Frequency conversion control method of unmanned aerial vehicle optical tracking system and storage medium

Abstract

The invention relates to the technical field of optical system control, and discloses a frequency conversion control method of an unmanned aerial vehicle optical tracking system and a storage medium, and the method comprises the steps: S1, employing an aperture motor, a focus following motor and a focus segment motor to control the change of a lens aperture value, a focus distance and a focus segment value, storing the corresponding motor data in a data storage module in a coding form; s2, storing real-time image data acquired by a lens in a data storage module; and S3, matching, comparing and judging the motor data and the image data in real time, and confirming whether the control system and the image system are in a normal working state or not. The camera lens in the optical system of the unmanned aerial vehicle is controlled by using three groups of motors, accurate lens control and real-time storage of control data are realized, whether the optical system / control system is in a normal working state or not can be verified in a cross manner, working abnormity can be found in time, and later maintenance is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of optical system control, and in particular to a frequency conversion control method and storage medium for an unmanned aerial vehicle optical tracking system. Background Art

[0002] As drone technology matures, the use of drones for optical imaging has become a normal practice. To obtain high-quality image data, higher requirements are placed on the control of the drone optical system over the shooting lens. Since the drone is in flight, insufficient light or a complex background will cause the optical system to be unable to accurately capture the optical information of the target; contamination, damage or improper adjustment of the optical system will cause problems such as blurred images and excessive noise. At the same time, the inability of control data and optical system data to communicate with each other will also affect the quality of post-production video editing. Summary of the invention

[0003] The purpose of the present invention is to solve the defects mentioned in the above background technology by proposing a variable frequency control method and storage medium of a drone optical tracking system.

[0004] The technical solution adopted by the present invention is as follows: A variable frequency control method for an optical tracking system of a drone comprises the following steps: S1: using the aperture motor, the focus motor and the focal length motor to control the lens aperture value, the focal length and the focal length value respectively, and storing the corresponding motor data in a coded form in the data storage module; S2: storing the real-time image data collected by the lens in the data storage module; S3: Match, compare and judge the motor data and the image data in real time to confirm whether the control system and the image system are in normal working condition.

[0005] As a preferred embodiment of the present invention, the aperture motor data in step S1 is saved in a format of FN, where N is the current aperture value. The current data is automatically saved every second to form a data strip. If the F value changes to N' at the Pth second, the data is saved as F N' / Ps.

[0006] As a preferred embodiment of the present invention, the storage format of the focus motor data in step S1 is Lm, and the L value indicates that the current focal distance is L meters. The current data is automatically saved every second to form a data bar. If the focal distance changes to L' in the Pth second, the data is saved as L'm / Ps.

[0007] As a preferred embodiment of the present invention, the focal length motor data in step S1 is saved in a format of Xmm, where X represents the value of the current focal length. The current data is automatically saved every second to form a data bar. If the focal length value changes to X' at the Pth second, the data is saved as X'mm / Ps.

[0008] As a preferred embodiment of the present invention, a storage module for storing motor data and real-time image data is arranged in the optical system pod of the UAV.

[0009] As a preferred embodiment of the present invention, step S3 includes the following steps: S311: Determine whether the image data has a brightness change; S312: If the brightness changes, determine whether the aperture motor data changes: if there is a change, determine that the aperture motor works normally; if there is no change, determine that the aperture motor works abnormally, and feed back the judgment result to the main controller, and display the judgment result on the screen of the remote controller through the communication module; S313: If the brightness does not change, determine whether the aperture motor data has changed: if there is a change, it is determined that the aperture motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote control end through the communication module; if there is no change, it is determined that the aperture motor is working normally.

[0010] As a preferred embodiment of the present invention, step S3 includes the following steps: S321: Determine whether the clarity of the image data changes, that is, whether the focus changes; S322: If the definition changes, determine whether the focus motor data changes. If so, determine that the aperture motor works normally. If not, determine that the focus motor works abnormally. Feedback the determination result to the main controller, and display the determination result on the screen of the remote controller via the communication module. S323: If the clarity does not change, determine whether the aperture motor data has changed: if there is a change, it is determined that the focus motor is working abnormally, and the determination result is fed back to the main controller, and the determination result is displayed on the screen of the remote control end through the communication module; if there is no change, it is determined that the focus motor is working normally.

