A drone device and its altitude detection method, apparatus and equipment

Abstract

The present invention discloses a method, device, equipment and unmanned aerial vehicle equipment for detecting the height of an unmanned aerial vehicle equipment, which are applied to the technical field of unmanned aerial vehicles. The method comprises: obtaining a light projection image in a preset projection direction collected by a preset camera of the unmanned aerial vehicle equipment; wherein a grating generation component is provided on the unmanned aerial vehicle equipment, and the grating generation component is used to generate a grating projected in a preset projection direction below the unmanned aerial vehicle equipment, so as to form a corresponding light projection on a projection surface; according to the area size of a light projection area in the light projection image, the flight height of the unmanned aerial vehicle equipment is obtained; the present invention uses a preset camera on the unmanned aerial vehicle equipment to collect the light projection formed by the grating generated by the grating generation component projected on the projection surface, and obtains the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image collected by the preset camera, thereby realizing high-precision detection of the flight height, thereby providing a guarantee for the safe flight of indoor unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, a device, and equipment for detecting the height of unmanned aerial vehicle equipment, and the unmanned aerial vehicle equipment. Background Art

[0002] As people's awareness of safety protection increases, there are more and more types of security products on the market, and indoor monitoring drones have also entered people's field of vision, improving people's life safety. In order to better meet the user's aesthetic and site application requirements, indoor drone products are designed to be as compact as possible. The compact product design reduces the landing range of the drone and puts forward more stringent requirements on the accuracy of the automatic landing control of the drone, which requires a more accurate landing positioning method to improve the landing accuracy.

[0003] Currently, the traditional method of using a barometer to control the flight altitude cannot meet the needs of indoor drone applications due to the limitations of barometer accuracy and indoor altitude restrictions. Therefore, how to achieve high-precision detection of the flight altitude of drone equipment, make up for the problem of insufficient altitude accuracy of indoor drones and the inability to effectively adjust the flight altitude when flying across multiple floors due to insufficient barometer sensitivity, and thus provide a guarantee for indoor drone obstacle avoidance and safe flight, is an urgent problem to be solved today. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device, equipment and drone equipment for detecting the height of an unmanned aerial vehicle (UAV) device, so as to achieve high-precision detection of the flight height of the unmanned aerial vehicle (UAV) device.

[0005] In order to solve the above technical problems, the present invention provides a method for detecting the height of an unmanned aerial vehicle device, comprising:

[0006] Acquire a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein the drone device is provided with a grating generation component, and the grating generation component is used to generate a grating projected in the preset projection direction below the drone device, so as to form a corresponding light projection on a projection surface;

[0007] The flight height of the UAV device is obtained according to the area size of the light projection area in the light projection image.

[0008] Optionally, the light projection area includes a light spot area and / or a grid area.

[0009] Optionally, obtaining a light projection image in a preset projection direction collected by a preset camera of the drone device includes:

[0010] Controlling the grating generation component to generate a grating projected toward the preset projection direction below the UAV device;

[0011] The preset camera is controlled to collect the light projection image in the preset projection direction.

[0012] Optionally, obtaining the flight altitude of the UAV device according to the light projection pattern in the light projection image includes:

[0013] The flight height of the UAV device is obtained according to the area size and the flight angle of the UAV device.

[0014] Optionally, after obtaining the light projection image in a preset projection direction collected by a preset camera of the drone device, the method further includes:

[0015] The flight terrain of the UAV device is detected according to the light projection area.

[0016] Optionally, detecting the flight terrain of the UAV device according to the light projection area includes:

[0017] The flight terrain is determined according to the light projection area and the preset light projection patterns corresponding to each preset terrain; wherein the flight terrain is any of the preset terrains, and the preset terrains include plane terrain and / or drone base terrain.

