Method and device for determining fill light intensity data, electronic device and storage medium

Abstract

The present application provides a method and device for determining fill light intensity data, an electronic device and a storage medium, wherein the method comprises: receiving a plurality of lighting environment detection information without receiving a target instruction, wherein the target instruction includes fill light parameter information; obtaining visibility information in the lighting environment detection information; comparing the visibility information with a preset threshold; and determining the lighting band to be filled light according to the comparison result, and generating fill light intensity data. Through the present application, the problem of reduced recognition accuracy and recognition distance of drone image matching landing in a harsh lighting environment existing in the related art is solved.

Description

Technical Field

[0001] The present application relates to the field of image recognition, and in particular to a method and device for determining fill light intensity data, an electronic device, and a storage medium. Background Art

[0002] At present, in the field of precise landing of drones, image matching landing is a widely used method. Image matching landing is to identify specific image tags, calculate accurate drone posture data, and assist inertial navigation and other measurement units to correct the landing position of the drone terminal. Among them, the auxiliary inertial navigation measures the acceleration of the carrier in the inertial reference system and calculates the speed, yaw angle and position in the navigation coordinate system.

[0003] However, image matching technology has certain defects. In harsh lighting environments, such as low illumination, alternating strong and weak light, etc., it is not conducive to feature extraction by image matching, and the number of identifiable features is reduced, resulting in a decrease in image matching recognition accuracy and recognition distance.

[0004] Therefore, there is a problem in the related technology that the recognition accuracy and recognition distance of drone image matching are reduced when landing in harsh lighting environments. Summary of the invention

[0005] The present application provides a method and device for determining fill light intensity data, an electronic device and a storage medium, so as to at least solve the problem in the related art that the recognition accuracy and recognition distance of drone image matching landing in a harsh lighting environment decrease.

[0006] According to one aspect of an embodiment of the present application, a method for determining fill light intensity data is provided, the method comprising:

[0007] receiving a plurality of lighting environment detection information when no target instruction is received, wherein the target instruction includes fill light parameter information;

[0008] Obtaining visibility information from the lighting environment detection information;

[0009] comparing the visibility information with a preset threshold;

[0010] According to the comparison result, the illumination band to be filled in is determined, and the fill-in light intensity data is generated.

[0011] According to another aspect of an embodiment of the present application, a device for determining fill light intensity data is further provided, the device comprising:

[0012] A receiving module, used for receiving a plurality of lighting environment detection information when no target instruction is received, wherein the target instruction includes fill light parameter information;

[0013] An acquisition module, used to acquire visibility information in the lighting environment detection information;

[0014] A comparison module, used for comparing the visibility information with a preset threshold;

[0015] The generation module is used to determine the illumination band to be filled light according to the comparison result and generate fill light intensity data.

[0016] Optionally, the generation module includes:

[0017] A first acquisition unit, configured to acquire, when the visibility information is greater than the preset threshold, a first amplitude value and a second amplitude value of any band belonging to the illumination information under the illumination environment detection information;

[0018] A first determining unit, configured to determine a fill light illumination band according to the first amplitude value and the second amplitude value;

[0019] A second acquisition unit is used to acquire a first current light intensity and a first target light intensity, wherein the first current light intensity is the light intensity obtained by the fill light illumination band in the current environment, and the first target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0020] An obtaining unit is used to obtain the fill light intensity data according to the first current light intensity and the first target light intensity.

[0021] A third acquisition unit is used to acquire the target fill light illumination band under the illumination environment detection information when the visibility information is less than the preset threshold;

[0022] The second determining unit is used to determine the fill light intensity data according to the target fill light illumination band.

