical problems, the invention adopts the following technical scheme:
compared with the prior art, the invention has the advantages and positive effects that: according to the invention, reasonable weights of the long-focus lens and the short-focus lens are calculated by utilizing the difference of identification degrees of images of the long-focus lens and the short-focus lens on the Sensor when the long-focus lens and the short-focus lens are at different heights, so that the unmanned aerial vehicle system can change the calculation weights of the long-focus lens and the short-focus lens according to different flight heights, so that the aircraft can keep quite high identification degrees on translation in the direction of X, Y when the aircraft is at different flight heights, the problem of inconsistent translation identification degrees when the flight heights are different is solved, the flight distance of the unmanned aerial vehicle can be accurately calculated, and the aim of unmanned stable control is fulfilled.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a system block diagram of an embodiment of the present invention.
FIG. 2 is a diagram illustrating the working range of the prior art and an embodiment of the present invention.
Fig. 3 is a system block diagram of an embodiment of the present invention.
FIG. 4 is a flow chart of an embodiment of the present invention.
Detailed Description
As shown in fig. 1 and 3, the unmanned aerial vehicle movement distance calculating system of the present embodiment includes a telephoto lens module 1, a short-focus lens module 2, a ranging module 3, an optical flow control algorithm system module (MCU system module) 4, and a gyroscope 5. The following describes each module in detail:
the telephoto lens module 1 is configured to provide the image acquired by the telephoto lens to the optical flow control algorithm system module 4.
Resolution R of telephoto lens in case of telephoto lens determination1For determining the value, the angle of view FOV of the telephoto lens1To determine the value. Thus, for a telephoto lens, the distance D that the telephoto lens moves for a drone is calculated from some two frames of images1＝P1/R1(H*2.0*tan(FOV1/2))，P1The moving pixel quantity of the object on the telephoto lens is compared with that of the rear frame image and the front frame image, and H is the height of the unmanned aerial vehicle obtained by the ranging module.
And the short-focus lens module 2 is used for providing the image acquired by the short-focus lens to the optical flow control algorithm system module 4.
Resolution R of short-focus lens in case of short-focus lens determination2For determining the value, the angle of view FOV of the short-focus lens2To determine the value. Thus, for a short focus lens, the distance D of the unmanned aerial vehicle movement calculated by the short focus lens from some two frames of images2＝P2/R2(H*2.0*tan(FOV2/2))，P2The moving pixel quantity of the object on the short-focus lens is compared with that of the front frame image of the back frame image, and H is the height of the unmanned aerial vehicle obtained by the ranging module.
The front frame image and the rear frame image may be adjacent images or images separated by one frame or several frames, depending on the operation capability of the MCU system module.
The distance measurement module 3 is used for acquiring the height H of the unmanned aerial vehicle and providing the height H to the optical flow control algorithm system module 4;
and the gyroscope 5 is used for confirming the posture of the unmanned aerial vehicle so as to provide auxiliary reference for the optical flow control algorithm system module 4 in processing.
And the optical flow control algorithm system module 4 is used for detecting an object (characteristic point) according to the images provided by the long-focus lens module 1 and the short-focus lens module 2, calculating the movement amount of the object on an inductor (sensor) according to the information of the object, calculating the weight according to the height information of the unmanned aerial vehicle provided by the distance measuring module, and then calculating the movement distance of the unmanned aerial vehicle. The optical flow control algorithm system module 4(MCU system module) mainly includes three parts:
and the object detection module is used for detecting the object positions on the images of the long-focus lens and the short-focus lens and the pixel amount of the object movement. Wherein, the object is embodied by the object characteristic points.
A weight calculation module for calculating the height H of the unmanned aerial vehicle and the FOV of the telephoto lens1FOV of short-focus lens2Calculating tele lens weight W at different heights1And short focal length weight W2。
Tele lens weight
Short focal length weight W2＝1-W1；
H＝k(FOV2/FOV1) (ii) a k is a coefficient;
Hmaxthe maximum height measurable by the ranging module;
Hminthe minimum height measurable by the ranging module;
′Hweight coefficients of the current altitude of the unmanned aerial vehicle.
And the moving distance calculation module is used for calculating the moving distance of the unmanned aerial vehicle according to the pixel quantity of the object movement calculated by the object detection module and the weight calculated by the weight calculation module.
