Aircraft state identification method, device, storage medium and aircraft

Abstract

The embodiment of the present invention discloses a method, device, storage medium and aircraft for identifying the state of an aircraft, wherein the method comprises: obtaining an image to be processed of the aircraft; identifying the component state of a preset component from the image to be processed; and determining the target air-ground state of the aircraft according to the component state. According to the present invention, by identifying the component state of the preset component in the image to be processed, and then determining the state of the aircraft according to the component state, the problem of large installation difficulty, high installation complexity and large installation error of a large number of different types of sensors existing in the prior art is avoided, and the accuracy of aircraft state identification is improved.

Description

Technical Field

[0001] The present invention relates to the field of flight control, and in particular to a method, a device, a storage medium and an aircraft for identifying the state of an aircraft. Background Art

[0002] The flight control system (Flight Control System) of a civil aircraft is used to control the flight attitude and trajectory of the aircraft. The flight control system is also used to reconstruct the control law mode, activate the ground lift function, suppress alarms, start the system self-detection function, and perform system maintenance tasks according to the aircraft's air-to-ground status. Therefore, identifying the aircraft's status is crucial for the flight control system.

[0003] Among them, the air-ground state includes the air state and the ground state. When detecting the air-ground state of an aircraft, a large number of different types of sensors are deployed in different parts of the aircraft to obtain various signals such as wheel load signals, wheel speed signals, radio altitude signals, airspeed signals, pitch angle signals, etc., and then the air-ground state of the aircraft is determined by comprehensive analysis of various signals.

[0004] Due to the large size and complex structure of the aircraft, deploying a large number of different types of sensors on the aircraft results in problems such as great difficulty, high complexity and large installation errors in installation. In addition, there is interference between various signals, which results in a heavy workload for signal data processing and large deviations in the processing results. Summary of the invention

[0005] Embodiments of the present invention provide a method, a device, a storage medium and an aircraft for identifying the state of an aircraft, which can improve the accuracy of judging the air-ground state.

[0006] In order to solve the above technical problems, the embodiments of the present invention disclose the following technical solutions:

[0007] On the one hand, a method for identifying the state of an aircraft is provided, comprising:

[0008] Acquire images to be processed about the aircraft;

[0009] Identifying a component state with respect to a preset component from the image to be processed;

[0010] Determine the target air-ground status of the aircraft based on the component status.

[0011] On the other hand, there is provided a device for identifying the state of an aircraft, comprising:

[0012] An image acquisition module, used to acquire images to be processed about the aircraft;

[0013] An image processing module, used for identifying a component state of a preset component from an image to be processed;

[0014] The state recognition module is used to determine the target air-ground state of the aircraft according to the component state.

[0015] On the other hand, a computer-readable storage medium is provided, which, when a computer program is executed on a computer, enables the computer to execute the method for identifying the state of an aircraft provided in an embodiment of the present invention.

[0016] In another aspect, an aircraft is provided, the aircraft comprising:

[0017] Aircraft body;

[0018] An image acquisition device disposed at the bottom of the aircraft body, the image acquisition device is used to acquire images to be processed of preset components in the aircraft body;

[0019] The flight control system is arranged inside the aircraft body, and is used to obtain the image to be processed from the image acquisition device and execute the aircraft state recognition method provided by the embodiment of the present invention.

[0020] The above technical solution has the following advantages or beneficial effects: by identifying the component features of preset components in the aircraft and determining the target air-ground state of the aircraft by analyzing the component features, this method does not require the deployment of a large number of different types of sensors, thereby avoiding the problems of high installation difficulty, high installation complexity and large installation errors caused by the deployment of a large number of different types of sensors in the prior art, and by identifying the component status of the preset components from the image to be processed, the state of the aircraft can be intuitively identified according to the component status, and the component status analysis of the preset components is not affected by the presence of signal interference, thereby improving the accuracy of aircraft status recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0022] Figure 1 A flow chart of a first method for identifying the state of an aircraft provided by an embodiment of the present invention;

[0023] Figure 2 A first logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0024] Figure 3 A second logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0025] Figure 4 A third logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0026] Figure 5 A flow chart of a second method for identifying the state of an aircraft provided by an embodiment of the present invention;

[0027] Figure 6 A fourth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0028] Figure 7 A fifth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0029] Figure 8 A flowchart of a third method for identifying the state of an aircraft provided by an embodiment of the present invention;

[0030] Fig. 9 A sixth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0031] Fig.10 A seventh logic judgment diagram about the vacant land state provided by the embodiment of the present invention;

[0032] Fig.11 An eighth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0033] Fig.12 A ninth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0034] Fig.13 A tenth logic judgment diagram about the vacant land state provided by an embodiment of the present invention;

[0035] Fig.14 A schematic diagram of the structure of a state identification device for an aircraft provided by an embodiment of the present invention;

[0036] Fig.15 A schematic diagram of a first configuration method of an image acquisition device provided by an embodiment of the present invention;

[0037] Fig.16 A schematic diagram of a second configuration method of the image acquisition device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the drawings, the same reference numbers are used throughout to indicate the same components, features, or values.

[0040] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] It should be noted that the method provided in the embodiment of the present invention can be applied to the state identification device of the aircraft provided in the embodiment of the present invention, or the aircraft that integrates the state identification device of the embodiment of the present invention. In some embodiments, the aircraft in the embodiment of the present invention may be an airplane, a drone, an aircraft, a helicopter, or the like that can be on the ground or in the air.

[0042] Embodiment 1

[0043] See also Figure 1 As shown, Figure 1 The flowchart shown is a first method for identifying the state of an aircraft provided by an embodiment of the present invention. In order to provide accuracy and convenience in determining the air-ground state and save costs, the method provided by this embodiment includes:

[0044] 101. Obtain an image to be processed of the aircraft.

[0045] Among them, an image acquisition device is arranged outside the aircraft, and the image acquisition device is used to acquire the image to be processed about the aircraft. After the image to be processed about the aircraft is acquired by the image acquisition device, the flight control system performs image processing on the image to be processed.

[0046] Because the structures of aircraft such as airplanes, drones, aircraft, and helicopters are different, when using the method provided in the embodiment of the present invention to identify the status of different types of aircraft, the image acquisition device can be set at different positions according to the different types of aircraft to collect images to be processed related to changes in the aircraft status, and then identify the status of the aircraft based on the images to be processed.

[0047] For example, when the aircraft is an airplane, the take-off and landing gear of the airplane are related. Therefore, the position of the image acquisition device can be set so that the field of view of the image it captures includes the landing gear. Of course, the flight status of the airplane is also related to the power plant. Similarly, the position of the image acquisition device can be set so that the field of view of the image it captures includes the landing gear. Since there are multiple components of the landing gear and power plant of the airplane, they will not be introduced one by one here.

[0048] For another example, when the aircraft is a drone, the take-off of the drone is related to the wings, so the position of the image acquisition device can be set so that the field of view of the captured image includes the wings.

