CN107168378A - A kind of system and method for Automatic-searching object - Google Patents
A kind of system and method for Automatic-searching object Download PDFInfo
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- 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
- G05D1/12—Target-seeking control
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Abstract
The invention discloses a kind of system and method for Automatic-searching object, in the system of Automatic-searching object, the reference point that auxiliary camera is used in the image for capturing shooting area, shooting area on object has the light of preset wavelength frequency band；Range finder module is used for the distance for measuring object in real time；Control module is used for the two-dimensional position for determining object relative flight device, the three-dimensional position of object relative flight device is determined again, and the three-dimensional position of object is determined with reference to own location information, predict the three-dimensional position of subsequent time object, control aircraft carries out the corresponding mobile three-dimensional position for causing the current location of aircraft to approach predicted object, and cause reference point in image after treatment image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of object；When performing module is used at the three-dimensional position for reaching object, corresponding action is performed.Implement technical scheme, Consumer's Experience can be greatly improved.
Description
Technical Field
The invention relates to the field of camera shooting, in particular to a system and a method for automatically searching for a target object.
Background
In some special situations, it may sometimes be necessary to do something with the aircraft. For example, it is necessary to give gifts to specific persons using an aircraft to make surprises; at a wedding site, an aircraft is needed to send a wedding ring into the bridegroom and bride; in golf courses, it is necessary to use an aircraft to bring the club to the player's hands instead of the caddie; for another example, in a live show, it is necessary to find a specific target object and start shooting. Therefore, the market calls a system capable of automatically searching for the target object to realize the above functions, and user experience is improved.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a system and a method for automatically searching for a target object, which can improve user experience, aiming at the defect of poor user experience in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a system for automatically searching for a target object is constructed, which comprises an aircraft and a positioning module arranged on the aircraft and used for acquiring self-position information, and further comprises a control module, an execution module, a distance measuring module, an auxiliary camera and a narrow-band filter arranged in front of the auxiliary camera, wherein the distance measuring module and the auxiliary camera are arranged closely and the central axes of the distance measuring module and the auxiliary camera are parallel,
the auxiliary camera is used for capturing an image of a shooting area, wherein a reference point on a target object in the shooting area has light with a preset wavelength band;
the distance measuring module is used for measuring the distance to the target object in real time;
the control module is used for processing the image captured by the auxiliary camera and the distance value measured by the distance measuring module, determining the two-dimensional position of the target object relative to the aircraft according to the processed image, determining the three-dimensional position of the target object relative to the aircraft according to the processed distance value, determining the three-dimensional position of the target object by combining self position information, predicting the three-dimensional position of the target object at the next moment according to the three-dimensional position of the target object in the previous period of time at the current moment, controlling the aircraft to correspondingly move so that the current position of the aircraft approaches the predicted three-dimensional position of the target object, and enabling the image of the reference point in the processed image to fall into a locking window at a specific position until the aircraft reaches the three-dimensional position of the target object;
and the execution module is used for executing corresponding actions when the aircraft reaches the three-dimensional position of the target object.
In the system for automatically finding an object according to the present invention, the system for automatically finding an object further includes:
the setting is in on the aircraft and with the main camera that control module connects, moreover, the main camera with the setting of supplementary camera next-door neighbour, the main camera with the central axis of supplementary camera is parallel.
In the system for automatically finding an object according to the present invention, the system for automatically finding an object further includes:
a narrow-band light source disposed on a reference point of the target; or,
the reflector is arranged on a reference point of the target object, and the reference point is positioned in the irradiation range of the narrow-band light source.
In the system for automatically searching for the target object, the reference point emits or reflects light of a specific flash sequence, wherein the flash sequence is obtained by performing light modulation on light waves of a narrow-band light source by using identification information; furthermore, it is possible to provide a liquid crystal display device,
the control module is further configured to detect a flash sequence emitted or reflected by a reference point, demodulate the flash sequence to obtain the identification information, and start processing an image captured by the auxiliary camera when it is determined that the obtained identification information is consistent with preset identification information.