[0011] As a preferred embodiment of the present invention, step S3 includes the following steps: S331: Determine whether the screen size of the image data has changed; S332: If the image size has changed, determine whether the focal length motor data has changed: if it has changed, determine that the focal length motor is working normally; if it has not changed, determine that the focal length motor is working abnormally, and feed back the determination result to the main controller, and display the determination result on the screen of the remote controller through the communication module; S333: If the picture size does not change, determine whether the focal length motor data has changed: if there is a change, it is determined that the focal length motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote control through the communication module; if there is no change, it is determined that the focal length motor is working normally.

[0012] As a preferred embodiment of the present invention, the following steps are also included: S4: The aperture motor, focus motor and focal length motor receive and complete the operation instructions sent by the remote controller. The remote controller display screen displays the updated image and the working status and data of the three motors.

[0013] As a preferred embodiment of the present invention, step S4 includes the following steps: S41: The remote controller sends an operation command to the aperture motor, the focus motor and the focal length motor; S42: The aperture motor, the focus motor, and the focal length motor receive and execute the operation command from the remote controller; S43: The motor data of the three motors after adjustment are saved in real time into the data storage module, and the three motor data are coded and combined; S44: The image data is saved in real time to the data storage module; S45: aligning the time axis of the image data with the time axes of the three sets of motor data, and encoding and merging them and saving them in the data storage module; S46: transmitting the encoded combined data processed by S45 back to the remote controller; S47: The remote controller displays the updated impact screen and the three groups of motor working status and parameters.

[0014] The present invention also provides a computer storage medium, including a computer storage medium storing a computer program, and when the computer program is executed by a processor, the frequency conversion control method of the above-mentioned unmanned aerial vehicle optical tracking system is implemented.

[0015] The variable frequency control method and storage medium of a drone optical tracking system provided by the present invention have the following beneficial effects compared with the prior art: 1. Use three sets of motors to control the camera lens in the optical system of the drone to achieve precise control of the lens and real-time storage of control data.

[0016] 2. It can cross-verify whether the optical system / control system is in normal working condition, detect abnormal working conditions in time, and facilitate later maintenance.

[0017] 3. Realize the synchronous playback of video data and control data, which is convenient for the later processing and editing of image data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the system structure relationship of the present invention; Figure 2 This is a flow chart of the control method of the present invention; Figure 3 This is a flow chart of the control steps of the remote controller of the present invention; Figure 4 This is a schematic diagram of the screen display of the remote controller of the present invention; The meaning of each mark in the figure is: 1- Image display area, 2- Aperture value data display area, 3- Focal length value data display area, 4- Focus distance data display area. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this embodiment can be combined with each other. The technical solutions 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The preferred embodiment of the present invention provides a variable frequency control method and storage medium for an optical tracking system of a drone, wherein the hardware structure of the optical tracking system of the drone is shown in FIG. Figure 1 As shown, the method of using this system for frequency conversion control is as follows Figure 2-3 As shown, the specific steps include: S1: using the aperture motor, the focus motor and the focal length motor to control the lens aperture value, the focal length and the focal length value respectively, and storing the corresponding motor data in a coded form in the data storage module; The aperture motor data is saved in the format of FN, where N is the current aperture value. In this embodiment, the aperture size varies between F2-F4, with a step size of 0.1. If the current aperture motor data is F2, the current data is automatically saved every second to form a data strip. If the F value changes to 2.8 in the next 30 seconds, the data is saved as F2.8 / 30s.

[0021] The focus motor data is saved in the format of Lm. The focus distance changes in meters, from 1 meter to infinity. The L value means that the current focus distance is L meters. For example, if the current focus distance is 1 meter, the data information is recorded as 1m. The current data is automatically saved every second to form a data strip. If the focus distance changes to 5m in the 30th second, the data is saved as 5m / 30s.

[0022] The focal length motor data is saved in a format of Xmm, where the X value represents the current focal length. In this embodiment, the focal length of the lens varies within a numerical range of 50mm-100mm. If the current focal length motor data is 60mm, the current data is automatically saved every second to form a data bar. If the focal length value changes to 65mm at the 30th second, the data is saved as 65mm / 30s.

[0023] S2: The real-time image data collected by the lens is stored in a data storage module; the data storage module is arranged in the optical system pod of the UAV.