[0023] Optionally, the first determining unit includes:

[0024] A first determination submodule is used to determine discrete values ​​of the first amplitude value and the second amplitude value within a preset time period, wherein the number of discrete values ​​is at least two;

[0025] A second determination submodule is used to determine the illumination band corresponding to the minimum value in the discrete degree value as the fill light illumination band, wherein the illumination band corresponding to the minimum value is any band belonging to the illumination information under the illumination environment detection information;

[0026] Optionally, the second determining unit includes:

[0027] A first acquisition submodule is used to acquire a second current light intensity and a second target light intensity, wherein the second current light intensity is the light intensity obtained by the target fill light illumination band in the current environment, and the second target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0028] The obtaining submodule is used to obtain the fill light intensity data according to the second current light intensity and the second target light intensity.

[0029] Optionally, the device further comprises:

[0030] A first sending module, configured to send the fill light intensity data to a conversion device, so that the fill light intensity data is converted into a fill light signal;

[0031] The second sending module is used to send the fill light signal to the power supply device, so that the light source performs a fill light operation according to the fill light signal.

[0032] Optionally, the device further comprises:

[0033] The third sending module is used to send the fill light intensity data to the communication device, so that the target machine performs a filter switching operation.

[0034] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein the memory is used to store a computer program; and the processor is used to execute the method steps in any of the above embodiments by running the computer program stored in the memory.

[0035] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the method steps in any of the above embodiments when executed.

[0036] In the embodiment of the present application, the fill light intensity data is determined by receiving a variety of lighting environment detection information without receiving a target instruction, wherein the target instruction includes fill light parameter information; obtaining visibility information in the lighting environment detection information; comparing the visibility information with a preset threshold; and determining the lighting band to be filled light according to the comparison result to generate fill light intensity data. Since the fill light illumination band and the target lighting intensity are determined by comparing the detection information with the preset threshold, the purpose of determining the fill light intensity data and performing the fill light operation is achieved, and the technical effect of enhancing the image recognition accuracy in harsh lighting environments is achieved, thereby solving the problem of reduced recognition accuracy and recognition distance of drone image matching landing in harsh lighting environments in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 is a schematic diagram of a hardware environment of an optional method for determining fill light intensity data according to an embodiment of the present invention;

[0040] Figure 2 is a flow chart of an optional method for determining fill light intensity data according to an embodiment of the present application;

[0041] Figure 3 is a schematic diagram of the overall process of an optional method for determining fill light intensity data according to an embodiment of the present application;

[0042] Figure 4 is an optional hardware schematic diagram according to an embodiment of the present application;

[0043] Figure 5 is an optional flow chart of outputting fill light intensity data by parameter injection according to an embodiment of the present application;

[0044] Figure 6 is a structural block diagram of an optional device for determining fill light intensity data according to an embodiment of the present application;

[0045] Figure 7 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] According to one aspect of an embodiment of the present application, a method for determining fill light intensity data is provided. Optionally, in this embodiment, the method for determining fill light intensity data can be applied to Figure 1 In the hardware environment shown in the figure. Figure 1 As shown, the terminal 102 may include a memory 104, a processor 106, and a display 108 (optional component). The terminal 102 may be connected to a server 112 via a network 110 for communication. The server 112 may be used to provide services (such as application services, etc.) for the terminal or a client installed on the terminal. A database 114 may be set on the server 112 or independently of the server 112 to provide data storage services for the server 112. In addition, a processing engine 116 may be running in the server 112, and the processing engine 116 may be used to execute the steps executed by the server 112.

[0049] Optionally, the terminal 102 may be, but is not limited to, a terminal that can calculate data, such as a mobile terminal (e.g., a mobile phone, a tablet computer), a laptop, a PC (Personal Computer), etc. The above network may include, but is not limited to, a wireless network or a wired network. The wireless network includes: Bluetooth, WIFI (Wireless Fidelity) and other networks that implement wireless communication. The above wired network may include, but is not limited to: a wide area network, a metropolitan area network, and a local area network. The above server 112 may include, but is not limited to, any hardware device that can perform calculations.