In the system for automatically finding a target object, the control module is further configured to determine, after processing the image captured by the auxiliary camera, a position of the image of the reference point in the processed image according to a brightness value.
The invention also constructs a method for automatically searching for a target object, comprising the following steps:
s1, an auxiliary camera with a narrow-band filter captures an image of a shooting area, and a distance measuring module measures the distance to a target object; the auxiliary camera and the distance measuring module are arranged in close proximity, the central axes of the auxiliary camera and the distance measuring module are parallel, and a reference point on a target object in a shooting area is provided with light with a preset wavelength band;
s2, processing the image captured by the auxiliary camera and the distance value measured by the distance measuring module;
s3, determining the two-dimensional position of the target object relative to the aircraft according to the image processed in the step S2, determining the three-dimensional position of the target object relative to the aircraft according to the processed distance value, and determining the three-dimensional position of the target object by combining self position information;
s4, predicting the three-dimensional position of the target object at the next moment according to the three-dimensional position of the target object in a period of time before the current moment, controlling the aircraft to correspondingly move so that the current position of the aircraft approaches to the predicted three-dimensional position of the target object, and enabling the image of the reference point in the image processed in the step S2 to fall into a locking window at a specific position until the aircraft reaches the three-dimensional position of the target object;
and S5, when the aircraft reaches the three-dimensional position of the target object, executing corresponding action.
In the method for automatically finding a target object of the present invention, between the step S2 and the step S3, the method further includes:
s6, determining the position of the mapping of the reference point in the image processed in the step S2 according to the brightness value.
In the method for automatically searching for the target object, the reference point emits or reflects light of a specific flash sequence, wherein the flash sequence is obtained by performing light modulation on light waves of a narrow-band light source by using identification information; furthermore, it is possible to provide a liquid crystal display device,
between the step S1 and the step S2, the method further comprises:
s7, detecting a flash sequence emitted or reflected by the reference point, demodulating the flash sequence to acquire the identification information, judging whether the acquired identification information is consistent with preset identification information or not, and if so, executing a step S2; if not, step S1 is executed again.
The method for automatically searching for the target object further comprises the following steps:
s8, overlapping the locking window with the image processed in the step S2;
and S9, displaying the measured distance value and the image superposed in the step S8.
The method for automatically searching for the target object further comprises the following steps:
s10, a main camera captures an image of a shooting area, wherein the main camera and an auxiliary camera are arranged in a close proximity mode, and central axes of the main camera and the auxiliary camera are parallel;
s11, processing an image captured by a main camera;
and S12, displaying the image processed in the step S11.
According to the technical scheme of the invention, the narrow-band filter is arranged in front of the auxiliary camera, and when the auxiliary camera is used for shooting, only light with a preset wavelength band on the reference point can pass through, so that only images of the reference point can be shot in the images. Meanwhile, the ranging module measures the distance to the target object. The image and the distance value are then processed. Then, the three-dimensional position of the target object can be determined according to the processed image and the distance value and by combining the position of the aircraft, the three-dimensional position of the target object at the next moment can be predicted, the aircraft is controlled to correspondingly move, so that the current position of the aircraft approaches to the predicted three-dimensional position of the target object, and the mapping of the reference point in the processed image falls into a locking window at a specific position. When the aircraft reaches the three-dimensional position of the target object, a corresponding action is performed, for example, a specific item is delivered to the target object using a robot, or shooting is started. The system can be applied to wedding occasions, can be used for sending gifts or rings into specific hands by using the system for automatically finding the target objects, can be used for replacing part of work of caddie on a golf course, can also be used for shooting show programs of real persons, and greatly improves the user experience.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a logic diagram of a first embodiment of the system for automatically finding a target object according to the present invention;
FIG. 2A is a schematic illustration of the position of a target object with an aircraft in one embodiment;
FIGS. 2B and 2C are schematic diagrams of images captured by an auxiliary camera during an auto-seek process;
FIG. 3 is a schematic diagram of a first embodiment of an image captured by an auxiliary camera according to the present invention;
FIG. 4 is a logic diagram of a second embodiment of the system for automatically finding objects of the present invention;
FIG. 5 is a flowchart of a first embodiment of the method for automatically finding a target object according to the present invention.