[0049] Since there are many types of aircraft, they will not be listed one by one here. It is only necessary to explain that the position of the image acquisition device can be adaptively changed according to the type of aircraft. Therefore, the specific setting position of the image acquisition device is not limited in this embodiment. It is only necessary to acquire the image to be processed about the aircraft based on the image acquisition device.

[0050] Exemplarily, the field of view of the image acquisition device depends on its type, installation method and quantity, which are not limited here. The type of the image acquisition device may be a camera, a sensor, a camera, etc., the number of image acquisition devices may be one, two or more, and the image acquisition device may be installed on the bottom of the aircraft, the outside of the aircraft, the top of the aircraft or on other aircraft, and the other aircraft fly synchronously with the aircraft.

[0051] 102. Identify component states of preset components from the image to be processed.

[0052] After the image to be processed of the aircraft is acquired by the image acquisition device, the flight control system of the aircraft recognizes the image to be processed, and further recognizes the component status of the preset component from the image to be processed.

[0053] The preset component refers to a component associated with the air-to-ground state of the aircraft. By identifying the component state of the preset component from the image to be processed, the air-to-ground state of the aircraft can be determined by the component state.

[0054] Exemplarily, the preset components of an aircraft change according to the operating conditions of the aircraft. For example, the operating states may include ground driving, flying in the air, ground stationary, take-off, landing, etc. Under different operating conditions, the shapes of the preset components will change. For example, the landing gear of the aircraft is in a supporting shape when the aircraft is driving on the ground to support the body of the aircraft, and when the aircraft is flying in the air, the landing gear is in a retracted shape to reduce the flight resistance of the aircraft, and when the aircraft takes off or lands, the landing gear will dynamically change between the supporting shape and the retracted shape to meet the needs of the aircraft in different operating conditions.

[0055] Therefore, for the acquired image to be processed, its image content is associated with different operating conditions of the aircraft. When identifying the component status of the preset components in the image to be processed, it is necessary to identify the component status of the preset components to analyze the operating condition of the aircraft according to the component status, and then determine the air-ground status of the aircraft.

[0056] 103. Determine the target air-ground state of the aircraft based on the component state.

[0057] By analyzing the state of the components, the air-ground state of the aircraft can be determined. Taking the above-mentioned aircraft landing gear as an example, when the state of the landing gear is determined to be a flying state, it can be determined that the aircraft is in the air, and when the state of the landing gear is determined to be a ground taxiing state, it can be determined that the aircraft is on the ground.

[0058] The embodiment of the present invention obtains an image to be processed about the state of the aircraft, and then identifies the component state of the preset component from the image to be processed, wherein the component state of the preset component is related to the air-ground state of the aircraft, and whether the aircraft is in the air or on the ground can be judged according to the component state. Compared with the prior art, which requires the deployment of a large number of sensors to collect signals and then process the signal data to judge the air-ground state of the aircraft, the signals collected in the prior art cannot reflect the component state of the preset component related to the air-ground state of the aircraft in real time. The solution of this embodiment only needs to identify the image to be processed, and the component state of the preset component can be analyzed from the image to be processed, and the component state of the preset component is related to the air-ground state of the aircraft, so that the air-ground state of the aircraft can be reflected intuitively and visually, and the component state analysis of the preset component is not affected by signal interference, thereby improving the accuracy of aircraft state recognition.

[0059] The method described in the above embodiments is further described in detail below with examples.

[0060] In some embodiments, a component state regarding a preset component can be identified from the image to be processed by a preset image recognition model, that is, the component state regarding the preset component in the image to be processed is identified according to the preset image recognition model.

[0061] Exemplarily, the component states of preset components in a training set are learned by using a preset initial model, thereby obtaining a preset image recognition model, wherein the training set includes the component states of preset components of the aircraft under different operating conditions.

[0062] When the image to be processed is identified by the image recognition model, the image to be processed is used as the input of the image recognition model, and the component status of the preset component in the image to be processed can be output.

[0063] In some other embodiments, the component state of the preset component may also be determined by feature comparison, that is, the component state of the preset component is identified from the image to be processed, including:

[0064] Recognizing component features related to a preset component from the image to be processed;

[0065] A component state of the preset component is determined according to the preset characteristics and the component characteristics of the preset component.

[0066] In this embodiment, component features of a preset component can also be identified from the image to be processed. For example, the preset component is a landing gear of a landing device, and the component features can be morphological features of the landing gear, such as the support degree and retraction degree of the landing gear.

[0067] The preset components have preset features, wherein the preset features cover the morphological features of the preset components under all operating conditions of the aircraft. When determining the component state of the preset components through the preset features and component features of the preset components, the target features closest to the component features can be matched from the preset features, and then the component state of the component features can be determined based on the component state to which the target features belong.

[0068] In some embodiments, the preset features include preset air features and preset ground features;

[0069] Determining a component state of the preset component according to the preset feature and the component feature of the preset component includes:

[0070] Matching target aerial features corresponding to the preset components from the preset aerial features; and

[0071] Matching target ground features corresponding to the preset components from the preset ground features;

[0072] The component status of the preset component is determined based on the target air characteristics, target ground characteristics and component characteristics.

[0073] In this embodiment, the component features are compared with the preset air features and the preset ground features respectively, so as to determine the component status of the preset component according to the comparison results.

[0074] Among them, the characteristics related to the preset parts of the aircraft under different operating conditions are divided into an air state set and a ground state set. The air state set includes air characteristics of the preset parts in different forms when the aircraft is in the air state, and the ground state set includes ground characteristics of the preset parts in different forms when the aircraft is in the ground state.

[0075] By matching the component features with multiple preset aerial features in the aerial state set one by one, the preset aerial feature with the highest matching degree is used as the target aerial feature; similarly, matching the component features with multiple preset ground features in the ground state set one by one, the preset ground feature with the highest matching degree is used as the target ground feature, and then comparing the component features with the target aerial feature and the target ground feature respectively, so as to determine the component state of the preset component.

[0076] In some embodiments, the component state includes a first candidate state and a second candidate state;

[0077] Determine the component status of the preset component based on the target air characteristics, target ground characteristics and component characteristics, including:

[0078] Determining a first degree of match between the target aerial feature and the component feature; and

[0079] determining a second degree of matching between the target ground feature and the component feature;

[0080] If the first matching degree is greater than the second matching degree, determining the preset component as the first candidate state;

[0081] If the first matching degree is less than the second matching degree, the preset component is determined to be in the second candidate state.

[0082] This embodiment compares the matching degree of the component feature with the target air feature and the target ground feature, and selects the one with the highest matching degree as the basis for judging the component status.