[0050] In addition, in this embodiment, the above-mentioned method for determining fill light intensity data can also be applied to, but not limited to, an independent processing device with a relatively powerful processing capability, without the need for data interaction. For example, the processing device can be, but not limited to, a terminal device with a relatively powerful processing capability, that is, each operation in the above-mentioned method for determining fill light intensity data can be integrated into an independent processing device. The above is only an example, and this embodiment does not make any limitation to this.

[0051] Optionally, in this embodiment, the method for determining the fill light intensity data may be executed by the server 112, or by the terminal 102, or by both the server 112 and the terminal 102. The method for determining the fill light intensity data of the embodiment of the present application may be executed by the terminal 102 or by a client installed thereon.

[0052] Take the method for determining fill light intensity data applied to a central processing unit (or server) as an example. Figure 2 As shown, the central processing unit is set on a landing aid mark with an active backlight source, and the landing aid mark is set on the landing platform to help the drone perform image matching landing. The landing mark is composed of black and white parts, and an illumination light source is set at the bottom of the landing mark to increase the contrast of the black and white blocks and improve the recognition distance and accuracy of the drone image matching landing device. Figure 2 is a flow chart of an optional method for determining fill light intensity data according to an embodiment of the present application. The flow of the method may include the following steps:

[0053] Step S201, receiving a plurality of lighting environment detection information when no target instruction is received, wherein the target instruction includes fill light parameter information.

[0054] Optionally, in the embodiments of the present application, Figure 3As shown, firstly, an external instruction (i.e., a target instruction) is detected. When a target instruction is received, the fill light parameter information contained in the target instruction is obtained. The obtained fill light parameter information is injected into the fill light algorithm as an external parameter to further determine the fill light intensity data output. When a target instruction is not received, a plurality of lighting environment detection information is received, wherein the plurality of lighting environment detection information includes visible light information, short-wave infrared light information, and smoke detection information. Visible light information and short-wave infrared light information are the contents of the lighting environment detection information belonging to the lighting information, and smoke detection information is the contents of the lighting environment detection information belonging to the visibility information.

[0055] Step S202: Obtain visibility information from the lighting environment detection information.

[0056] Optionally, in the embodiment of the present application, by Figure 4 The visible light detection device, short-wave infrared light detection device, and smoke detection device detect the ambient light information of the landing site, and send the information detected by the detection device to the AD conversion unit to convert it into parameters that can be used for comparison and processing by the algorithm, and then the AD conversion unit sends it to the central processing unit to obtain the visibility information in the light environment detection information.

[0057] Step S203: compare the visibility information with a preset threshold.

[0058] Alternatively, if Figure 5 As shown, after the central processing unit obtains the visibility information, it determines the visibility condition of the visibility information (such as smoke, dust), and then sets a preset threshold, such as setting the preset threshold to 30m, and compares the visibility information with the preset threshold.

[0059] Step S204: determining the illumination band to be filled light according to the comparison result, and generating fill light intensity data.

[0060] Alternatively, if Figure 5 As shown, after comparing the visibility information with the preset threshold, it is determined that the illumination band to be filled light is the visible light band (the wavelength can be 400nm~760nm) or the short-wave infrared light band (the wavelength can be 900nm~1700nm), and then the corresponding fill light intensity data is generated under the illumination band to be filled light.

[0061] In the embodiment of the present application, the fill light intensity data is determined by receiving a variety of lighting environment detection information without receiving a target instruction, wherein the target instruction includes fill light parameter information; obtaining visibility information in the lighting environment detection information; comparing the visibility information with a preset threshold; and determining the lighting band to be filled light according to the comparison result to generate fill light intensity data. Since the fill light illumination band and the target lighting intensity are determined by comparing the detection information with the preset threshold, the purpose of determining the fill light intensity data and performing the fill light operation is achieved, and the technical effect of enhancing the image recognition accuracy in harsh lighting environments is achieved, thereby solving the problem of reduced recognition accuracy and recognition distance of drone image matching landing in harsh lighting environments in related technologies.

