Spray printing control method and system based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of jet printing repair, and discloses a jet printing control method and system based on an unmanned aerial vehicle, and the method comprises the steps: receiving pixel points of a target image transmitted by a camera of the unmanned aerial vehicle; comparing the pixel points of the target image with the pixel points of the to-be-repaired identification picture to determine the similarity; judging whether the similarity is greater than a preset similarity threshold value or not; when the similarity is larger than a similarity threshold value, the unmanned aerial vehicle is controlled to move towards the to-be-repaired identification until the central pixel point of the image transmitted back by the camera of the unmanned aerial vehicle coincides with the central pixel point of the to-be-repaired identification picture; the jet printing display screen is controlled to display the target image and the old mark repairing effect picture in a split-screen mode; based on the split-screen display content of the jet printing display screen, planning a motion track; and the unmanned aerial vehicle is controlled to carry the jet printing equipment to move along the movement track, and the jet printing display screen is utilized to trigger the jet printing equipment to perform jet printing on the to-be-repaired identifier. The method has the effect of improving the identification precision of the jet printing target.

Description

Technical Field

[0001] The present application relates to the field of printing repair technology, and in particular to a printing control method and system based on an unmanned aerial vehicle. Background Art

[0002] Some signs in unmanned areas, high-altitude dangerous construction areas, and danger warning areas need to be reprinted and repaired after years of disrepair. However, most of these areas need to use drones instead of manual operations due to traffic and terrain restrictions. The existing drone control function is relatively simple, with only a single flight and video control function. The drone can only identify rough blank areas and print them to avoid overlapping with the old signs during the printing process, which affects the normal use of the old signs.

[0003] With respect to the above-mentioned related technologies, the inventors found that the existing printing method is unable to identify the details of the old logo, and there is a problem of low recognition accuracy of the printing target. Summary of the invention

[0004] In order to improve the recognition accuracy of printing targets, the present application provides a printing control method and system based on drones.

[0005] In a first aspect, the present application provides a printing control method based on a drone.

[0006] This application is achieved through the following technical solutions:

[0007] A printing control method based on a drone comprises the following steps:

[0008] Receive the pixel points of the target image transmitted by the camera of the drone;

[0009] Comparing the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired to determine the similarity;

[0010] Determining whether the similarity is greater than a preset similarity threshold;

[0011] When the similarity is greater than the similarity threshold, the target image is determined to be an image of the mark to be repaired, and the drone is controlled to move toward the mark to be repaired until the central pixel point of the image transmitted back by the camera of the drone coincides with the central pixel point of the image of the mark to be repaired;

[0012] Control the printing display screen to split the screen to display the target image framing the pixel area of ​​the old logo and the pre-stored old logo restoration effect image;

[0013] Planning a motion trajectory based on the split-screen display content of the printing display screen;

[0014] The unmanned aerial vehicle carrying the printing device is controlled to move along the motion track, and the printing display screen is used to trigger the printing device to print the mark to be repaired.

[0015] In a preferred example, the present application can be further configured as follows: comparing the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired, and the step of determining the similarity includes:

[0016] Reducing the target image and the identification image to be repaired to preset sizes respectively;

[0017] Converting the reduced target image and the reduced mark image to be repaired into a target grayscale image and a mark grayscale image to be repaired, respectively;

[0018] Calculating the grayscale averages of the target grayscale image and the grayscale image of the mark to be repaired respectively, to obtain the grayscale average of the target image and the grayscale average of the mark to be repaired;

[0019] Determine the magnitude of the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determine the magnitude of the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired, and determine the characteristic value of the target image and the characteristic value of the identification image to be repaired;

[0020] The characteristic value of the target image is compared with the characteristic value of the identification picture to be repaired to determine the similarity.