Detailed Description
Fig. 1 is a logic diagram of a first embodiment of the system for automatically finding a target object according to the present invention, which includes an aircraft (not shown), a control module 11 disposed on the aircraft, an execution module 15, a positioning module 16, a ranging module 12, an auxiliary camera 13, and a narrowband filter 14 disposed in front of the auxiliary camera 13, wherein the auxiliary camera 13 and the ranging module 12 are disposed in close proximity and have their central axes parallel.
In this embodiment, the distance measuring module 12 is used for measuring the distance to the target object in real time, and the distance measuring module 12 is, for example, a laser distance measuring module, an ultrasonic distance measuring module or a microwave distance measuring module. The auxiliary camera 13 is used to capture an image of a photographing area in which a reference point on a target object, such as a person, an animal, a car, etc., has light of a preset wavelength band. The positioning module 16 is used for acquiring self-position information, and the positioning module 16 is, for example, a gravity sensor, a gyroscope, and an acceleration sensor.
In addition, the control module 11 is configured to process the image captured by the auxiliary camera 13 and the distance value measured by the distance measurement module 12, determine a two-dimensional position of the target object relative to the aircraft according to the processed image, determine a three-dimensional position of the target object relative to the aircraft according to the processed distance value, determine the three-dimensional position of the target object by combining position information of the control module, and predict the three-dimensional position of the target object at the next time according to the three-dimensional position of the target object in a period of time before the current time, for example, perform position prediction according to a least square method or a markov prediction method. And then controlling the aircraft to correspondingly move so that the current position of the aircraft approaches the predicted three-dimensional position of the target object, and enabling the mapping of the reference point in the processed image to fall into a locking window of a specific position until the aircraft reaches the three-dimensional position of the target object. The execution module 15 is used for executing corresponding actions when the aircraft reaches the three-dimensional position of the target object, and the execution module 15 is a manipulator or a main camera.
Further, if the control module 11 finds that the three-dimensional position of the target object at the current time is inconsistent with the predicted three-dimensional position, the control module controls the aircraft to move so that the aircraft retreats to the position at the previous time again to search again.
Regarding the light of the predetermined wavelength band on the reference point, it may be light with a wavelength greater than 760nm (e.g., infrared light) or light with a wavelength less than 380nm (e.g., ultraviolet light).
Furthermore, in some embodiments, the light of the reference point is emitted directly by a narrow-band light source, for example, an infrared emitting tube or an ultraviolet emitting tube is disposed on the reference point, and a corresponding fluorescent agent may be disposed on the reference point. In other embodiments, the light of the reference point may be further reflected by a reflector, specifically: a reflector is placed at the reference point and a narrow band light source is placed elsewhere, for example on board an aircraft, and the reflector is located within the illumination range of the narrow band light source.
In addition, whether light of a preset wavelength band is emitted or reflected on the reference point of the object, the emitted or reflected light may preferably be light of a specific flashing sequence obtained by optically modulating the light wave of the narrow-band light source using the identification information. Moreover, after the auxiliary camera 13 captures the flash sequence, the control module 11 is further configured to detect the flash sequence emitted or reflected by the reference point, demodulate the flash sequence to obtain the identification information, and start processing the image captured by the auxiliary camera only when it is determined that the obtained identification information is consistent with the preset identification information. If the light beams are inconsistent, the light beams are interfered, so that the interference of other light beams on the target object to the automatic searching can be avoided.