[0062] As an optional embodiment, determining the illumination band to be filled light according to the comparison result, and generating fill light intensity data includes:

[0063] When the visibility information is greater than a preset threshold, obtaining a first amplitude value and a second amplitude value of any band belonging to the illumination information under the illumination environment detection information;

[0064] Determining a fill light illumination band according to the first amplitude value and the second amplitude value;

[0065] Obtaining a first current light intensity and a first target light intensity, wherein the first current light intensity is the light intensity obtained by the fill light illumination band in the current environment, and the first target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0066] The fill light intensity data is obtained according to the first current light intensity and the first target light intensity.

[0067] Alternatively, if Figure 5 As shown, when the visibility value determined by visibility information (such as smoke, dust) is greater than a preset threshold, it is necessary to further consider the impact of alternating strong and weak light in the environment, and the first amplitude value and the second amplitude value represent the amplitude values ​​of strong light and weak light, respectively.

[0068] The central processing unit is used to obtain the amplitude values ​​of strong light and weak light in the two bands of visible light and short-wave infrared light, respectively, and then determine the illumination band to be supplemented with light.

[0069] After determining the illumination band to be filled in, obtain the illumination intensity obtained in the current environment and the final illumination intensity to be achieved, and determine the fill-in illumination intensity data through the difference between the two illumination intensities. It should be noted that if the illumination intensity obtained in the current environment is greater than the final illumination intensity to be achieved, no fill-in illumination operation is required; if the illumination intensity obtained in the current environment is less than the final illumination intensity to be achieved, that is, the illumination intensity does not meet the requirements, a fill-in illumination operation is required. Specifically, the fill-in illumination intensity value is the final illumination intensity to be achieved minus the illumination intensity obtained in the current environment.

[0070] In the embodiment of the present application, the fill light data is determined by taking into account the impact of visibility and alternating strong and weak light on lighting, thereby achieving an effect of making the fill light operation more accurate.

[0071] As an optional embodiment, determining the fill light illumination band according to the first amplitude value and the second amplitude value includes:

[0072] Determine a discrete degree value of the first amplitude value and the second amplitude value within a preset time period, wherein the number of discrete degree values ​​is at least two;

[0073] The illumination band corresponding to the minimum value in the discrete degree value is determined as the fill light illumination band, wherein the illumination band corresponding to the minimum value is any band belonging to the illumination information under the illumination environment detection information.

[0074] Optionally, in the embodiment of the present application, the discrete degree values ​​of the first amplitude value and the second amplitude value can be represented by the variance of the strong light amplitude value and the weak light amplitude value. It should be noted that the discrete degree value can also be represented by a metric that can represent the discrete degree of data, such as the standard deviation. Since the fill light illumination band can be light of other bands other than visible light and short-wave infrared light, the number of discrete degree values ​​can be two or more.

[0075] By comparing the variance determined by the strong light amplitude value and the weak light amplitude value in the visible light band and the short-wave infrared light band, the band with the smaller variance value is selected as the fill light illumination band. Since a small variance value means a small data fluctuation, the illumination change during this period will also be small, which is more conducive to the image matching device to identify the landing mark. Select the band with a smaller variance (more stable illumination) (whichever is more stable, the visible light band or the short-wave infrared light band) for fill light.

[0076] In the embodiment of the present application, by comparing the discrete degree values, it is determined which illumination band is more stable, and the illumination band is used as the fill light illumination band, thereby achieving an effect of making the fill light operation more stable.

[0077] As an optional embodiment, determining the illumination band to be filled light according to the comparison result, and generating the fill light intensity data further includes:

[0078] When the visibility information is less than a preset threshold, the target fill light illumination band under the illumination environment detection information is obtained;

[0079] Determine the fill light intensity data according to the target fill light illumination band.