[0083] Among them, the air state is associated with the first candidate state, and the ground state is associated with the second candidate state. When the matching degree between the component feature and the target air feature is high, it means that the matching degree between the component feature and the air state is high, and the component state to which the component feature belongs is determined to be the first candidate state, that is, the air state; when the matching degree between the component feature and the target ground feature is high, it means that the matching degree between the component feature and the ground state is high, and the component state to which the component feature belongs is determined to be the second candidate state, that is, the ground state.

[0084] In order to better understand the solution of this embodiment, an example is given here. For example, the first matching degree between the component feature and the target aerial feature is 90%, and the second matching degree with the target ground feature is 50%, which means that the target aerial feature has the highest matching degree with the component feature, and the component state to which the component feature belongs is determined to be the aerial state.

[0085] It is understandable that there is also a case where the first matching degree and the second matching degree are the same. For this case, the preset component can be set to belong to both the air state and the ground state, or the preset component does not belong to the air state or the ground state. In this case, a comprehensive analysis can be performed in combination with the component states of other components of the aircraft, or a prompt can be directly given to re-identify the component state of the preset component in the image to be processed.

[0086] Exemplarily, the component state of the preset component can also be judged in combination with the matching degree threshold, wherein, when the first matching degree is greater than the second matching degree, it is also necessary to judge whether the first matching degree is greater than the preset matching degree threshold. If so, the preset component is determined to be in the first candidate state; and when the first matching degree is less than the second matching degree, it is also necessary to judge whether the second matching degree is greater than the preset matching degree threshold. If so, the preset component is determined to be in the second candidate state.

[0087] In order to better understand the scheme of this embodiment, an example is given here. For example, the preset matching degree threshold is 70%. If the first matching degree between the component feature and the target aerial feature is 90%, and the second matching degree with the target ground feature is 50%, at this time, the first matching degree 90% is greater than the preset matching degree threshold 70%, which means that the target aerial feature and the component feature have the highest matching degree, and the component state to which the component feature belongs is determined to be the aerial state; but if the first matching degree between the component feature and the target aerial feature is 60%, and the second matching degree with the target ground feature is 30%, at this time, the first matching degree 60% is less than the preset matching degree threshold, and the component state of the preset component cannot be determined, and it is necessary to conduct a comprehensive analysis in combination with the component states of other components of the aircraft, or directly prompt to re-identify the component state of the preset component in the image to be processed, so as to determine the air-ground state of the aircraft.

[0088] It can be seen that by adding a preset matching degree threshold for judgment, the accuracy of component status determination of a preset component can be improved.

[0089] Based on the above embodiment, the component feature in the embodiment of the present invention includes sub-features of the preset component in multiple dimensions, and the sub-features include a first candidate state and a second candidate state;

[0090] Determine the target air-ground status of the aircraft based on the status of the components, including:

[0091] According to the candidate state to which each sub-feature belongs, a target air-ground state of the aircraft is determined from a plurality of preset air-ground states.

[0092] This embodiment combines the states of preset components in various dimensions to comprehensively analyze the air-to-ground state of the aircraft.

[0093] Exemplarily, the component features of the preset component include sub-features in multiple dimensions. When identifying the component state of the preset component from the image to be processed, the sub-features of the preset component in multiple dimensions can be identified, and then each sub-feature is matched with the preset air feature and the preset ground feature one by one, so as to determine the target air feature and the target ground feature corresponding to each sub-feature, and by comparing each sub-feature with its corresponding target air feature and target ground feature, the candidate state to which each sub-feature belongs is determined according to the matching degree, and then according to the candidate state to which each sub-feature belongs, the air-ground state of the aircraft is determined from multiple preset air-ground states.

[0094] This embodiment combines the sub-features of the preset components in multiple dimensions for judgment, thereby improving the accuracy of judging the state of the aircraft and reducing the error in the judgment result.

[0095] In some embodiments, the preset component in the above embodiments may be a landing gear of an aircraft, wherein the landing gear of the aircraft includes a landing gear, and the component features may include sub-features of the landing gear in multiple dimensions, for example, the sub-features may be profile sub-features, pillar sub-features, and tire sub-features.

[0096] When determining the candidate state of each sub-feature, the steps of determining the component state of the preset component according to the preset features and component features of the preset component provided in the above embodiment are used to determine whether each sub-feature is the first candidate state or the second candidate state. Since the judgment method is similar, it will not be repeated here.

[0097] For example, the contour sub-features, pillar sub-features, and tire sub-features of the landing gear are identified from the image to be processed. By determining the component states of the contour sub-features, pillar sub-features, and tire sub-features, the candidate state to which each sub-feature belongs can be determined from the first candidate state and the second candidate state.

[0098] For example, the contour sub-feature is the first candidate state, the pillar sub-feature is the second candidate state, and the tire sub-feature is the first candidate state. Then, based on the candidate state to which each sub-feature belongs, the target air-ground state of the aircraft is determined from multiple preset air-ground states.

[0099] In order to better understand the solutions provided by the above embodiments, the first application scenario is used as an example. The component feature of the preset component is represented by P(pn), and the sub-features of the preset component in multiple dimensions are represented by P(p1), P(p2), and P(p3), respectively. When the preset component P(pn) is a landing gear, P(p1) represents the contour sub-feature, P(p2) represents the pillar sub-feature, and P(p3) represents the tire sub-feature.

[0100] When judging the candidate state to which each sub-feature belongs, the target aerial feature and target ground feature corresponding to each sub-feature are determined from the preset aerial features and the preset ground features respectively through the numerical value corresponding to each sub-feature, where the preset aerial feature is represented as Pair(pn) and the preset ground feature is represented as Pground(pn).

[0101] For example, the pillar sub-feature P(p2) represents the compression of the pillar. By matching the pillar sub-feature in the processed image, the characteristic value of the pillar sub-feature P(p2) is 10cm. Then, the target aerial feature Pair(p2) corresponding to the pillar sub-feature is matched from the preset aerial feature Pair(pn), and the target ground feature Pground(p2) corresponding to the pillar sub-feature is matched from the preset ground feature Pground(pn). If the characteristic value of the target aerial feature Pair(p2) is 10cm and the characteristic value of the target ground feature Pground(p2) is 3cm, it means that the pillar sub-feature P(p2) matches the target aerial feature Pground(p2) successfully, and the pillar sub-feature P(p2) is determined to be the first candidate state. Similarly, the candidate states corresponding to the contour sub-feature P(p1) and the tire sub-feature P(p3) can be obtained, wherein the characteristic value of the contour sub-feature can be the contour occupied area, and the characteristic value of the tire sub-feature can be the tire rotation degree or the tire compression amount, etc.

[0102] Of course, the candidate state to which each sub-feature belongs can also be represented by a numerical value, and the specific expression formula is as follows:

[0103]

[0104] Among them, P(pn) represents the set of sub-features of the preset parts in multiple dimensions, Pair(pn) represents the aerial features of the preset parts in different forms when the aircraft is in the air, Pground(pn) represents the ground features of the preset parts in different forms when the aircraft is on the ground, 1 represents the first candidate state, that is, the aerial state, 0 represents the second candidate state, that is, the ground state, Invalid represents an invalid result, Q(qn) represents the set of each sub-feature and the candidate state to which it belongs, and qn represents the candidate state to which each sub-feature belongs.