Unmanned aerial vehicle moving distance calculating module for calculating moving distance of two frames of images
The moving distance calculation module calculates the moving distance of the unmanned aerial vehicle at a certain time
Wherein n is the number of image frames within a certain time. For example, when the calculation capability of the MCU system module is very high, the long focus lens module 1 and the short focus lens module 2 of the drone respectively collect n frames of images, and then calculate the drone moving distance D of two adjacent frames of images of the n frames of images, and then calculate DTotal. When the operational capability of the MCU system module is not high, the image frame numbers respectively acquired by the telephoto lens module 1 and the intersection lens module 2 of the unmanned aerial vehicle are m, m >n, extracting one frame of image from m frames of images at intervals of one frame or a plurality of frames to obtain n frames of images, respectively calculating the unmanned aerial vehicle movement distance D of two adjacent frames of images of the n frames of images, and then calculating DTotal。
As shown in fig. 2, the unmanned aerial vehicle of the embodiment may extend the working range of the optical flow control algorithm module, and is no longer limited by the recognition limit of the image module. Wherein 6 is the workable range of the single lens image module in the prior art. Fig. 7 is a workable range of the long and short focal length dual lens module of this embodiment. By contrast, the working range of the long-focus and short-focus dual-lens module of the embodiment is greatly improved.
As shown in fig. 4, the present embodiment further provides a method for calculating a moving distance of an unmanned aerial vehicle:
and acquiring an image of the telephoto lens, and detecting the position of an object on the image of the telephoto lens and the pixel amount of the movement of the object. In this embodiment, the object is confirmed by detecting the object feature points on the image of the telephoto lens. The pixel amount of the object movement refers to the pixel amount of the object feature point movement in some two frames of images.
And acquiring an image of the short-focus lens, and detecting the position of an object on the image of the short-focus lens and the pixel amount of the movement of the object. In this embodiment, the object is confirmed by detecting the object feature points on the image of the short-focus lens. The pixel amount of the object movement refers to the pixel amount of the object feature point movement in some two frames of images.
And acquiring the height H of the unmanned aerial vehicle.
According to the height H of the unmanned aerial vehicle and the visual angle FOV of the telephoto lens1FOV of short-focus lens2Calculating tele lens weight W at different heights1And short focal length weight W2。
Tele lens weight
Short focal length lens weightW2＝1-W1；
H＝k(FOV2/FOV1) (ii) a k is a coefficient;
Hmaxthe maximum height measurable by the ranging module;
Hminthe minimum height measurable by the ranging module;
′Hweight coefficients of the current altitude of the unmanned aerial vehicle.
And calculating the moving distance of the unmanned aerial vehicle according to the pixel quantity and the weight of the object moving.
The method for calculating the unmanned aerial vehicle moving distance D of two frames of images comprises the following steps:
wherein,
D1calculating the moving distance of the unmanned aerial vehicle by the telephoto lens; d1＝P1/R1(H*2.0*tan(FOV1/2))，P1The pixel quantity of the object moving on the telephoto lens compared with the previous frame image in the later frame image; r1Resolution of the telephoto lens;
D2calculating the moving distance of the unmanned aerial vehicle by using the short-focus lens; d2＝P2/R2(H*2.0*tan(FOV2/2))，P2The pixel quantity of the object moving on the short-focus lens compared with the previous frame image in the back frame image; r2The resolution of the short-focus lens.
Calculating the moving distance of the unmanned aerial vehicle at a certain time
Wherein n is the number of image frames within a certain time. For example, when the calculation capability of the MCU system module is very high, the long focus lens module 1 and the short focus lens module 2 of the drone respectively collect n frames of images, and then calculate the drone moving distance D of two adjacent frames of images of the n frames of images, and then calculate DTotal. When the operational capability of the MCU system module is not high, the number of the image frames respectively acquired by the telephoto lens module 1 and the interlace lens module 2 of the unmanned aerial vehicle is m, m is larger than n, one frame of image is extracted from the m frames of images at intervals of one frame or a plurality of frames to obtain n frames of images, the unmanned aerial vehicle moving distance D of two adjacent frames of images of the n frames of images is respectively calculated, and then D is calculatedTotal。
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An unmanned aerial vehicle movement distance calculation system, the system comprising:
the telephoto lens module is used for providing the image acquired by the telephoto lens to the optical flow control algorithm system module;
the short-focus lens module is used for providing the image acquired by the short-focus lens to the optical flow control algorithm system module;
the distance measurement module is used for acquiring the height H of the unmanned aerial vehicle and providing the height H to the optical flow control algorithm system module;
the optical flow control algorithm module comprises:
the object detection module is used for detecting the object positions on the images of the long-focus lens and the short-focus lens and the pixel amount of the movement of the object;
a weight calculation module for calculating the height H of the unmanned aerial vehicle and the FOV of the telephoto lens1FOV of short-focus lens2Calculating tele lens weight W at different heights1And short focal length weight W2；
And the moving distance calculation module is used for calculating the moving distance of the unmanned aerial vehicle according to the pixel quantity of the object movement calculated by the object detection module and the weight calculated by the weight calculation module.