[0080] Alternatively, if Figure 5 As shown, when the visibility value determined by visibility information (such as smoke and dust) is less than the preset threshold, the target fill light illumination band under the illumination environment detection information is directly used to calculate the fill light intensity. It should be noted that the target fill light illumination band is a kind of illumination band with good imaging ability in an environment with poor visibility. Specifically, the target fill light illumination band is less affected by atmospheric scattering, has strong ability to penetrate fog and smoke, and has a long detection distance, such as short-wave infrared light. Although the detail resolution of visible light is better than that of short-wave infrared light, it can improve the detection accuracy of the edge of the landing mark by the image matching device and improve the landing accuracy of the drone. However, in environments such as smoke and dust, the attenuation is severe, and the drone image matching device cannot effectively identify the landing aid mark at this time; the short-wave infrared light image has low contrast and poor ability to distinguish details. The detection accuracy of the edge of the landing mark by the image matching device is reduced, but it can penetrate smoke, water mist and dust, and improve the recognition distance of the drone in harsh environments. Therefore, under this target illumination band, the fill light intensity data is determined.

[0081] In an embodiment of the present application, in an environment with smoke and dust, a light band with strong fog and smoke penetration capabilities is used for fill light, which solves the problem of reduced recognition accuracy and recognition distance when drone image matching lands in an environment with smoke and dust.

[0082] As an optional embodiment, determining the fill light intensity data according to the target fill light illumination band further includes:

[0083] Obtaining a second current light intensity and a second target light intensity, wherein the second current light intensity is the light intensity obtained by the target fill light illumination band in the current environment, and the second target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0084] The fill light intensity data is obtained according to the second current light intensity and the second target light intensity.

[0085] Alternatively, if Figure 5 As shown, under the target fill light illumination band, the central processing unit obtains the illumination intensity obtained in the current environment and the final illumination intensity to be achieved, and the fill light intensity data is determined by the difference between the two illumination intensities.

[0086] In an embodiment of the present application, fill light intensity data is determined by subtracting the light intensity in the current environment from the final light intensity to be achieved, thereby achieving the purpose of performing fill light operation in an environment where the light intensity does not meet the requirements.

[0087] As an optional embodiment, after generating the fill light intensity data, the following steps are further included:

[0088] Sending the fill light intensity data to a conversion device so that the fill light intensity data is converted into a fill light signal;

[0089] The fill light signal is sent to the power supply device, so that the light source performs a fill light operation according to the fill light signal.

[0090] Alternatively, if Figure 4 As shown, after the central processing unit generates fill light intensity data, it is sent to the DA conversion unit to convert the fill light intensity data into a fill light signal, and then the DA conversion unit sends the fill light signal to the constant current source, and then the fill light operation is performed through the short-wave infrared light source or the visible light source.

[0091] In an embodiment of the present application, the fill light intensity data is converted into a fill light signal, and the fill light operation is performed through a power supply and a light source, thereby improving the accuracy of drone image matching and landing recognition in an environment with insufficient light.

[0092] As an optional embodiment, after generating the fill light intensity data, the following steps are further included:

[0093] The fill light intensity data is sent to the communication device so that the target machine performs a filter switching operation.

[0094] Alternatively, if Figure 4 As shown, after the central processing unit generates the fill light intensity data, it sends a filter switching instruction to the drone through the wireless communication device to switch the filter of the airborne image matching device to the visible light cutoff or short-wave infrared light cutoff mode. It should be noted that when the sensor receives short-wave infrared light, if visible light is also received, the visible light information will cover the short-wave infrared light information, thereby losing contrast or blurring it. To avoid this from happening, filters are used to block unnecessary light. For example, when the short-wave infrared light source is used for fill light operation, the filter is switched to visible light cutoff, that is, the visible light is filtered, and the sensor does not receive visible light information.

[0095] In the embodiment of the present application, the filter switching operation is performed to avoid mutual influence of the illumination information received during the image recognition process, thereby improving the accuracy of the drone landing.