The principle of auto-seek is explained below with reference to the examples shown in fig. 2A, 2B, 2C: before the automatic search, since the narrow-band filter is arranged in front of the auxiliary camera 13, when the auxiliary camera 13 shoots, only light with a preset wavelength band on a reference point of the target object can pass through, so that only a picture 1 of the reference point can be shot in an image, and then the image is processed. Meanwhile, the ranging module 12 measures a distance to a target object and then processes the measured distance value. The two-dimensional position of the target object relative to the aircraft at the current moment can be determined according to the processed image, the three-dimensional position of the target object relative to the aircraft is determined according to the processed distance value, and then the three-dimensional position of the target object can be determined by combining the position information of the aircraft. As shown in fig. 2A, the current position of the aircraft is at point O, the three-dimensional coordinate system is established with the current position O of the aircraft as the origin of coordinates, and the three-dimensional position of the target object relative to the aircraft is at point M. The three-dimensional position of the target object at the next moment can be predicted according to the three-dimensional position of the target object determined in a period of time before the current moment along with the movement of the target object, for example, the three-dimensional position of the target object at the next moment is predicted to move to a point M ', and at the moment, the aircraft is controlled to correspondingly move so that the current position of the aircraft (the aircraft moves to the point O ') approaches to the predicted three-dimensional position (the point M ') until the current position of the aircraft reaches the three-dimensional position of the target object. Finally, it should be noted that the target object is a moving target object in this embodiment, but may be a stationary target object in other embodiments.
Furthermore, the aircraft is controlled to move so that the map 1 of the reference points in the processed image falls within the lock-out window 2 at a specific position. With reference to fig. 2B and 2C, the preset positions of the lock window 2 are: the center of the lock window 2 is located at the center in the image, and the lock window 2 is rectangular. Before the auto-seek, map 1 of the reference point is located at the upper left of lock window 2, as shown in fig. 2B, at which point the aircraft is controlled to move up and to the left until map 1 of the reference point falls within lock window 2, as shown in fig. 2C. It should be noted that the above is only one embodiment of the present invention, in other embodiments, the position of the lock window 2 may be preset elsewhere in the image, the user may set the position of the lock window through the user interface, and the shape of the lock window 2 may also be circular, elliptical, hexagonal, etc.
In some cases, because there may be one or more reflection points of the reference point on the target object, in the image captured by the auxiliary camera, besides the image of the reference point, there may also be an image of the reflection point, as shown in fig. 3, 1 is an image of the reference point, 1 'and 1 "are images of the reflection point of the reference point, respectively, and the brightness of the images 1' and 1" of the reflection point is not as high as that of the image 1 of the reference point, in order to achieve the purpose of accurate searching, the control module first needs to determine the position of the image of the reference point in the image according to the brightness value, for example, in fig. 3, 1 is an image of the reference point, and then adjusts the movement of the aircraft according to the relationship between the position of the reference point and the position of the locking.
Fig. 4 is a logic diagram of a second embodiment of the system for automatically finding a target object according to the present invention, and compared with the embodiment shown in fig. 1, the system for automatically finding a target object according to the present invention further includes a main camera 17, the main camera 17 is disposed on the aircraft and connected to the control module 11, and the main camera 17 and the auxiliary camera 13 are disposed in close proximity, and the central axes of the main camera 17 and the auxiliary camera 13 are parallel, so as to ensure that the shooting ranges of the two cameras are approximately consistent. The main camera 17 is used to capture an image of a shooting area, and for example, shooting may be performed during automatic search for a target object, or shooting may be started after the target object is found.
In addition, preferably, the system for automatically finding the target object may further include a main display module and an auxiliary display module, which are disposed on the remote monitoring device and are connected to the control module 11 in a wireless manner. The auxiliary display module displays the images obtained after the images shot by the locking window and the auxiliary camera are overlapped, and can further display the measured distance value, so that a user or a tester can conveniently check the automatic searching process in real time. The main display module is used for displaying the image shot by the main camera. Of course, in other embodiments, the auxiliary display module and the main display module may be combined into one. In this way, the user can see the mapping of the target object and the reference point in one display screen at the same time, and further, when the determined reference point in the image is found to be inconsistent with the actual situation, the user can correct the situation by reselecting the reference point, and the system automatically searches again.