[0018] The present invention also provides a height detection device for unmanned aerial vehicle equipment, comprising:

[0019] An image acquisition module, used to acquire a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein the drone device is provided with a grating generation component, and the grating generation component is used to generate a grating projected in the preset projection direction below the drone device, so as to form a corresponding light projection on a projection surface;

[0020] The height detection module is used to obtain the flight height of the UAV device according to the area size of the light projection area in the light projection image.

[0021] The present invention also provides a drone device, comprising:

[0022] A grating generating component, used for generating a grating projected in a preset projection direction below the drone, so as to form a corresponding light projection on a projection surface;

[0023] A preset camera is used to collect the light projection image in the preset projection direction.

[0024] Optionally, the grating generation component includes: a light path generator and a grating plate;

[0025] Wherein, the optical path generator is used to generate a divergent optical path; the grating plate includes a light-shielding area and a light-transmitting area, and the optical path projects a grating of a preset shape through the light-transmitting area of ​​the grating plate.

[0026] In addition, the present invention also provides a height detection device for a drone device, comprising:

[0027] Memory for storing computer programs;

[0028] A processor is used to implement the steps of the method for detecting the height of the drone device as described above when executing the computer program.

[0029] The method for detecting the height of a drone device provided by the present invention comprises: obtaining a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein a grating generation component is provided on the drone device, and the grating generation component is used to generate a grating projected in a preset projection direction below the drone device, so as to form a corresponding light projection on a projection surface; and obtaining the flight height of the drone device according to the area size of the light projection area in the light projection image;

[0030] It can be seen that the present invention uses the preset camera to collect the light projection formed by the grating generated by the grating generating component on the projection surface through the setting of the grating generating component and the preset camera on the drone equipment; the flight height of the drone equipment is obtained according to the area size of the light projection area in the light projection image collected by the preset camera, and the high-precision detection of the flight height of the drone equipment is achieved, which makes up for the problem of insufficient height accuracy of indoor drones and the inability to effectively adjust the flight height when shuttling between multiple floors due to insufficient sensitivity of the barometer, thereby providing a guarantee basis for indoor drones to avoid obstacles and fly safely. In addition, the present invention also provides a height detection device, equipment and drone equipment for drone equipment, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 A flowchart of a method for detecting the height of a drone device provided by an embodiment of the present invention;

[0033] Figure 2 A schematic diagram of the structure of a drone device provided by an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of a landing position of a drone device provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the structure of a grating generation component of a drone device provided by an embodiment of the present invention;

[0036] Figure 5 A schematic diagram of a light projection area of ​​a drone device provided by an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of a light projection area of ​​another drone device provided by an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of a flight terrain of a UAV device provided by an embodiment of the present invention;

[0039] Figure 8 for Figure 7 Schematic diagram of the light projection area of ​​the UAV equipment on the flight terrain shown;

[0040] Fig. 9 A schematic diagram of the flight terrain of another unmanned aerial vehicle device provided by an embodiment of the present invention;

[0041] Fig.10 for Fig. 9 Schematic diagram of the light projection area of ​​the UAV equipment on the flight terrain shown;

[0042] Fig.11 This is a structural block diagram of a height detection device for a drone device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0044] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for detecting the height of a drone device provided by an embodiment of the present invention. The method may include:

[0045] Step 101: Obtain a light projection image of a preset projection direction captured by a preset camera of the drone device; wherein a grating generation component is provided on the drone device, and the grating generation component is used to generate a grating projected in a preset projection direction below the drone device to form a corresponding light projection on a projection surface.

[0046] It can be understood that a preset camera and a grating generation component can be set on the drone device in this embodiment; wherein the grating generation component can be used to generate a grating that is projected in a preset projection direction below the drone device to form a corresponding light projection on the projection surface, such as a light spot and / or a light grid; the preset camera can capture an image in a preset projection direction (i.e., a light projection image), that is, the light projection image may include an area of ​​light projection formed by the grating being projected on the projection surface (i.e., a light projection area).