[0105] As described above, the present invention also provides an embodiment, in which the preset component includes a landing gear of an aircraft, and the component features include sub-features of the landing gear in tire dimension, strut dimension, and profile dimension;

[0106] According to the candidate state to which each sub-feature belongs, the target air-ground state of the aircraft is determined from a plurality of preset air-ground states, including:

[0107] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, it is determined that the aircraft is in the air state;

[0108] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the second candidate state, it is determined that the aircraft is in the ground state.

[0109] For example, when determining the target air-ground state of the aircraft according to the candidate state to which each sub-feature belongs, the following method may be used: Figure 2 The judgment logic diagram shown in FIG. Figure 2 The first logic judgment diagram about the vacant land state is provided in the embodiment of the present invention.

[0110] Figure 2 In the figure, q1 represents the candidate state of the contour sub-feature, q2 represents the candidate state of the pillar sub-feature, and q3 represents the candidate state of the tire sub-feature. 3-choose-2 means that two feature values ​​among q1, q2, and q3 are 1, and the judgment value of the AND gate is 1. The AND gate outputs 1 to represent the air state and 0 to represent the ground state.

[0111] Specifically, it can be described as follows: if at least two of the tire sub-feature q3, the pillar sub-feature q2, and the contour sub-feature q1 are the first candidate states, the aircraft is determined to be in the air; if at least two of the tire sub-feature q3, the pillar sub-feature q2, and the contour sub-feature q1 are the second candidate states, the aircraft is determined to be on the ground.

[0112] In some embodiments, the landing gear also includes a left landing gear and a right landing gear, wherein the sub-features of the left landing gear in multiple dimensions are respectively represented by P(p11), P(p21), and P(p31), and the sub-features of the right landing gear in multiple dimensions are respectively represented by P(p12), P(p22), and P(p32), wherein P(p11) represents the left landing gear contour sub-feature, P(p12) represents the right landing gear contour sub-feature, P(p21) represents the left landing gear strut sub-feature, P(p22) represents the right landing gear strut sub-feature, P(p31) represents the left landing gear tire sub-feature, and P(p32) represents the right landing gear tire sub-feature.

[0113] Among them, the candidate state to which the left landing gear profile sub-feature P(p11) belongs can be expressed as q11, the candidate state to which the right landing gear profile sub-feature P(p12) belongs can be expressed as q12, the candidate state to which the left landing gear pillar sub-feature P(p21) belongs can be expressed as q21, the candidate state to which the right landing gear pillar sub-feature P(p22) belongs can be expressed as q22, the candidate state to which the left landing gear tire sub-feature P(p31) belongs can be expressed as q31, and the candidate state to which the right landing gear tire sub-feature P(p32) belongs can be expressed as q32.

[0114] For example, when determining the target air-ground state of the aircraft according to the candidate state to which each sub-feature belongs, the following method may be used: Figure 3 The judgment logic diagram shown in FIG. Figure 3 A second logic judgment diagram about the vacant land state provided by an embodiment of the present invention.

[0115] Figure 3 In the above, 3 choose 2 means that two of the characteristic values ​​of q11, q21, and q31 are 1, then the output values ​​of the three are 1, and two of the characteristic values ​​of q12, q22, and q32 are 1, then the output values ​​of the three are 1. When the input values ​​of the AND gate are all 1, the output value of the AND gate is 1, which indicates the air state. Otherwise, the output value of the AND gate is 0, which indicates the ground state.

[0116] Specifically, it can be described as follows: if at least two of the left landing gear tire sub-feature q31, the left landing gear pillar sub-feature q21 and the left landing gear profile sub-feature q11 are the first candidate states, and at least two of the right landing gear tire sub-feature q32, the right landing gear pillar sub-feature q22 and the right landing gear profile sub-feature q12 are the first candidate states, then it is determined that the aircraft is in the air; if at least two of the left landing gear tire sub-feature q31, the left landing gear pillar sub-feature q21 and the left landing gear profile sub-feature q11 are the second candidate states, or if at least two of the right landing gear tire sub-feature q32, the right landing gear pillar sub-feature q22 and the right landing gear profile sub-feature q12 are the second candidate states, then it is determined that the aircraft is in the ground state.

[0117] For example, see Figure 4 The embodiment of the present invention also provides a third logic judgment diagram about the vacant land state. Figure 4In the figure, the AND gates of q11 and q12 indicate that their eigenvalues ​​are both 1, and their output values ​​are 1; among them, 2-choose-1 indicates that if one of the eigenvalues ​​of q21 and q22 is 1, their output values ​​are 1; if one of the eigenvalues ​​of q31 and q32 is 1, their output values ​​are 1. For the second AND gate, when the three input values ​​are all 1, the output value of the AND gate is 1, which indicates the air state. If one of the three input values ​​of the AND gate is not 1, the output value of the AND gate is 0, which indicates the ground state.

[0118] It is understandable that the method of setting an AND gate between q11 and q12 can also be used between q21 and q22, and between q31 and q32. The specific arrangement and combination is not limited here, and it only needs to set an AND gate between at least one of every two groups.

[0119] Specifically, it can be described as follows: if at least one of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 is in the first candidate state, and at least one of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 is in the first candidate state, and both of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 are in the first candidate state, then it is determined that the aircraft is in the air state;

[0120] Alternatively, if both of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 are in the first candidate state, and at least one of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 is in the first candidate state, and at least one of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 is in the first candidate state, then it is determined that the aircraft is in the air state;

[0121] Alternatively, if at least one of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 is a first candidate state, and both of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 are first candidate states, and at least one of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 is a first candidate state, then it is determined that the aircraft is in the air state;

[0122] Alternatively, if at least one of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 is in the first candidate state, and both of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 are in the first candidate state, and both of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 are in the first candidate state, then it is determined that the aircraft is in the air state;

[0123] Alternatively, if both of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 are in the first candidate state, and both of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 are in the first candidate state, and at least one of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 is in the first candidate state, then it is determined that the aircraft is in the air state;

[0124] Alternatively, if both of the left landing gear tire sub-feature q31 and the right landing gear tire sub-feature q32 are in the first candidate state, and both of the left landing gear strut sub-feature q21 and the right landing gear strut sub-feature q22 are in the first candidate state, and both of the left landing gear profile sub-feature q11 and the right landing gear profile sub-feature q12 are in the first candidate state, it is determined that the aircraft is in the air state;

[0125] On the contrary, if at least one of the three groups of left landing gear tire sub-feature q31 and right landing gear tire sub-feature q32, left landing gear strut sub-feature q21 and right landing gear strut sub-feature q22, left landing gear profile sub-feature q11 and right landing gear profile sub-feature q12 is the second candidate state, then it is determined that the aircraft is in the ground state. Since the specific combination method can be described by the above combination logic, it will not be detailed here.