[0024] S3: Match, compare and judge the motor data and image data in real time to confirm whether the control system and image system are in normal working condition, such as Figure 2 As shown, the specific steps include: S311: Determine whether the image data has a brightness change; S312: If the brightness changes, determine whether the aperture motor data changes: if there is a change, determine that the aperture motor works normally; if there is no change, determine that the aperture motor works abnormally, and feed back the judgment result to the main controller, and display the judgment result on the screen of the remote controller through the communication module; S313: If the brightness does not change, determine whether the aperture motor data has changed: if there is a change, it is determined that the aperture motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote control end through the communication module; if there is no change, it is determined that the aperture motor is working normally.

[0025] S321: Determine whether the clarity of the image data changes, that is, whether the focus changes; S322: If the definition changes, determine whether the focus motor data changes. If so, determine that the aperture motor works normally. If not, determine that the focus motor works abnormally. Feedback the determination result to the main controller, and display the determination result on the screen of the remote controller via the communication module. S323: If the clarity does not change, determine whether the aperture motor data has changed: if there is a change, it is determined that the focus motor is working abnormally, and the determination result is fed back to the main controller, and the determination result is displayed on the screen of the remote control end through the communication module; if there is no change, it is determined that the focus motor is working normally.

[0026] S331: Determine whether the screen size of the image data has changed; S332: If the image size has changed, determine whether the focal length motor data has changed: if it has changed, determine that the focal length motor is working normally; if it has not changed, determine that the focal length motor is working abnormally, and feed back the determination result to the main controller, and display the determination result on the screen of the remote controller through the communication module; S333: If the picture size does not change, determine whether the focal length motor data has changed: if there is a change, it is determined that the focal length motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote control through the communication module; if there is no change, it is determined that the focal length motor is working normally.

[0027] Through the above steps, the lens can be precisely controlled and the control data can be stored in real time. It is also possible to monitor in real time whether the control module of the lens is working properly, and display abnormal conditions on the screen in time to facilitate later maintenance.

[0028] S4: The aperture motor, focus motor and focal length motor receive and complete the operation instructions sent by the remote controller. The remote controller screen displays the updated image and the working status and data of the three motors, such as Figure 3 As shown, the specific steps include: S41: The remote controller sends an operation command to the aperture motor, the focus motor and the focal length motor; S42: The aperture motor, the focus motor, and the focal length motor receive and execute the operation command from the remote controller; S43: The motor data of the three motors after adjustment are saved in real time into the data storage module, and the three motor data are coded and combined; S44: The image data is saved in real time to the data storage module; S45: aligning the time axis of the image data with the time axes of the three sets of motor data, and encoding and merging them and saving them in the data storage module; S46: transmitting the encoded combined data processed by S45 back to the remote controller; S47: The remote controller displays the updated impact screen and the three groups of motor working status and parameters.

[0029] As a preferred implementation, step S43 also includes real-time comparison of image data and motor data, and judgment in the data processor; step S46 transmits the judgment result of the data processor together with the coded combined data back to the remote control end; step S47 displays the updated impact screen and 3 sets of motor working parameters and working status on the remote control end. Figure 4 As shown, the screen of the remote control end displays the image content captured by the optical system in the image display area 1, and simultaneously displays the aperture value in the aperture value data display area 2, displays the focal length value in the focal length value data display area 3, and displays the focal length value in the focal distance data display area 4.

[0030] The operation of step S45 is also convenient for later editing and playback, so as to obtain more video data and control data, and perform corresponding editing on the image data. For example, the aperture value, focal length and focal length value corresponding to the image are simultaneously displayed in real time on the editing interface. When it is found that the focal length data of a certain stage changes from 75mm to 100mm, the corresponding shooting picture of this stage will become larger. At this time, in order to ensure the consistency of the picture and avoid changes in the picture zooming in and out, the previous video with unchanged focal length value can be adjusted according to the change value of the focal length, and its corresponding focal length value is artificially adjusted to 100mm, that is, the picture is cropped and stretched, and the focal length value of the entire picture finally obtained is 100mm, so that the consistency of the picture playback is achieved.

[0031] It can be seen that the control method of the present invention plays a helpful role in post-editing.

[0032] A computer storage medium stores a computer program, and when the computer program is executed by a processor, a method for generating an anti-counterfeiting watermark for a form text is implemented.

[0033] In this embodiment, the computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the above-mentioned product anti-counterfeiting processing method is implemented.