[0047] Specifically, the specific device positions of the preset camera and grating generation component on the drone device in this embodiment can be set by the designer according to practical scenarios and user needs, such as Figure 2 As shown, the grating generation component and the preset camera (i.e., the camera) can be arranged at the bottom of the drone device to facilitate the projection of the grating to the bottom of the drone device and the collection of the light projection image below the drone device. The grating generation component and / or the preset camera can also be arranged on the side of the drone device, as long as it is ensured that the grating generation component can project the grating to the bottom of the drone device and the preset camera can collect the light projection image corresponding to the light projection formed by the grating projection below the drone device, this embodiment does not impose any restrictions on this.

[0048] Correspondingly, the specific direction setting of the preset projection direction, that is, the specific grating projection angle setting of the grating generating component, can be set by the designer according to practical scenarios and user needs. For example, the preset projection direction can be a projection direction perpendicular to the bottom of the drone device, so that the grating generated by the grating generating component can be projected vertically downward; the preset projection direction can also be other downward projection directions, as long as the grating generated by the grating generating component is projected toward the bottom of the drone device, that is, the grating generated by the grating generating component when the drone device is flying can form a light projection on the projection surface below the drone device. This embodiment does not impose any restrictions on this.

[0049] Among them, the specific device types of the grating generation component and the preset camera in this embodiment can be set by the designer. For example, the grating generation component can be specifically a visible light grating generation component, that is, the grating generation component can project a visible light grating; in order to reduce the impact of the external environment on the visible grating projection, the brightness of the visible light grating projected by the visible light grating generation component can be greater than the brightness threshold. The grating generation component can also be specifically an infrared grating generation component, that is, the grating generation component can project an infrared grating to reduce the impact of the external environment on the grating projection; accordingly, the preset camera can be specifically an infrared camera to facilitate the image acquisition of the infrared light projection formed by the infrared grating projection.

[0050] Specifically, the specific structure of the grating generation component in this embodiment can be set by the designer, such as Figure 4 As shown, the grating generation component may include a light path generator and a grating plate; wherein the light path generator is used to generate a divergent light path; the grating plate includes a light-shielding area and a light-transmitting area, and the light path projects a grating of a preset shape through the light-transmitting area of ​​the grating plate. The light-shielding area of ​​the grating plate may be an area covered by a low-light-transmitting material or an opaque material, and the light-transmitting area of ​​the grating plate may be an area covered by a high-light-transmitting material or a hollow area, so that the light path generated by the light path generator can project a grating of a preset shape through the light-transmitting area of ​​the grating plate. For example, when the grating generating component is specifically an infrared grating generating component, the grating generating component may include an infrared light path generator and a grating plate; the infrared light path generator may be specifically an infrared lamp or a combination of an infrared lamp and a light guide plate to generate a divergent infrared light path, such as the infrared light path generator may be composed of a single infrared lamp or multiple infrared lamps and a light guide plate; the grating plate may be a shading plate (i.e., a shading area) made of a low-infrared-light-transmittance or infrared-impermeable material, and the grating plate may include hollow holes (i.e., light-transmitting areas) of a preset shape (such as a rectangle or a triangle), so that the infrared light path will project an infrared grating or grating group of a preset shape after passing through the grating plate.