Fig. 5 is a flowchart of a first embodiment of the method for automatically finding a target object according to the present invention, wherein the photographing method for automatically finding a target object includes:
s1, an auxiliary camera with a narrow-band filter captures an image of a shooting area, and a distance measuring module measures the distance to a target object; the auxiliary camera and the distance measuring module are arranged in close proximity, the central axes of the auxiliary camera and the distance measuring module are parallel, and a reference point on a target object in a shooting area is provided with light with a preset wavelength band;
s2, processing the image captured by the auxiliary camera and the distance value measured by the distance measuring module;
s3, determining the two-dimensional position of the target object relative to the aircraft according to the image processed in the step S2, determining the three-dimensional position of the target object relative to the aircraft according to the processed distance value, and determining the three-dimensional position of the target object by combining self position information;
s4, predicting the three-dimensional position of the target object at the next moment according to the three-dimensional position of the target object in a period of time before the current moment, controlling the aircraft to correspondingly move so that the current position of the aircraft approaches to the predicted three-dimensional position of the target object, and enabling the image of the reference point in the image processed in the step S2 to fall into a locking window at a specific position until the aircraft reaches the three-dimensional position of the target object;
and S5, when the aircraft reaches the three-dimensional position of the target object, executing corresponding action.
Preferably, between step S2 and step S3, further comprising:
s6, determining the position of the mapping of the reference point in the image processed in the step S2 according to the brightness value.
On the basis of the above embodiment, the reference point emits or reflects light of a specific flash sequence obtained by optically modulating the light wave of the narrow-band light source using the identification information; furthermore, it is possible to provide a liquid crystal display device,
between the step S1 and the step S2, the method further comprises:
s7, detecting a flash sequence emitted or reflected by the reference point, demodulating the flash sequence to acquire the identification information, judging whether the acquired identification information is consistent with preset identification information or not, and if so, executing a step S2; if not, step S1 is executed again.
The method for automatically searching for the target object of the present invention may further include:
s8, overlapping the locking window with the image processed in the step S2;
and S9, displaying the measured distance value and the image superposed in the step S8, and further displaying the measured distance value.
On the basis of the above embodiment, the method for automatically finding a target object of the present invention may further include:
s10, capturing an image of a shooting area by a main camera, for example, shooting can be carried out in an automatic searching process, or shooting can be carried out only when a target object is found;
s11, processing an image captured by a main camera;
and S12, displaying the image processed in the step S11.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A system for automatically searching for a target object comprises an aircraft and a positioning module arranged on the aircraft and used for acquiring self-position information, and is characterized by further comprising a control module, an execution module, a distance measuring module, an auxiliary camera and a narrow-band filter arranged in front of the auxiliary camera, wherein the control module, the execution module, the distance measuring module, the auxiliary camera and the narrow-band filter are arranged on the aircraft, the distance measuring module and the auxiliary camera are arranged in close proximity, the central axes of the distance measuring module and the auxiliary camera are parallel, the distance measuring module and the auxiliary camera are arranged in parallel,
the auxiliary camera is used for capturing an image of a shooting area, wherein a reference point on a target object in the shooting area has light with a preset wavelength band;
the distance measuring module is used for measuring the distance to the target object in real time;
the control module is used for processing the image captured by the auxiliary camera and the distance value measured by the distance measuring module, determining the two-dimensional position of the target object relative to the aircraft according to the processed image, determining the three-dimensional position of the target object relative to the aircraft according to the processed distance value, determining the three-dimensional position of the target object by combining self position information, predicting the three-dimensional position of the target object at the next moment according to the three-dimensional position of the target object in the previous period of time at the current moment, controlling the aircraft to correspondingly move so that the current position of the aircraft approaches the predicted three-dimensional position of the target object, and enabling the image of the reference point in the processed image to fall into a locking window at a specific position until the aircraft reaches the three-dimensional position of the target object;
and the execution module is used for executing corresponding actions when the aircraft reaches the three-dimensional position of the target object.