[0126] Embodiment 2

[0127] See also Figure 5 The flowchart shown is a second method for identifying the state of an aircraft provided by an embodiment of the present invention. The method provided by this embodiment identifies the state of the aircraft based on the environmental state, and the judgment method is relatively simple. The method provided by this embodiment includes:

[0128] 201. Obtain an image to be processed of an aircraft.

[0129] The method for obtaining the image to be processed can refer to the above embodiment and will not be described in detail here.

[0130] 202. Identify the environmental state of the external environment of the aircraft from the image to be processed.

[0131] Regarding the method of identifying environmental features from the image to be processed and determining the environmental state of the external environment of the aircraft based on the environmental features and preset features, reference can be made to the above-mentioned embodiment regarding determining the component state of a preset component based on the preset features and component features of the preset component, which will not be repeated here.

[0132] In a specific embodiment, the target aerial features can be matched from preset aerial features according to the environmental features, and the target ground features can be matched from preset ground features, and then by comparing the target aerial features with the target ground features, it is determined whether the environmental features belong to the first candidate state or the second candidate state.

[0133] 203. Determine the target air-ground state of the aircraft according to the environmental state.

[0134] Exemplarily, the environmental characteristics of the external environment include but are not limited to airport runways, smoke puffs (since smoke puffs are generated when an aircraft lands on the ground, the smoke puff characteristics can be used to reflect the aircraft switching from the air to the ground state), clouds, walking people, etc. Since the environmental characteristics may change depending on the environment in which the aircraft is flying or landing on the ground, they are not listed here. It can be understood that the environmental characteristics in this embodiment can be set by technical personnel in this field according to actual needs.

[0135] In this embodiment, by judging the environmental state, the target air-ground state of the aircraft can be intuitively reflected. Furthermore, the aircraft state often judged in the prior art only includes the ground state and the air state, and the two states have not been divided into detailed states. The solution provided in this embodiment can also judge the switching state of the aircraft between the two states, thereby improving the accuracy of the aircraft state judgment, and is more conducive to improving the performance of the flight control system.

[0136] In some embodiments, the environmental characteristics of the aircraft's external environment include: airport runway characteristics and smoke puff characteristics;

[0137] According to the environmental status, determine the target air-ground status of the aircraft, including:

[0138] If the airport runway feature and the smoke puff feature both belong to the second candidate feature, it is determined that the aircraft is in the air-to-ground state.

[0139] See also Figure 6 , Figure 6 A fourth logic judgment diagram regarding the vacant land status provided by an embodiment of the present invention.

[0140] Figure 6 In the figure, P(p4) represents the airport runway feature, P(p5) represents the smoke puff feature behind the landing gear tire, q4 represents the candidate state to which the airport runway belongs, q5 represents the candidate state to which the smoke puff belongs, and -1 represents the negation of the feature value. For example, the feature value of airport runway q4 is 0 or 1. When the actual feature value is 1, after the "-1" logic, the output value becomes 0. Among them, the output value of the "AND" gate is 1, which means that the aircraft is in the state of switching from the air to the ground, and when the output value is 0, no judgment is made.

[0141] For example, the above-mentioned puff characteristics also include the puff characteristics P (p51) behind the left landing gear tire and the puff characteristics P (p52) behind the right landing gear. Figure 7 , Figure 7 A fifth logic judgment diagram regarding the vacant land status provided by an embodiment of the present invention. Figure 7 In the figure, q4 indicates the candidate state of the airport runway, q51 indicates the candidate state of the left smoke puff, and q52 indicates the candidate state of the right smoke puff. When any output value of q51 and q52 is 1, and the output value of q4 is 1, it means that the aircraft is in the state of switching from air to ground.

[0142] Specifically, it can be described as follows: when any one of the left smoke puff feature and the right smoke puff feature belongs to the second candidate state, and the airport runway feature belongs to the second candidate state, it is determined that the aircraft is in the air-to-ground state.

[0143] Embodiment 3

[0144] See also Figure 8 The flowchart shown is a third method for identifying the state of an aircraft provided by an embodiment of the present invention. The method provided by this embodiment identifies the state of an aircraft by combining the state of a component and the state of the environment. The method provided by this embodiment includes:

[0145] 301. Obtain an image to be processed of an aircraft.

[0146] The method for obtaining the image to be processed can refer to the above embodiment and will not be described in detail here.

[0147] 302. Identify component states of preset components of the aircraft from the image to be processed.

[0148] The manner of identifying the component status of the preset component from the image to be processed can be referred to the above embodiment, which will not be described in detail here.

[0149] 303. Identify the environmental state of the external environment of the aircraft from the image to be processed.

[0150] Regarding the method of identifying the environmental state of the external environment of the aircraft from the image to be processed, reference may be made to the above-mentioned embodiment, which will not be described in detail here.

[0151] 304. Determine the target air-ground state of the aircraft based on the environmental state and component state.

[0152] This embodiment combines environmental status and component status, wherein both environmental status and component status are associated with the status of the aircraft, thereby improving the accuracy of aircraft status identification, and increasing the number of features for determining the aircraft status, thereby achieving multiple ways to determine the aircraft status, thereby reducing the number of situations where the aircraft status cannot be determined and improving the rate of identifying the aircraft status.

[0153] In some embodiments, the preset component includes a landing gear of the aircraft, the component characteristics of the landing gear include sub-characteristics of the landing gear in tire dimension, strut dimension and profile dimension, and the environmental characteristics of the external environment of the aircraft include airport runway characteristics and smoke characteristics;

[0154] Determine the target air-ground state of the aircraft based on the environmental state and component state, including the following logical judgment methods:

[0155] The first method, see above Figure 2 If at least two of the tire sub-feature, the pillar sub-feature and the profile sub-feature are in the first candidate state, it is determined that the aircraft is in the air state.

[0156] Of course, this embodiment can also be implemented by Figure 3 or Figure 4 The logical judgment method shown is implemented, and the specific implementation method can be based on the above embodiment, which will not be repeated here.

[0157] In the second method, if the pillar feature and the airport runway feature are the first candidate states, it is determined that the aircraft is in the air.

[0158] For more information on this implementation, see Fig. 9 , Fig. 9 The sixth logic judgment diagram about the air-to-ground state provided by the embodiment of the present invention: When the output result of the logic diagram is 1, it means that the aircraft is in the air.

[0159] Of course, the pillar sub-features also include the left pillar sub-features and the right pillar sub-features. When making a judgment, the following judgment logic can also be used:

[0160] If the left pillar sub-feature, the right pillar sub-feature and the airport runway feature all belong to the first candidate state, it is determined that the aircraft is in the air state.

