Target shooting method and shooting device based on unmanned aerial vehicle and unmanned aerial vehicle

A shooting method and technology of a shooting device, applied in the field of unmanned aerial vehicles, can solve the problems of inability to adjust the angular position of the target, inability to efficiently identify and observe the target condition, etc., and achieve the effects of accurate identification and improved identification efficiency.

Active Publication Date: 2020-07-28
PRODRONE TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the position of the target in the shooting screen and the proportion of the target in the screen are mostly used to adjust the gimbal, flight attitude and camera focal length of the drone, but this process can only rely on the proportion to judge the size of the target in the picture. Instead, the angular position of the target cannot be adjusted so that it is at the best viewing angle in the picture, which leads to the inability to efficiently identify and observe the target status (such as observing defects in power line devices)

Method used

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  • Target shooting method and shooting device based on unmanned aerial vehicle and unmanned aerial vehicle
  • Target shooting method and shooting device based on unmanned aerial vehicle and unmanned aerial vehicle

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Experimental program
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Embodiment 1

[0031] like Figure 1-2 As shown, the target shooting method based on unmanned aerial vehicle in the present embodiment comprises:

[0032] S1. Obtain a real-time video stream containing at least one target through an imaging device such as a monocular / binocular camera; in this embodiment, the target includes one of a power tower pole, a power device connected to the power tower pole, and a power transmission line species or several;

[0033] S2. Select a certain single-frame image from the real-time video stream, and identify the target in the single-frame image, and number the target according to the visual characteristics of the target (such as using Arabic numerals 001, 002, 003... for the target in sequence Numbering);

[0034] S3. Perform 3D attitude estimation on a numbered target, and adjust the UAV gimbal posture and / or UAV flight attitude and / or imaging focal length according to the 3D attitude estimation results to obtain a predetermined shooting angle, and at thi...

Embodiment 2

[0038] The only difference between this embodiment and Embodiment 1 is that the step S2 of this embodiment also includes: after identifying the target, record the position information of each target and the flight attitude and / or gimbal parameter information of the current drone; At this point, it means that the single-frame image can be obtained under the current flight attitude and gimbal information of the drone;

[0039] Simultaneously, step S4 includes: S41, after completing the photographing of a certain serial number target according to step S3, the UAV returns to the system capable of obtaining the information obtained in step S2 according to the flight attitude and / or the gimbal parameter information of the UAV recorded in step S2. Describe the state of the single-frame image; S42, repeat step S3, to complete the shooting of the next numbered target; and S43, repeat steps S41, S42, until the shooting of all / part of the numbered targets is completed.

[0040] Thus, in ...

Embodiment 3

[0042] This embodiment provides a shooting device capable of realizing the target shooting method based on the drone described in Embodiment 1 or 2, such as figure 2 shown, which includes:

[0043] An imaging device 1 (such as a monocular / binocular camera, etc.), which is mounted on the drone body 100, is used to obtain a real-time video stream containing at least one target;

[0044] Recognition unit 2, which is connected to the imaging device 1, is used to select a single frame image from the real-time video stream, and identify the target in the single frame image, and number the target according to the visual characteristics of the target ( For example, Arabic numerals 1, 2, 3... are used to number the targets in sequence);

[0045] A 3D attitude estimation unit 3, which is connected to the recognition unit 2, and is used to perform 3D attitude estimation on the numbered target and generate a 3D attitude estimation result;

[0046]Angle adjustment control unit 4, which ...

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Abstract

The invention discloses a target shooting method and shooting device based on an unmanned aerial vehicle, and the unmanned aerial vehicle. The method comprises the following steps: S1, obtaining a real-time video stream containing at least one target; S2, selecting a certain single-frame image from the real-time video stream, identifying a target in the single-frame image, and numbering the target; and S3, carrying out 3D attitude estimation on a certain numbered target, adjusting a holder attitude and / or a flight attitude and / or an imaging focal length of the unmanned aerial vehicle accordingto a 3D attitude estimation result to obtain a predetermined shooting angle, and completing shooting of the numbered target at the angle. According to the invention, real-time attitude estimation canbe carried out on the target in the video stream, and the attitude of the holder, the attitude of the unmanned aerial vehicle and the camera parameters are adjusted according to the attitude estimation result, so that the optimal shooting angle is obtained, and the target condition is identified efficiently and accurately.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-based target photographing method, a photographing device and an unmanned aerial vehicle. Background technique [0002] UAV technology has been widely used in various industries, among which the target image captured by the UAV is used to analyze the situation of the scene and the target. For example, in the power line inspection, the UAV can capture the power tower The image of the target device, and analyze the defects on the target device from the image, such as lightning strike marks on the wire, broken strands, foreign objects, whether the wire clip is loose and heating, etc. Therefore, if the position and posture of the shooting target in the picture are not correct Appropriate means that the defects of the target device cannot be effectively found. [0003] At present, the position of the target in the shooting screen and the proportion o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70H04N5/232B64D47/08B64C39/02
CPCG06T7/70B64D47/08B64C39/02G06T2207/10016H04N23/61H04N23/60B64U2101/30
Inventor 黄立李波刘寿宝刘华斌薛源顾兴王效杰
Owner PRODRONE TECH (SHENZHEN) CO LTD
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