[0096] As an optional embodiment, Figure 3 FIG. 1 is a schematic diagram of the overall process of an optional method for determining fill light intensity data according to an embodiment of the present application. The specific process includes:

[0097] (1) External command detection.

[0098] Specifically, taking the application of the device in the image matching landing of a UAV as an example, after the landing enhancement system is powered on, the external command (i.e., target command) is first detected, wherein the external command includes fill light parameter information, and when the fill light parameter given by the external command is detected, step 5 is directly executed. When no external command is detected, step 2 is executed.

[0099] (2) Landing detection

[0100] Specifically, the landing detection device detects whether the drone is on the apron. When the drone is on the apron, it does not need to land according to image matching, nor does it need to generate fill light parameters, and the system enters a standby state; when the drone is not on the apron, it needs to land according to image matching, needs to generate fill light parameters, and executes step 3.

[0101] (3) Detection of ambient lighting conditions.

[0102] Specifically, the lighting and smoke concentration conditions of the landing site are detected through an environmental visible light detection device, an environmental short-wave infrared light detection device, and an environmental smoke detection device.

[0103] (4) Inject relevant data into the fill light algorithm parameter entry.

[0104] Specifically, the information obtained from the detection of ambient lighting conditions is processed and calculated, including calculation of light intensity, smoke concentration, and strong and weak light alternation, and the obtained relevant data is injected into the parameter entry of the central processing unit fill light algorithm.

[0105] (5) Output fill light intensity data.

[0106] Specifically, the fill light algorithm parameter input of the central processing unit receives relevant data, determines the fill light intensity data and then outputs it. If external parameters are injected, the fill light intensity data is directly determined by the external parameters and then outputted.

[0107] (6) Perform filter switching and fill light operations.

[0108] Specifically, after the fill light algorithm outputs the fill light intensity data, the signal component is converted into a fill light signal through the digital-to-analog conversion unit, sent to the constant current source, and then output to the visible light source or the short-wave infrared light source for fill light operation; through the wireless communication device, a filter switching instruction is sent to the drone to switch the filter of the onboard image matching device to the visible light cutoff mode or the short-wave infrared light cutoff mode.

[0109] In an embodiment of the present application, through external command detection, landing detection and ambient light condition detection, the obtained relevant data is injected into the fill light algorithm parameter entrance, and then the fill light intensity data is output, and the filter switching and fill light operations are performed, thereby solving the problem of reduced recognition accuracy and recognition distance of drone image matching landing in harsh lighting environments in related technologies.

[0110] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0112] According to another aspect of the embodiments of the present application, a device for determining fill light intensity data for implementing the above method is also provided. Figure 6 is a structural block diagram of an optional device for determining fill light intensity data according to an embodiment of the present application, such as Figure 6 As shown, the device may include:

[0113] (1) a receiving module 601, configured to receive a plurality of lighting environment detection information when no target instruction is received, wherein the target instruction includes fill light parameter information;

[0114] (2) an acquisition module 602, used to acquire visibility information in the lighting environment detection information;

[0115] (3) a comparison module 603, used to compare the visibility information with a preset threshold;

[0116] (4) A generating module 604 is used to determine the illumination band to be filled light according to the comparison result and generate fill light intensity data.

[0117] It should be noted that the receiving module 601 in this embodiment can be used to execute the above step S201, the acquisition module 602 in this embodiment can be used to execute the above step S202, the comparison module 603 in this embodiment can be used to execute the above step S203, and the generation module 604 in this embodiment can be used to execute the above step S204.

[0118] Through the above module, the detection information and the preset threshold are compared to determine the fill light illumination band and the target light intensity, thereby achieving the purpose of determining the fill light intensity data and performing fill light operations. This solves the problem of reduced recognition accuracy and recognition distance in drone image matching and landing in harsh lighting environments in related technologies, and improves the accuracy of drone image matching and landing in harsh lighting environments.