2. The system for automatically finding an object according to claim 1, further comprising:
the setting is in on the aircraft and with the main camera that control module connects, moreover, the main camera with the setting of supplementary camera next-door neighbour, the main camera with the central axis of supplementary camera is parallel.
3. The system for automatically finding an object according to claim 1, further comprising:
a narrow-band light source disposed on a reference point of the target; or,
the reflector is arranged on a reference point of the target object, and the reference point is positioned in the irradiation range of the narrow-band light source.
4. The system for automatically finding an object according to claim 3, wherein the reference point emits or reflects light of a specific flashing sequence, wherein the flashing sequence is obtained by light modulation of a light wave of a narrow-band light source using identification information; furthermore, it is possible to provide a liquid crystal display device,
the control module is further configured to detect a flash sequence emitted or reflected by a reference point, demodulate the flash sequence to obtain the identification information, and start processing an image captured by the auxiliary camera when it is determined that the obtained identification information is consistent with preset identification information.
5. The system of claim 1, wherein the control module is further configured to determine, after processing the image captured by the auxiliary camera, a position of the image of the reference point in the processed image according to a brightness value.
6. A method for automatically finding a target object, comprising:
s1, an auxiliary camera with a narrow-band filter captures an image of a shooting area, and a distance measuring module measures the distance to a target object; the auxiliary camera and the distance measuring module are arranged in close proximity, the central axes of the auxiliary camera and the distance measuring module are parallel, and a reference point on a target object in a shooting area is provided with light with a preset wavelength band;
s2, processing the image captured by the auxiliary camera and the distance value measured by the distance measuring module;
s3, determining the two-dimensional position of the target object relative to the aircraft according to the image processed in the step S2, determining the three-dimensional position of the target object relative to the aircraft according to the processed distance value, and determining the three-dimensional position of the target object by combining self position information;
s4, predicting the three-dimensional position of the target object at the next moment according to the three-dimensional position of the target object in a period of time before the current moment, controlling the aircraft to correspondingly move so that the current position of the aircraft approaches to the predicted three-dimensional position of the target object, and enabling the image of the reference point in the image processed in the step S2 to fall into a locking window at a specific position until the aircraft reaches the three-dimensional position of the target object;
and S5, when the aircraft reaches the three-dimensional position of the target object, executing corresponding action.
7. The method of claim 6, further comprising, between the step S2 and the step S3:
s6, determining the position of the mapping of the reference point in the image processed in the step S2 according to the brightness value.
8. The method of automatically finding an object according to claim 6, wherein the reference point emits or reflects light of a specific flash sequence, wherein the flash sequence is obtained by light modulating the light wave of a narrow-band light source using identification information; furthermore, it is possible to provide a liquid crystal display device,
between the step S1 and the step S2, the method further comprises:
s7, detecting a flash sequence emitted or reflected by the reference point, demodulating the flash sequence to acquire the identification information, judging whether the acquired identification information is consistent with preset identification information or not, and if so, executing a step S2; if not, step S1 is executed again.
9. The method of automatically finding an object according to claim 6, further comprising:
s8, overlapping the locking window with the image processed in the step S2;
and S9, displaying the measured distance value and the image superposed in the step S8.
10. The method of automatically finding an object according to claim 6, further comprising:
s10, a main camera captures an image of a shooting area, wherein the main camera and an auxiliary camera are arranged in a close proximity mode, and central axes of the main camera and the auxiliary camera are parallel;
s11, processing an image captured by a main camera;
and S12, displaying the image processed in the step S11.
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