[0051] Correspondingly, the specific number and shape of the light-transmitting areas on the above-mentioned grating plate, that is, the number and shape of the gratings that will be projected after passing through the grating plate, can be set by the designer according to practical scenarios and user needs. For example, the light-transmitting area can include a light spot light-transmitting area, so that the projected grating can be projected on the projection surface to form a corresponding light spot (i.e., light projection); for example, the light spot light-transmitting area can be a rectangular area, so that the light path generated by the light path generator will project a grating with a rectangular (i.e., a preset shape, such as a square) light spot after passing through the grating plate; the light spot light-transmitting area can be a triangular area or other shape (such as a circular) area. The light-transmitting area can also include a grid light-transmitting area, so that the projected grating can be projected on the projection surface to form a corresponding light grid (i.e., light projection), such as a solid line grid or a dotted line grid. The number of light-transmitting areas may be 1. For example, when the light-transmitting area is a light spot light-transmitting area, the light path generated by the light path generator can project a rectangular grating after passing through the grating plate to form a rectangular light spot on the projection surface; when the light-transmitting area is a grid light-transmitting area, the light path generated by the light path generator can project a corresponding grid-shaped grating after passing through the grating plate to form a light grid on the projection surface; in order to facilitate subsequent terrain identification, when the light-transmitting area includes a light spot light-transmitting area, the number of light-transmitting areas may also be greater than or equal to 2. For example, light spot light-transmitting areas corresponding to the four flight directions of the drone equipment, namely, the number of light-transmitting areas may be greater than or equal to 4; for example, the grating plate may be provided with 4 rows and 4 columns of 16 light spot light-transmitting areas; Figure 5 As shown, the number of light-transmitting areas can be 4, so that the grating generating component can project 4 light spots (i.e., light spot areas) on the projection surface below the UAV device, that is, the four flight directions of the UAV device, front, back, left, and right, can each correspond to a light spot area.

[0052] It should be noted that the height detection method for the drone device provided in this embodiment can be applied to drone devices (for example, indoor drones), that is, the processor of the drone device can execute the method provided in this embodiment to achieve high-precision detection of its own flight altitude; the height detection method for the drone device provided in this embodiment can also be applied to height detection devices that are communicatively connected to the drone device, such as servers or user terminals (for example, mobile phone devices), that is, the processor of the height detection device can execute the method provided in this embodiment to achieve high-precision detection of the flight altitude of the drone device.

[0053] Correspondingly, the specific method for the processor to obtain the light projection image of the preset projection direction collected by the preset camera of the drone device in this step can be set by the designer according to practical scenarios and user needs. For example, the processor can control the grating generation component to generate a grating projected in the preset projection direction below the drone device; control the preset camera to collect the light projection image in the preset projection direction; for example, the processor of the drone device first controls the grating generation component to generate a grating projected in the preset projection direction below the drone device, and then controls the preset camera to collect the light projection image in the preset projection direction to obtain an image of the light projection formed by the grating projection (i.e., the light projection image), so that the image can be used to detect its own flight altitude. The processor can also directly receive the light projection image sent by the drone device; for example, the processor of the server can receive the light projection image sent by the drone device, so that the server can detect the flight altitude of the drone device and reduce the calculation amount of the drone device.

[0054] Specifically, the light projection image in this step can be a light projection image of a preset projection direction captured by a preset camera when the drone device is in a flight state; for example, before the processor controls the grating generation component to generate a grating projected in a preset projection direction below the drone device, it can detect whether the drone device is in a flight state; if so, the step of controlling the grating generation component to generate a grating projected in a preset projection direction below the drone device can be executed; if not, the present process can be directly terminated or the next flight state detection can be waited for to reduce the power consumption of the drone device.

[0055] Step 102: Obtain the flight altitude of the UAV device according to the area size of the light projection area in the light projection image.

[0056] It is understandable that if Figure 5 and Figure 6 As shown, when the UAV device is close to the projection surface below (such as the ground), the size of the light projection area formed by the grating projection is small (such as Figure 5 The light spot area in the grating projection is the light projection area in the light projection image, that is, the light projection area in the light projection image occupies fewer pixels; when the drone device is far away from the projection surface below, the size of the light projection area formed by the grating projection is larger (such as Figure 6 Therefore, in this step, the processor can determine the flight altitude of the UAV device according to the area size of the light projection area in the light projection image captured by the preset camera, so as to facilitate the subsequent fixed-altitude flight control of the UAV device.