[0161] The third method, please refer to the first method above, if at least two of the tire sub-feature, the pillar sub-feature and the profile sub-feature are in the second candidate state, then it is determined that the aircraft is in the ground state. Figure 2 , Figure 3 or Figure 4 When the output result is 0, it means the aircraft is on the ground.

[0162] The fourth method, please refer to the second method above. If at least one of the pillar sub-feature and the airport runway feature is in the second candidate state, it is determined that the aircraft is in the ground state. Fig. 9 When the output result is 0, it means the aircraft is on the ground.

[0163] In a fifth manner, if at least one of the pillar sub-feature, the tire sub-feature and the smoke feature is in the second candidate state, and the airport runway feature is in the second candidate state, the aircraft is in the air-to-ground state.

[0164] For more information on this implementation, see Fig.10 , Fig.10 The seventh logical judgment diagram about the vacant land state provided by the embodiment of the present invention. Fig.10 When the output result is 1, it means that the aircraft is in the state of switching from air to ground.

[0165] for Fig.10 The judgment logic in can also be described as:

[0166] If at least one of the pillar sub-feature and the tire sub-feature is in the second candidate state, and the airport runway feature is in the second candidate state, the aircraft is in the air-to-ground state;

[0167] See above Figure 6 , if the smoke puff characteristics and the airport runway characteristics both belong to the second candidate state, the aircraft is in the air-to-ground state;

[0168] Of course, this embodiment can also be implemented by Figure 7 The logical judgment method shown is implemented, and the specific implementation method can be based on the above embodiment, which will not be repeated here.

[0169] It can be understood that the pillar sub-feature in this embodiment is further divided into left pillar sub-feature and right pillar sub-feature, the tire sub-feature is further divided into left tire sub-feature and right tire sub-feature, and the puff feature is further divided into left puff feature and right puff feature. Fig.11 The logical judgment diagram shown is described.

[0170] See also Fig.11 , Fig.11 The eighth logic judgment diagram about the air-to-ground state provided by the embodiment of the present invention. In the diagram, if any one of the left pillar sub-feature and the left tire sub-feature belongs to the second candidate state, or any one of the right pillar sub-feature and the right tire sub-feature belongs to the second candidate state, or the left puff feature belongs to the second candidate state, or the right puff feature belongs to the second candidate state, and the airport runway belongs to the second candidate state, then the aircraft is in the air-to-ground state. Among them, for the judgment result of the logic diagram, when Fig.11 When the output result is 1, it means that the aircraft is in the state of switching from air to ground.

[0171] Of course, this logic judgment diagram is only one implementation method among multiple judgment logics. In the specific implementation example, the judgment logic can be adjusted according to actual needs as long as it can indicate the state of the aircraft.

[0172] In a sixth mode, if at least one of the contour sub-feature and the pillar sub-feature is in the first candidate state, and the airport runway feature is in the first candidate state, the aircraft is in the ground-to-air state.

[0173] For more information on this implementation, see Fig.12 , Fig.12 The ninth logic judgment diagram about the air-to-ground state provided by the embodiment of the present invention: If the output result of the logic diagram is 1, it means that the aircraft is in the state of switching from ground to air.

[0174] Exemplarily, the contour sub-feature further includes a left contour sub-feature and a right contour sub-feature, and the pillar sub-feature further includes a left pillar sub-feature and a right pillar sub-feature. Therefore, there is another embodiment, see Fig.13 , Fig.13 The tenth logic judgment diagram about the air-to-ground state provided by the embodiment of the present invention: If the output result of the logic diagram is 1, it means that the aircraft is in the ground-to-air state.

[0175] Specifically, it can be described as follows: if any one of the left pillar sub-feature, the right pillar sub-feature, the left contour sub-feature and the right contour sub-feature belongs to the first candidate state, and the airport runway belongs to the first candidate state, the aircraft is in the ground switching air state.

[0176] Through the method provided by the embodiment of the present invention, the air-ground state of the aircraft can be determined by the environmental state, the air-ground state of the aircraft can be determined by the component state, and the air-ground state of the aircraft can be determined by combining the environmental state and the component state. On the one hand, it provides diversified options for determining the air-ground state of the aircraft, and on the other hand, it can also improve the accuracy of the judgment result.

[0177] See also Fig.14 As shown, Fig.14 The figure is a schematic diagram of the structure of a device for identifying the state of an aircraft provided by an embodiment of the present invention. The device 400 provided by this embodiment includes:

[0178] An image acquisition module 401 is used to acquire an image to be processed about the aircraft;

[0179] An image processing module 402, used for identifying a component state of a preset component from an image to be processed;

[0180] The state determination module 403 is used to determine the target air-ground state of the aircraft according to the component state.

[0181] In some embodiments, the image processing module 402 is further configured to:

[0182] Recognizing component features related to a preset component from the image to be processed;

[0183] A component state of the preset component is determined according to the preset characteristics and the component characteristics of the preset component.

[0184] In some embodiments, the preset features include preset air features and preset ground features;

[0185] The image processing module 402 is also used for:

[0186] Matching target aerial features corresponding to the preset components from the preset aerial features; and

[0187] Matching target ground features corresponding to the preset components from the preset ground features;

[0188] The component status of the preset component is determined based on the target air characteristics, target ground characteristics and component characteristics.

[0189] In some embodiments, the component state includes a first candidate state and a second candidate state;

[0190] The image processing module 402 is also used for:

[0191] Determining a first degree of match between the target aerial feature and the component feature; and

[0192] determining a second degree of matching between the target ground feature and the component feature;

[0193] If the first matching degree is greater than the second matching degree, determining the preset component as the first candidate state;

[0194] If the first matching degree is less than the second matching degree, the preset component is determined to be in the second candidate state.

[0195] In some embodiments, the image processing module 402 is further configured to:

[0196] According to a preset image recognition model, the component status of a preset component in the image to be processed is identified.

[0197] In some embodiments, the component feature includes sub-features of a preset component in multiple dimensions, and the sub-features include a first candidate state and a second candidate state;

[0198] The state determination module 403 is also used for:

[0199] According to the candidate state to which each sub-feature belongs, a target air-ground state of the aircraft is determined from a plurality of preset air-ground states.

[0200] In some embodiments, the preset component includes a landing gear of an aircraft, and the component features include sub-features of the landing gear in tire dimensions, strut dimensions, and profile dimensions;

[0201] The state determination module 403 is also used for:

[0202] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, it is determined that the aircraft is in the air state;

[0203] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the second candidate state, it is determined that the aircraft is in the ground state.

[0204] In some embodiments, the image processing module 402 provided in the above embodiments is further used for:

[0205] identifying environmental features about the external environment of the aircraft from the image to be processed;

[0206] determining an environmental state of the environment outside the aircraft based on the environmental characteristics;

[0207] The state determination module 403 is also used for:

[0208] According to the environmental conditions, the target air-ground status of the aircraft is determined.