[0021] In a preferred example, the present application can be further configured as follows: determining the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determining the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired. The step of determining the characteristic value of the target image and the characteristic value of the identification image to be repaired includes:

[0022] If the grayscale value of a pixel of the target grayscale image is greater than or equal to the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 1; if the grayscale value of the pixel of the target grayscale image is less than the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 0, and the value of each pixel of the target grayscale image is determined, and the characteristic value of the target image is obtained by combining them in sequence; and

[0023] If the grayscale value of the pixel point of the grayscale image of the logo to be repaired is greater than or equal to the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 1; if the grayscale value of the pixel point of the grayscale image of the logo to be repaired is less than the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 0, and the value of each pixel point of the grayscale image of the logo to be repaired is determined, and the characteristic values ​​of the grayscale image of the logo to be repaired are obtained by combining them in sequence.

[0024] In a preferred example, the present application can be further configured as follows: comparing the feature value of the target image with the feature value of the identification picture to be repaired, and the step of determining the similarity includes:

[0025] Compare the pixel values ​​of the target grayscale image with the corresponding pixel values ​​of the grayscale image to be repaired, and count the number of pixels with the same value;

[0026] The similarity is obtained by dividing the number of pixels with the same value by the total number of pixels of the target grayscale image, or by dividing the number of pixels with the same value by the total number of pixels of the grayscale image to be repaired.

[0027] In a preferred example, the present application can be further configured as follows: when controlling the display screen of the drone to display the target image of the pixel area of ​​the old logo and the pre-stored old logo restoration effect image, the following steps are also included:

[0028] The environment background image except the old logo pixel area on the target image is rendered to the position area corresponding to the old logo restoration effect image.

[0029] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0030] During the printing process, the printing device is manually controlled to align with the pixel area on the to-be-sprayed area of ​​the to-be-repaired mark that is different from the repaired effect image of the old mark according to the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the same color spraying;

[0031] Alternatively, the printing device is manually controlled to aim at the area to be sprayed of the mark to be repaired based on the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the new color covering spraying.

[0032] In a second aspect, the present application provides a printing control system based on a drone.

[0033] This application is achieved through the following technical solutions:

[0034] A printing control system based on a drone, comprising a drone and a printing device, wherein the drone carries a camera and the printing device is installed on the drone;

[0035] It also includes an ARM main controller, which executes any one of the steps of the above-mentioned printing control method based on the drone;

[0036] The drone and the printing device are respectively connected to the ARM main controller for communication;

[0037] The output end of the ARM main controller is also electrically connected to a printing display screen.

[0038] In a preferred example, the present application can be further configured as follows: the drone is connected to the ARM main controller via WIFI communication, and the printing device is connected to the ARM main controller via WIFI communication.

[0039] In a preferred example, the present application can be further configured as follows: the printing display screen supports 4K and above high-definition video transmission and display.

[0040] In a third aspect, the present application provides a computer program product.

[0041] This application is achieved through the following technical solutions:

[0042] A computer program product includes a computer program, wherein when the computer program is executed by a processor, the steps of any one of the above-mentioned printing control methods based on unmanned aerial vehicles are implemented.

[0043] In summary, compared with the prior art, the technical solution provided by this application has at least the following beneficial effects:

[0044] Receive the pixel points of the target image transmitted by the camera of the drone, compare the pixel points of the target image with the pixel points of the pre-stored image of the logo to be repaired, determine the similarity, and use it to judge whether the target image is the image of the logo to be repaired, so as to identify whether the target image is the image of the logo to be repaired from the pixel level, and then be able to identify more details of the logo to be repaired, which is beneficial to the subsequent logo repair printing operation; when the similarity is greater than the similarity threshold, determine that the target image is the image of the logo to be repaired, and control the drone to move toward the logo to be repaired until the center pixel point of the image transmitted back by the camera of the drone coincides with the center pixel point of the image of the logo to be repaired, so as to achieve accurate alignment of the position of the drone with the position of the logo to be repaired from the pixel level, thereby improving the control accuracy of the drone; control the printing display screen to split the screen to display the target image framing the pixel area of ​​the old logo and the pre-stored old logo repair effect map, which is beneficial to The back-end management personnel timely observe the on-site conditions of the signs to be repaired, and assist the back-end management personnel to intervene in the repair operations of the old signs in a timely manner; based on the split-screen display content of the printing display screen, the motion trajectory is planned, and the drone carrying the printing equipment is controlled to move along the motion trajectory, so as to realize the purpose of automatically controlling the drone and the printing equipment to perform collaborative printing operations according to the effect comparison of the split-screen display content, and the control is intelligent and precise; finally, the printing display screen is used to trigger the printing equipment to print the signs to be repaired, and the printing operation of the old signs can be started after the back-end management personnel confirm that it is correct, so as to achieve the purpose of more accurately repairing the incomplete parts of the old signs; the recognition accuracy of the printing target and the control accuracy of the drone are improved, and the problem that the existing printing method can only perform rough operations on the blank areas of the old signs is overcome, and the problem that the printing process affects the use of the old signs due to overlap with the old signs is improved, and the incomplete parts of the old signs can be repaired more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the overall flow of a UAV-based printing control method provided as an exemplary embodiment of the present application.

[0046] Figure 2 A structural block diagram of a UAV-based printing control system provided as another exemplary embodiment of the present application. DETAILED DESCRIPTION

[0047] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, 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 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 are within the scope of protection of this application.

[0049] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0050] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0051] Reference Figure 1 , an embodiment of the present application provides a printing control method based on a drone, and the main steps of the method are described as follows.

[0052] S1: Receive the pixel points of the target image transmitted by the camera of the drone;

[0053] S2: Compare the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired to determine the similarity;

[0054] S3: Determine whether the similarity is greater than a preset similarity threshold;

[0055] S4: when the similarity is greater than the similarity threshold, the target image is determined to be an image of the mark to be repaired, and the drone is controlled to move toward the mark to be repaired until the central pixel point of the image transmitted back by the camera of the drone coincides with the central pixel point of the image of the mark to be repaired;

[0056] S5: Control the printing display screen to display the target image framing the pixel area of ​​the old logo and the pre-stored old logo restoration effect image in two parts;

[0057] S6: planning a motion trajectory based on the split-screen display content of the printing display screen;

[0058] S7: Control the UAV carrying the printing device to move along the motion trajectory, and use the printing display screen to trigger the printing device to print the mark to be repaired.

[0059] Specifically, the center point is first selected according to the pixels of the identification image to be repaired pre-stored in the screen.

[0060] Then, the target image is transmitted back by the camera of the receiving drone, and the pixel points of the target image are compared with the pixel points of the identification image to be repaired. When the similarity between the two is higher than the similarity threshold, the target image is determined to be the identification image to be repaired. In this embodiment, the similarity threshold can be set to 80%.

[0061] Then the drone is controlled to gradually approach the mark to be repaired, while continuing to compare images, and the position of the drone is adjusted according to the overlap of pixel points until the pixel center point of the returned image coincides with the pixel center point of the pre-stored image of the mark to be repaired.

[0062] After the center points coincide, the printing display screen is controlled to be split into left and right parts for split-screen display. The left display area displays the transmitted target image and frames the pixel area range of the old logo on the target image. The right display area automatically calls up the pre-stored old logo repair effect image.

[0063] The movement trajectory is planned based on the split-screen display content of the printing display screen.

[0064] By obtaining the position information of the old identification pixel area framed in the target image, combined with the feedback of the current position information of the UAV, the current flight acceleration, the maximum flight speed, the flight altitude limit and other parameter information, the pre-designed path planning model is input, and the current position information of the UAV is used as the starting node. The next node with the smallest cost function is selected in turn to generate a neighbor node, and finally a series of path point sets are output to obtain the motion trajectory of the UAV.