[0057] Specifically, the specific method for the processor in this embodiment to obtain the flight height of the UAV device according to the area size of the light projection area in the light projection image can be set by the designer. For example, the processor can determine the flight height of the UAV device by comparing the area size of the light projection area with the preset sizes corresponding to the preset heights; the processor can also calculate the flight height of the UAV device according to the area size of the light projection area and the corresponding relationship between the preset size and the height; wherein the corresponding relationship between the preset size and the height can be a relationship obtained by fitting a quadratic curve (or a cubic curve). As long as the processor can obtain the flight height of the UAV device according to the area size of the light projection area in the light projection image, this embodiment does not impose any restrictions on this.

[0058] Correspondingly, in this embodiment, the processor can obtain the flight altitude of the UAV device according to the area size of the target light projection area in the light projection image; wherein the target light projection area may be a partial area in the light projection area in the light projection image; for example, the light projection formed by the grating generated by the grating generation component when projected on the projection surface is a light spot, that is, when the light projection area includes the light spot area, the target light projection area may be any light spot area in the light spot area that conforms to the preset light spot shape; the light projection formed by the grating generated by the grating generation component when projected on the projection surface is a light grid, that is, when the light projection area includes the grid area, the target light projection area may be a partial grid area in the grid area that conforms to the preset grid shape (such as a square or a grid, etc.).

[0059] It should be noted that when the projection direction of the grating generating component in the UAV device is fixed, due to the different flight angles of the UAV device at the same flight altitude, the light projection area formed by the grating projected by the grating generating component in the UAV device onto the same projection surface will change. In this step, the processor can obtain the flight altitude of the UAV device according to the area size and the flight angle of the UAV device; for example, when the preset sizes of each height corresponding to the horizontal flight angle are pre-set, in this step, the processor can determine that the flight altitude of the UAV device is the height corresponding to the matching preset size by comparing and matching the area size of the target light projection area with each preset size when the flight angle of the UAV device is the horizontal flight angle.

[0060] Furthermore, when the drone device flies over various terrains, the light projection area captured by the preset camera will also change accordingly; for example, when the drone device flies over a flat terrain, the shape of the light projection area can be as follows: Figure 5 and Figure 6 As shown; drone equipment flying over Figure 7 When the staircase terrain is shown, the shape of the light projection area captured by the preset camera can be as follows Figure 8 As shown; drone equipment flying over Fig. 9When the terrain of the drone base is shown, the shape of the light projection area captured by the preset camera can be as follows Fig.10 Therefore, in this step, the processor can use the light projection area in the light projection image collected by the preset camera to accurately identify the terrain below the UAV device, facilitate the subsequent automatic cruise control (such as flight path planning) and automatic landing of the UAV device, and improve the landing accuracy of the UAV device, thereby effectively reducing the size of the UAV base and making the UAV device (such as Figure 3 The product design of the drone body and the drone base can be more compact, improving product competitiveness.

[0061] That is to say, in this embodiment, after the processor obtains the light projection image of the preset projection direction collected by the preset camera of the drone device, it can also detect the flight terrain of the drone device according to the light projection area in the light projection image. For example, in some embodiments, the processor can determine the flight terrain of the drone device according to the preset light projection pattern (such as a spot pattern or a grid pattern) corresponding to the light projection area and each preset terrain; wherein the flight terrain is any preset terrain, and the preset terrain includes a plane terrain and / or a drone base terrain. In other embodiments, when the light projection area includes a grid area, the processor can identify the flight terrain of the drone device according to the curvature of each grid line in the grid area, for example, by comparing and matching the curvature of each grid line with the curvature feature corresponding to each preset terrain, and identifying the preset terrain corresponding to the curvature feature matched by the flight terrain of the drone device.

[0062] Correspondingly, the specific method for detecting the flight terrain of the drone device according to the light projection area in the light projection image can be set by the designer according to the usage scenario and user needs. For example, the matching process between the light projection area and the preset light projection pattern can be realized in the same or similar manner as the image matching method in the prior art; the detection and feature matching process of the curvature of the grid lines can also be realized in the same or similar manner as the curvature detection and matching method in the prior art. As long as the processor can detect the flight terrain of the drone device according to the light projection area in the light projection image, this embodiment does not impose any restrictions on this.