[0209] In some embodiments, the environmental characteristics of the aircraft's external environment include: airport runway characteristics and smoke puff characteristics;

[0210] The state determination module 403 is also used for:

[0211] If the airport runway feature and the smoke puff feature both belong to the second candidate feature, it is determined that the aircraft is in the air-to-ground state.

[0212] In some embodiments, the state determination module 403 provided in the above embodiment is further used for:

[0213] Determine the target air-ground state of the aircraft based on the environmental state and component state.

[0214] In some embodiments, the preset component includes a landing gear of the aircraft, the component characteristics of the landing gear include sub-characteristics of the landing gear in tire dimension, strut dimension and profile dimension, and the environmental characteristics of the external environment of the aircraft include airport runway characteristics and smoke characteristics;

[0215] The state determination module 403 is also used for:

[0216] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, it is determined that the aircraft is in the air state;

[0217] If the pillar sub-feature and the airport runway feature are the first candidate states, it is determined that the aircraft is in the air state;

[0218] If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the second candidate state, determining that the aircraft is in the ground state;

[0219] If at least one of the pillar sub-feature and the airport runway feature is in the second candidate state, determining that the aircraft is in the ground state;

[0220] If at least one of the pillar sub-feature, the tire sub-feature, and the puff feature is in the second candidate state, and the airport runway feature is in the second candidate state, the aircraft is in the air-to-ground state;

[0221] If at least one of the contour sub-feature and the pillar sub-feature is in the first candidate state, and the airport runway feature is in the first candidate state, the aircraft is in the ground-to-air state.

[0222] exist Fig.14 In the illustrated embodiment, the functions of the aircraft state identification device 400 provided in this embodiment correspond to the functions implemented by the aircraft state identification method, so for other functions of this embodiment, please refer to the contents provided in the above method, which will not be described one by one here.

[0223] The embodiment of the present invention further provides an aircraft, which may be an aircraft, a drone, an aircraft, a helicopter, or other equipment that may be on the ground or in the air. The aircraft provided in this embodiment includes:

[0224] Aircraft body;

[0225] An image acquisition device disposed at the bottom of the aircraft body, the image acquisition device is used to acquire images to be processed of preset components in the aircraft body;

[0226] The flight control system is arranged inside the aircraft body, and is used to obtain the image to be processed from the image acquisition device and execute the aircraft state recognition method provided in the above embodiment.

[0227] The aircraft provided by the embodiment of the present invention can collect images to be processed about preset components in the aircraft through an image acquisition device arranged at the bottom of the aircraft, and then identify the component status of the preset components in the image to be processed through the flight control system in the aircraft, and then determine the air-ground state of the aircraft. Since the aircraft can execute the same scheme as the above method and achieve the same technical effect, it can be understood that the aircraft provided by this embodiment and the above method belong to the same concept. Secondly, regarding the aircraft executing the method provided by the above embodiment, reference can be made to the description of the method in the above embodiment, which will not be repeated here.

[0228] In some embodiments, the image acquisition device includes a first subcomponent 501 and a second subcomponent 502, wherein 501 represents the first subcomponent, 502 represents the second subcomponent, and the first subcomponent 501 and the second subcomponent 502 are symmetrically arranged. For the preset part of the aircraft, when the preset part is the flying landing gear, the first subcomponent 501 can be used to acquire an image of the left landing gear, and the second subcomponent 502 can be used to acquire an image of the right landing gear.

[0229] For the arrangement positions of the first subcomponent 501 and the second subcomponent 502, please refer to Fig.15 and Fig.16 , Fig.15 A schematic diagram of a first configuration method of an image acquisition device provided by an embodiment of the present invention, Fig.16 A schematic diagram of a second configuration method of the image acquisition device provided in an embodiment of the present invention.

[0230] For example, see Fig.15 The first sub-component 501 and the second sub-component 502 are arranged at the bottom of the aircraft body and are coaxial with the landing gear of the aircraft body.

[0231] Fig.15 Also shown are the shooting ranges of the first subcomponent 501 and the second subcomponent 502, wherein the shooting range of the first subcomponent 501 includes the left landing gear area, and the shooting range of the second subcomponent 502 includes the right landing gear area. Regarding changes to the shooting range, reference may be made to the contents described in the above embodiments, which will not be repeated here.

[0232] See also Fig.16 The first sub-component 501 and the second sub-component 502 are respectively arranged on both sides of the wing of the aircraft body and are located on the lower surface of the wing.

[0233] exist Fig.16 In the embodiment, the positions of the first sub-component 501 and the second sub-component 502 on the wing can be moved as long as the landing gear area can be photographed.

[0234] In addition, the positions of the first subcomponent 501 and the second subcomponent 502 can be adjusted so that their shooting ranges cover the bottom area of ​​the aircraft, thereby acquiring the environmental image, that is, the image to be processed acquired by the image acquisition device also includes environmental content.

[0235] Based on this, in some embodiments, a third subcomponent 503 may be provided for the environmental content collection part, wherein the third subcomponent 503 is provided at the bottom of the aircraft body and is coaxial with the landing gear of the aircraft body.

[0236] Exemplarily, in combination with the above-mentioned embodiment, the third subcomponent 503 is used to collect images of the external environment of the aircraft, such as an airport runway, smoke, clouds, walking people, etc.

[0237] The specific implementation method can refer to the above embodiment and will not be described again here.

[0238] In this embodiment, only three sub-components are set to collect the image to be processed, and then the component status of the preset components and the environmental status of the external environment of the aircraft are analyzed from the image to be processed, which greatly reduces the number of image acquisition devices. Compared with the prior art that requires the setting of a large number of different types of sensors, it not only saves the cost of using sensors, but also simplifies the layout of the image acquisition device, and facilitates the installation of the image acquisition device outside the aircraft. Moreover, when collecting images through the image acquisition device, it is only necessary to process the image, and there is no need to process a large number of different types of signals, which avoids the disadvantages of large data processing volume and inaccurate processing results caused by interference from a large number of data signals. The method of this embodiment can intuitively and accurately describe the air-ground state of the aircraft, so that the processing results are visualized, and it is also convenient to judge the recognition results, which not only improves the recognition efficiency, but also improves the recognition accuracy.

[0239] It can be understood that in this embodiment, the processing process of the flight control system on the processed image can also be dynamically displayed on the display panel of the aircraft, so that the user can intuitively understand the real-time status of the aircraft and can conveniently control the aircraft.

[0240] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0241] To this end, an embodiment of the present invention provides a computer-readable storage medium. A person skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, it includes the following steps:

[0242] Acquire images to be processed about the aircraft;

[0243] Identifying a component state with respect to a preset component from the image to be processed;

[0244] Determine the target air-ground status of the aircraft based on the component status.

[0245] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0246] The above-mentioned storage medium may be ROM / RAM, a magnetic disk, an optical disk, etc. Since the computer program stored in the storage medium can execute the steps in any of the aircraft state identification methods provided in the embodiments of the present invention, the beneficial effects that can be achieved by any of the aircraft state identification methods provided in the embodiments of the present invention can be achieved, as detailed in the previous embodiments, which will not be repeated here.