[0119] As an optional embodiment, the generating module includes:

[0120] A first acquisition unit is used to acquire a first amplitude value and a second amplitude value of any band belonging to the illumination information under the illumination environment detection information when the visibility information is greater than a preset threshold;

[0121] A first determining unit, configured to determine a fill light illumination band according to the first amplitude value and the second amplitude value;

[0122] A second acquisition unit is used to acquire a first current light intensity and a first target light intensity, wherein the first current light intensity is the light intensity obtained by the fill light illumination band in the current environment, and the first target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0123] The obtaining unit is used to obtain fill light intensity data according to the first current light intensity and the first target light intensity.

[0124] A third acquisition unit is used to acquire the target fill light illumination band under the illumination environment detection information when the visibility information is less than a preset threshold;

[0125] The second determination unit is used to determine fill light intensity data according to the target fill light illumination band.

[0126] As an optional embodiment, the first determining unit includes:

[0127] A first determination submodule is used to determine a discrete degree value of the first amplitude value and the second amplitude value within a preset time length, wherein the number of discrete degree values ​​is at least two;

[0128] The second determination submodule is used to determine the illumination band corresponding to the minimum value in the discrete degree value as the fill light illumination band, wherein the illumination band corresponding to the minimum value is any band belonging to the illumination information under the illumination environment detection information;

[0129] As an optional embodiment, the second determining unit includes:

[0130] A first acquisition submodule is used to acquire a second current light intensity and a second target light intensity, wherein the second current light intensity is the light intensity obtained by the target fill light illumination band in the current environment, and the second target light intensity is the light intensity to be finally reached by the fill light illumination band;

[0131] The obtaining submodule is used to obtain fill light intensity data according to the second current light intensity and the second target light intensity.

[0132] As an optional embodiment, the device further includes:

[0133] A first sending module, used for sending the fill light intensity data to the conversion device, so that the fill light intensity data is converted into a fill light signal;

[0134] The second sending module is used to send the fill light signal to the power supply device, so that the light source performs a fill light operation according to the fill light signal.

[0135] As an optional embodiment, the device further includes:

[0136] The third sending module is used to send the fill light intensity data to the communication device, so that the target machine performs the filter switching operation.

[0137] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0138] According to another aspect of the embodiments of the present application, an electronic device for implementing the above-mentioned fill light intensity data method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0139] Figure 7 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 communicate with each other through the communication bus 704, wherein,

[0140] Memory 703, used for storing computer programs;

[0141] The processor 701 is used to execute the computer program stored in the memory 703 to implement the following steps:

[0142] In the case where no target instruction is received, receiving a plurality of lighting environment detection information, wherein the target instruction includes fill light parameter information;

[0143] Obtain visibility information from lighting environment detection information;

[0144] comparing visibility information to a preset threshold;

[0145] According to the comparison result, the illumination band to be filled in is determined, and the fill-in light intensity data is generated.

[0146] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0147] The communication interface is used for communication between the above electronic device and other devices.

[0148] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0149] As an example, Figure 7 As shown, the above-mentioned memory 703 may include but is not limited to the receiving module 601, acquisition module 602, comparison module 603 and generation module 604 in the above-mentioned fill light intensity data determination device, and may also include but is not limited to other module units in the above-mentioned fill light intensity data determination device, which will not be repeated in this example.

[0150] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0151] In addition, the electronic device mentioned above further includes: a display for displaying the result of determining the fill light intensity data.

[0152] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0153] It can be understood by those skilled in the art that Figure 7 The structure shown is for illustration only. The device for implementing the above-mentioned fill light intensity data determination method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 7 It does not limit the structure of the above electronic device. For example, the terminal device may also include Figure 7 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 7 Different configurations shown.

[0154] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0155] According to another aspect of the embodiment of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of the fill light intensity data determination method.

[0156] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0157] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0158] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0159] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, which includes computer instructions stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps of the fill light intensity data determination method in any of the above embodiments.

[0160] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0161] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute all or part of the steps of the fill light intensity data determination method of each embodiment of the present application.