[0063] Specifically, when the projection direction of the grating generation component in the drone device is fixed, the light projection area formed by the grating generated by the grating generation component in the drone device projected onto the same terrain will change due to the different flight angles of the drone device. In this embodiment, the processor can determine the flight terrain of the drone device based on the light projection area, the preset light projection pattern and the flight angle of the drone device; for example, when the preset light projection patterns of each preset terrain corresponding to the horizontal flight angle are preset, in this step, the processor can determine that the flight terrain of the drone device is the preset terrain corresponding to the matching preset light projection pattern by comparing and matching the light projection area with each preset light projection pattern when the flight angle of the drone device is the horizontal flight angle. Furthermore, the processor can also determine the flight terrain of the drone device based on the light projection area, the preset light projection pattern, the flight angle and the flight altitude of the drone device, and this embodiment does not impose any restrictions on this.

[0064] In this embodiment, the embodiment of the present invention uses the setting of a grating generating component and a preset camera on the drone equipment, and uses the preset camera to collect the light projection formed by the grating generated by the grating generating component on the projection surface; by obtaining the flight altitude of the drone equipment according to the area size of the light projection area in the light projection image collected by the preset camera, high-precision detection of the flight altitude of the drone equipment is achieved, which makes up for the problem of insufficient altitude positioning accuracy of indoor drones due to insufficient sensitivity of the barometer and the inability to effectively adjust the flight altitude when shuttling between multiple floors, thereby providing a guarantee for obstacle avoidance and safe flight of indoor drones.

[0065] Corresponding to the above method embodiment, an embodiment of the present invention further provides a height detection device for a drone device. The height detection device for a drone device described below and the height detection method for a drone device described above can refer to each other.

[0066] Please refer to Fig.11 , Fig.11 This is a structural block diagram of a height detection device for a drone device provided by an embodiment of the present invention. The device may include:

[0067] The image acquisition module 10 is used to acquire a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein a grating generation component is provided on the drone device, and the grating generation component is used to generate a grating projected in a preset projection direction below the drone device, so as to form a corresponding light projection on the projection surface;

[0068] The altitude detection module 20 is used to obtain the flight altitude of the UAV device according to the area size of the light projection area in the light projection image.

[0069] Optionally, the light projection area includes a light spot area and / or a grid area.

[0070] Optionally, the image acquisition module 10 may include:

[0071] The grating control submodule is used to control the grating generation component to generate a grating projected in a preset projection direction below the UAV device;

[0072] The camera control submodule is used to control a preset camera to collect a light projection image in a preset projection direction.

[0073] Optionally, the altitude detection module 20 may be specifically used to obtain the flight altitude of the UAV device according to the area size and the flight angle of the UAV device.

[0074] Optionally, the device may further include:

[0075] The terrain recognition module is used to detect the flight terrain of the UAV device according to the light projection area.

[0076] Optionally, the terrain recognition module can be specifically used to determine the flight terrain based on the light projection area and the preset light projection patterns corresponding to each preset terrain; wherein the flight terrain is any of the preset terrains, and the preset terrains include plane terrain and / or drone base terrain.

[0077] In this embodiment, the embodiment of the present invention uses the setting of the grating generation component and the preset camera on the drone equipment, and uses the preset camera to collect the light projection formed by the grating generated by the grating generation component on the projection surface; the altitude detection module 20 obtains the flight altitude of the drone equipment according to the area size of the light projection area in the light projection image collected by the preset camera, thereby realizing high-precision detection of the flight altitude of the drone equipment, compensating for the problem of insufficient altitude positioning accuracy of indoor drones due to insufficient sensitivity of the barometer and the inability to effectively adjust the flight altitude when shuttling between multiple floors, thereby providing a guarantee for obstacle avoidance and safe flight of indoor drones.