2. The system of claim 1, wherein the distance calculation module calculates the distance of the drone between two frames of imagesWherein,
D1calculating the moving distance of the unmanned aerial vehicle by the telephoto lens; d1＝P1/R1(H*2.0*tan(FOV1/2))，P1The amount of pixels, R, by which an object moves on the telephoto lens in the subsequent frame image compared to the previous frame image1Resolution of the telephoto lens;
D2calculating the moving distance of the unmanned aerial vehicle by using the short-focus lens; d2＝P2/R2(H*2.0*tan(FOV2/2))，P2The pixel quantity of the object moving on the short-focus lens compared with the previous frame image in the back frame image; r2The resolution of the short-focus lens.
3. The system of claim 2, wherein the distance calculation module calculates the distance the drone moves at a certain timeWherein n is the number of image frames within a certain time.
4. The unmanned aerial vehicle movement distance calculation system of claim 1, wherein the object is an object feature point.
5. The system of any of claims 1-4, wherein the telephoto lens weight is calculated
And short focal length weight W2＝1-W1；
H＝k(FOV2/FOV1) (ii) a k is a coefficient;
Hmaxthe maximum height measurable by the ranging module;
Hminthe minimum height measurable by the ranging module;
′Hweight coefficients of the current altitude of the unmanned aerial vehicle.
6. A method for calculating the moving distance of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring an image of a long-focus lens, an image of a short-focus lens and the height H of the unmanned aerial vehicle;
detecting the object positions on the images of the long-focus lens and the short-focus lens and the pixel amount of the object movement;
according to the height H of the unmanned aerial vehicle and the visual angle FOV of the telephoto lens1FOV of short-focus lens2Calculating tele lens weight W at different heights1And short focal length weight W2；
And calculating the moving distance of the unmanned aerial vehicle according to the pixel quantity and the weight of the object moving.
7. The unmanned aerial vehicle movement distance calculation method according to claim 6, wherein the unmanned aerial vehicle movement distance D of two frames of images is calculated by:
wherein,
D1calculating the moving distance of the unmanned aerial vehicle by the telephoto lens; d1＝P1/R1(H*2.0*tan(FOV1/2))，P1The pixel quantity of the object moving on the telephoto lens compared with the previous frame image in the later frame image; r1Resolution of the telephoto lens;
D2calculating the moving distance of the unmanned aerial vehicle by using the short-focus lens; d2＝P2/R2(H*2.0*tan(FOV2/2))，P2The pixel quantity of the object moving on the short-focus lens compared with the previous frame image in the back frame image; r2The resolution of the short-focus lens.
8. The unmanned aerial vehicle movement distance calculation method of claim 7, wherein the movement distance of the unmanned aerial vehicle at a certain time is calculatedWherein n is the number of image frames within a certain time.
9. The unmanned aerial vehicle movement distance calculation method of claim 6, wherein the object is an object feature point.
10. The unmanned aerial vehicle movement distance calculation method of any one of claims 6-9, wherein telephoto lens weight W is calculated1And short focal length weight W2The method comprises the following steps:
<mrow> <msub> <mi>W</mi> <mn>1</mn> </msub> <mo>=</mo> <msub> <mi>&delta;</mi> <mi>H</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <mfrac> <mrow> <mi>H</mi> <mo>-</mo> <msub> <mi>H</mi> <mi>min</mi> </msub> </mrow> <mrow> <msub> <mi>H</mi> <mi>max</mi> </msub> <mo>-</mo> <msub> <mi>H</mi> <mi>min</mi> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
W2＝1-W1；
H＝k(FOV2/FOV1) (ii) a k is a coefficient;
Hmaxthe maximum height measurable by the ranging module;
Hminthe minimum height measurable by the ranging module;
′Hweight coefficients of the current altitude of the unmanned aerial vehicle.
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