[0162] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0163] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0165] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0166] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining fill light intensity data, characterized in that: The method comprises: In the case where no target instruction is received, receiving a plurality of lighting environment detection information, wherein the target instruction includes fill light parameter information; Obtaining visibility information from the lighting environment detection information; comparing the visibility information with a preset threshold; According to the comparison result, the illumination band to be filled in light is determined, and fill in light intensity data is generated, including: when the visibility information is greater than the preset threshold, obtaining the first amplitude value and the second amplitude value of any band belonging to the illumination information under the illumination environment detection information; determining the fill in light illumination band according to the first amplitude value and the second amplitude value; obtaining the first current illumination intensity and the first target illumination intensity, wherein the first current illumination intensity is the illumination intensity obtained by the fill in light illumination band under the current environment, and the first target illumination intensity is the illumination intensity to be finally reached by the fill in light illumination band; and obtaining the fill in light intensity data according to the first current illumination intensity and the first target illumination intensity.

2. The method according to claim 1, characterized in that Determining the fill light illumination band according to the first amplitude value and the second amplitude value includes: Determining discrete values ​​of the first amplitude value and the second amplitude value within a preset time period, wherein the number of discrete values ​​is at least two; The illumination band corresponding to the minimum value in the discrete degree value is determined as the fill light illumination band, wherein the illumination band corresponding to the minimum value is any band belonging to the illumination information under the illumination environment detection information.

3. The method according to claim 1, characterized in that The step of determining the illumination band to be supplemented with light according to the comparison result and generating supplementary light intensity data further comprises: When the visibility information is less than the preset threshold, obtaining the target fill light illumination band under the illumination environment detection information; The fill light intensity data is determined according to the target fill light illumination band.

4. The method according to claim 3, characterized in that The step of determining the fill light intensity data according to the target fill light illumination band further comprises: Acquire a second current light intensity and a second target light intensity, wherein the second current light intensity is the light intensity obtained by the target fill light illumination band in the current environment, and the second target light intensity is the light intensity to be finally reached by the fill light illumination band; The fill light intensity data is obtained according to the second current light intensity and the second target light intensity.

5. The method according to any one of claims 1 to 4, characterized in that: After generating the fill light intensity data, the method further includes: Sending the fill light intensity data to a conversion device so that the fill light intensity data is converted into a fill light signal; The fill light signal is sent to the power supply device, so that the light source performs a fill light operation according to the fill light signal.

6. The method according to any one of claims 1 to 4, characterized in that: After generating the fill light intensity data, the method further includes: The fill light intensity data is sent to a communication device so that the target machine performs a filter switching operation.

7. A device for determining fill light intensity data, characterized in that: The device comprises: A receiving module, used for receiving a plurality of lighting environment detection information when no target instruction is received, wherein the target instruction includes fill light parameter information; An acquisition module, used to acquire visibility information in the lighting environment detection information; A comparison module, used for comparing the visibility information with a preset threshold; A generation module is used to determine the illumination band to be filled in light according to the comparison result and generate fill in light intensity data, including: when the visibility information is greater than the preset threshold, obtaining the first amplitude value and the second amplitude value of any band belonging to the illumination information under the illumination environment detection information; determining the fill in light illumination band according to the first amplitude value and the second amplitude value; obtaining a first current illumination intensity and a first target illumination intensity, wherein the first current illumination intensity is the illumination intensity obtained by the fill in light illumination band under the current environment, and the first target illumination intensity is the illumination intensity to be finally reached by the fill in light illumination band; and obtaining the fill in light intensity data according to the first current illumination intensity and the first target illumination intensity.

8. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein: The processor, the communication interface and the memory communicate with each other via the communication bus, wherein: The memory is used to store computer programs; The processor is configured to execute the method steps of any one of claims 1 to 6 by running the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program implements the method steps described in any one of claims 1 to 6 when executed by a processor.

Images