[0247] The components of the various embodiments described herein may be combined to form other embodiments not specifically stated above. Components may be excluded from the structures described herein without adversely affecting their operation. In addition, various individual components may be combined into one or more individual components to perform the functions described herein.

[0248] In addition, although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for identifying the state of an aircraft, characterized in that: include: Acquire images to be processed about the aircraft; Identifying a component state of a preset component from the image to be processed; determining a target air-ground state of the aircraft according to the component state; The identifying the component state of the preset component from the image to be processed comprises: identifying the component feature of the preset component from the image to be processed; determining the component state of the preset component according to the preset feature of the preset component and the component feature; The component feature includes sub-features of the preset component in multiple dimensions, and the sub-features include a first candidate state and a second candidate state; Determining the target air-ground state of the aircraft according to the component state includes: determining the target air-ground state of the aircraft from a plurality of preset air-ground states according to the candidate state to which each sub-feature belongs; The preset component includes a landing gear of the aircraft, and the component characteristics include sub-characteristics of the landing gear in tire dimension, strut dimension and profile dimension; The step of determining the target air-ground state of the aircraft from a plurality of preset air-ground states according to the candidate state to which each sub-feature belongs includes: If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, determining that the aircraft is in the air state; If at least two of the tire sub-feature, the pillar sub-feature and the profile sub-feature are in the second candidate state, it is determined that the aircraft is in the ground state.

2. The method according to claim 1, characterized in that The preset features include preset air features and preset ground features; The determining the component state of the preset component according to the preset feature of the preset component and the component feature includes: Matching a target aerial feature corresponding to the preset component from the preset aerial features; and Matching target ground features corresponding to the preset component from the preset ground features; The component state of the preset component is determined according to the target air feature, the target ground feature and the component feature.

3. The method according to claim 2, characterized in that The component state includes a first candidate state and a second candidate state; The determining the component state of the preset component according to the target air feature, the target ground feature and the component feature comprises: determining a first degree of match between the target aerial feature and the component feature; and determining a second degree of matching between the target ground feature and the component feature; If the first matching degree is greater than the second matching degree, determining that the preset component is in a first candidate state; If the first matching degree is less than the second matching degree, the preset component is determined to be in the second candidate state.

4. The method according to claim 1, characterized in that The step of identifying a component state of a preset component from the image to be processed includes: According to a preset image recognition model, a component state of the preset component in the image to be processed is identified.

5. The method according to claim 1, characterized in that After acquiring the image to be processed about the aircraft, the method further includes: Identifying environmental features about the external environment of the aircraft from the image to be processed; determining an environmental state of the external environment of the aircraft according to the environmental characteristics; The target air-ground state of the aircraft is determined according to the environmental state.

6. The method according to claim 5, characterized in that The environmental characteristics of the aircraft's external environment include: airport runway characteristics and smoke characteristics; Determining the target air-ground state of the aircraft according to the environmental state includes: If both the airport runway feature and the smoke puff feature belong to the second candidate feature, it is determined that the aircraft is in an air-to-ground switching state.

7. The method according to any one of claims 1 to 3, characterized in that: After identifying the component status of the preset component from the image to be processed, the method further includes: Identifying an environmental state of an external environment of the aircraft from the image to be processed; A target air-ground state of the aircraft is determined according to the environmental state and the component state.

8. The method according to claim 7, characterized in that The preset components include a landing gear of the aircraft, the component characteristics of the landing gear include sub-characteristics of the landing gear in tire dimension, strut dimension and profile dimension, and the environmental characteristics of the external environment of the aircraft include airport runway characteristics and smoke characteristics; Determining the target air-ground state of the aircraft according to the environmental state and the component state includes: If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, determining that the aircraft is in the air state; If the pillar sub-feature and the airport runway feature are in the first candidate state, determining that the aircraft is in the air state; If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the second candidate state, determining that the aircraft is in the ground state; If at least one of the pillar sub-feature and the airport runway feature is in the second candidate state, determining that the aircraft is in the ground state; If at least one of the pillar sub-feature, the tire sub-feature and the puff feature is in the second candidate state, and the airport runway feature is in the second candidate state, the aircraft is in the air-to-ground state; If at least one of the contour sub-feature and the pillar sub-feature is in the first candidate state, and the airport runway feature is in the first candidate state, the aircraft is in the ground-to-air state.

9. A device for identifying the state of an aircraft, characterized in that: The state recognition device comprises: An image acquisition module, used to acquire images to be processed about the aircraft; An image processing module, used for identifying a component state of a preset component from the image to be processed; A state determination module, used to determine the target air-ground state of the aircraft according to the state of the component; The identifying the component state of the preset component from the image to be processed comprises: identifying the component feature of the preset component from the image to be processed; determining the component state of the preset component according to the preset feature of the preset component and the component feature; The component feature includes sub-features of the preset component in multiple dimensions, and the sub-features include a first candidate state and a second candidate state; Determining the target air-ground state of the aircraft according to the component state includes: determining the target air-ground state of the aircraft from a plurality of preset air-ground states according to the candidate state to which each sub-feature belongs; The preset component includes a landing gear of the aircraft, and the component characteristics include sub-characteristics of the landing gear in tire dimension, strut dimension and profile dimension; The step of determining the target air-ground state of the aircraft from a plurality of preset air-ground states according to the candidate state to which each sub-feature belongs includes: If at least two of the tire sub-feature, the pillar sub-feature, and the profile sub-feature are in the first candidate state, determining that the aircraft is in the air state; If at least two of the tire sub-feature, the pillar sub-feature and the profile sub-feature are in the second candidate state, it is determined that the aircraft is in the ground state.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed on a computer, the computer is enabled to execute the method for identifying the state of an aircraft according to any one of claims 1 to 8.

11. An aircraft, characterized in that: The aircraft comprises: Aircraft body; An image acquisition device disposed at the bottom of the aircraft body, the image acquisition device being used to acquire images to be processed of preset components in the aircraft body; A flight control system is arranged inside the aircraft body, and the flight control system is used to obtain the image to be processed from the image acquisition device and execute the method according to any one of claims 1 to 8.

12. The aircraft according to claim 11, characterized in that The image acquisition device comprises a first subcomponent and a second subcomponent which are symmetrically arranged; The first sub-component and the second sub-component are arranged at the bottom of the aircraft body and are coaxial with the landing gear of the aircraft body; Alternatively, the first subcomponent and the second subcomponent are disposed on both sides of the wing of the aircraft body and are located on the lower surface of the wing.

13. The aircraft according to claim 12, characterized in that The image acquisition device further comprises a third subcomponent; The third subcomponent is arranged at the bottom end of the aircraft body and is coaxial with the landing gear of the aircraft body.

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