[0034] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A frequency conversion control method for an unmanned aerial vehicle optical tracking system, characterized in that: The steps include: S1: using the aperture motor, the focus motor and the focal length motor to control the lens aperture value, the focal length and the focal length value respectively, and storing the corresponding motor data in a coded form in the data storage module; S2: storing the real-time image data collected by the lens in the data storage module; S3: Match, compare and judge the motor data and the image data in real time to confirm whether the control system and the image system are in normal working condition.

2. The variable frequency control method of a drone optical tracking system according to claim 1, characterized in that: In step S1, the aperture motor data is saved in a format of FN, where N is the current aperture value. The current data is automatically saved every second to form a data strip. If the F value changes to N' at the Pth second, the data is saved as F N' / Ps.

3. The frequency conversion control method of a drone optical tracking system according to claim 1, characterized in that: The data of the focus motor in step S1 is saved in the format of Lm, where the L value indicates that the current focus distance is L meters. The current data is automatically saved every second to form a data strip. If the focus distance changes to L' at the Pth second, the data is saved as L'm / Ps.

4. The variable frequency control method of a drone optical tracking system according to claim 1, characterized in that: In step S1, the focal length motor data is saved in a format of Xmm, where the X value represents the current focal length value. The current data is automatically saved every second to form a data bar. If the focal length value changes to X' at the Pth second, the data is saved as X'mm / Ps.

5. The frequency conversion control method of a drone optical tracking system according to claim 1, characterized in that: Step S3 includes the following steps: S311: Determine whether the image data has a brightness change; S312: If the brightness has changed, determine whether the aperture motor data has changed: if it has changed, determine that the aperture motor is working normally; If there is no change, it is determined that the aperture motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote controller through the communication module; S313: If the brightness does not change, determine whether the aperture motor data changes. If it does change, determine that the aperture motor is working abnormally, and feed back the determination result to the main controller, and display the determination result on the screen of the remote controller via the communication module; If there is no change, the aperture motor is confirmed to be working properly.

6. The variable frequency control method of a drone optical tracking system according to claim 1, characterized in that: Step S3 includes the following steps: S321: Determine whether the clarity of the image data changes, that is, whether the focus changes; S322: If the clarity has changed, determine whether the focus motor data has changed: if so, determine that the aperture motor is working normally; If there is no change, it is determined that the focus motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote controller through the communication module; S323: If the definition does not change, determine whether the aperture motor data changes. If there is a change, determine that the focus motor is working abnormally, and feed back the determination result to the main controller, and display the determination result on the screen of the remote controller through the communication module; If there is no change, it means that the focus motor is working properly.

7. The variable frequency control method of a drone optical tracking system according to claim 1, characterized in that: Step S3 includes the following steps: S331: Determine whether the screen size of the image data has changed; S332: If the image size has changed, determining whether the focal length motor data has changed: if so, determining that the focal length motor is working normally; If there is no change, it is determined that the focal length motor is working abnormally, and the judgment result is fed back to the main controller, and the judgment result is displayed on the screen of the remote controller through the communication module; S333: If the image size does not change, determine whether the focal length motor data has changed: if there is a change, determine that the focal length motor is working abnormally, feed back the determination result to the main controller, and display the determination result on the screen of the remote controller via the communication module; If there is no change, it is determined that the focal length motor is working properly.

8. The frequency conversion control method of a drone optical tracking system according to claim 1, characterized in that: The following steps are also included: S4: The aperture motor, focus motor and focal length motor receive and complete the operation instructions sent by the remote controller. The remote controller display screen displays the updated image and the working status and data of the three motors.

9. The frequency conversion control method of a drone optical tracking system according to claim 1, characterized in that: Step S4 includes the following steps: S41: The remote controller sends an operation command to the aperture motor, the focus motor and the focal length motor; S42: The aperture motor, the focus motor, and the focal length motor receive and execute the operation command from the remote controller; S43: The motor data of the three motors after adjustment are saved in real time into the data storage module, and the three motor data are coded and combined; S44: The image data is saved in real time to the data storage module; S45: aligning the time axis of the image data with the time axes of the three sets of motor data, and encoding and merging them and saving them in the data storage module; S46: transmitting the encoded combined data processed by S45 back to the remote controller; S47: The remote controller displays the updated impact screen and the three groups of motor working status and parameters.

10. A computer storage medium, comprising a computer program stored in the computer storage medium, wherein when the computer program is executed by a processor, the variable frequency control method of the unmanned aerial vehicle optical tracking system according to any one of claims 1 to 9 is implemented.

Images