[0078] Corresponding to the above method embodiment, an embodiment of the present invention further provides a drone device. The drone device described below and the height detection method of the drone device described above can refer to each other.

[0079] A drone device, comprising:

[0080] A grating generating component, used for generating a grating projected in a preset projection direction below the drone, so as to form a corresponding light projection on a projection surface;

[0081] The preset camera is used to collect light projection images in a preset projection direction.

[0082] Specifically, the grating generation component may include: a light path generator and a grating plate;

[0083] The light path generator is used to generate a divergent light path; the grating plate includes a light-shielding area and a light-transmitting area, and the light path projects a grating of a preset shape through the light-transmitting area of ​​the grating plate.

[0084] Specifically, the drone equipment provided in this embodiment may also include:

[0085] Memory for storing computer programs;

[0086] The processor is used to implement the steps of the altitude detection method of the drone device provided in the above method embodiment when executing the computer program.

[0087] Corresponding to the above method embodiment, an embodiment of the present invention further provides a height detection device for a drone device. The height detection device for a drone device described below and the height detection method for a drone device described above can refer to each other.

[0088] A height detection device for an unmanned aerial vehicle device, comprising:

[0089] Memory for storing computer programs;

[0090] The processor is used to implement the steps of the altitude detection method of the drone device provided in the above method embodiment when executing the computer program.

[0091] Specifically, the height detection device for the drone device provided in this embodiment can be a drone device, such as an indoor drone; it can also be a device that is communicated with the drone device, such as a server and a user terminal (such as a mobile phone device).

[0092] Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium described below and the height detection method of a drone device described above can be referenced to each other.

[0093] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for detecting the height of a drone device provided in the above method embodiment.

[0094] The computer-readable storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or any other computer-readable storage medium that can store program codes.

[0095] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the height detection device, height detection equipment, drone equipment and computer-readable storage medium disclosed in the embodiments, since they correspond to the height detection method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0096] The above is a detailed introduction to the height detection method, device, equipment and drone equipment provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for detecting the height of an unmanned aerial vehicle device, characterized in that: include: Acquire a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein the drone device is provided with a grating generation component, and the grating generation component is used to generate a grating projected in the preset projection direction below the drone device, so as to form a corresponding light projection on a projection surface; Obtaining a flight height of the UAV device according to the area size of the light projection area in the light projection image and the flight angle of the UAV device; Wherein, after obtaining the light projection image in the preset projection direction collected by the preset camera of the drone device, it also includes: The flight terrain of the UAV device is determined according to the light projection area, the preset light projection patterns corresponding to each preset terrain, the flight angle and the flight altitude of the UAV device; wherein the flight terrain is any of the preset terrains, and the preset terrain includes a plane terrain and / or a UAV base terrain.

2. The method for detecting the height of a drone device according to claim 1, characterized in that: The light projection area includes a light spot area and / or a grid area.

3. A height detection device for an unmanned aerial vehicle, characterized in that: include: An image acquisition module, used to acquire a light projection image in a preset projection direction collected by a preset camera of the drone device; wherein the drone device is provided with a grating generation component, and the grating generation component is used to generate a grating projected in the preset projection direction below the drone device, so as to form a corresponding light projection on a projection surface; A height detection module, used for obtaining the flight height of the UAV device according to the area size of the light projection area in the light projection image and the flight angle of the UAV device; A terrain recognition module is used to determine the flight terrain of the UAV device based on the light projection area, the preset light projection patterns corresponding to each preset terrain, the flight angle and the flight altitude of the UAV device; wherein the flight terrain is any of the preset terrains, and the preset terrain includes a plane terrain and / or a UAV base terrain.

4. A height detection device for an unmanned aerial vehicle, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the altitude detection method for the drone equipment as described in claim 1 or 2 when executing the computer program.

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