[0065] When the path planning model is initialized, the current location information of the drone is used as the starting node and added to the open list; the node with the lowest cost is selected from the open list as the current node; the neighbor node is generated based on the current node to realize the forward, backward, ascending, descending and other motion control of the drone. If the neighbor node is not in the open list, the neighbor node is added to the open list; if the neighbor node is in the open list and the estimated cost is smaller, the cost is updated. When the current node is the target node, the model terminates the calculation and outputs the motion trajectory.

[0066] The expression of the cost function is as follows:

[0067] f(n)=g(n)+h(n)

[0068] In the formula, g(n) is the actual cost from the starting node to the current node, and h(n) is the estimated cost from the current node to the target node. The Euclidean distance can be used for cost calculation.

[0069] When controlling the printing device, the repair color information is assigned to the pixel area of ​​the old logo framed in the target image. Combined with the position information of the pixel area of ​​the old logo, the total spraying area corresponding to each color information is calculated. Then, based on the total spraying area, the amount of each color pigment required for the logo to be repaired is calculated to realize the control of the printing device.

[0070] Furthermore, in combination with a control algorithm, such as a PID controller, the drone carrying the printing device is controlled to move along the motion trajectory. During the drone control process, the PID controller iteratively calculates the error between the current position of the drone and the next path point and outputs the speed and direction control instructions of the drone, controls the drone to move to the next node, and updates the position of the drone until the drone reaches the target position.

[0071] Finally, the drone and the printing device maintain their current posture, and the operator is prompted to confirm. After confirmation, the operator clicks on the printing display screen to trigger the printing device to print the mark to be repaired. This achieves precise automatic control of the drone and the printing device to perform collaborative printing operations on different pixel areas based on the effect comparison chart on the printing display screen, thereby achieving the purpose of repairing the damaged parts of the old mark.

[0072] The above automatic printing process needs to be synchronously recorded and displayed on a handheld printing display screen to prevent the need for emergency manual control and subsequent archiving of video data in the event of sudden situations such as strong crosswinds or birds.

[0073] In one embodiment, the step of comparing the feature value of the target image with the feature value of the identification picture to be repaired to determine the similarity includes:

[0074] Compare the pixel values ​​of the target grayscale image with the corresponding pixel values ​​of the grayscale image to be repaired, and count the number of pixels with the same value;

[0075] The similarity is obtained by dividing the number of pixels with the same value by the total number of pixels of the target grayscale image, or by dividing the number of pixels with the same value by the total number of pixels of the grayscale image to be repaired.

[0076] In one embodiment, the step of comparing the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired to determine the similarity includes:

[0077] Reducing the target image and the to-be-repaired identification image to preset sizes respectively, wherein the preset size may be 8×8 pixel level;

[0078] Converting the reduced target image and the reduced mark image to be repaired into a target grayscale image and a mark grayscale image to be repaired, respectively;

[0079] Calculating the grayscale averages of the target grayscale image and the grayscale image of the mark to be repaired respectively, to obtain the grayscale average of the target image and the grayscale average of the mark to be repaired;

[0080] Determine the magnitude of the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determine the magnitude of the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired, and determine the characteristic value of the target image and the characteristic value of the identification image to be repaired;

[0081] The characteristic value of the target image is compared with the characteristic value of the identification picture to be repaired to determine the similarity.

[0082] In one embodiment, the step of determining the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determining the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired, and determining the characteristic value of the target image and the characteristic value of the identification image to be repaired includes:

[0083] If the grayscale value of a pixel of the target grayscale image is greater than or equal to the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 1; if the grayscale value of the pixel of the target grayscale image is less than the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 0, and the value of each pixel of the target grayscale image is determined, and the characteristic value of the target image is obtained by combining them in sequence, that is, the fingerprint information representing the target image is obtained, which can reflect the characteristics of the target image in more detail; and

[0084] If the grayscale value of the pixel point of the grayscale image of the logo to be repaired is greater than or equal to the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 1; if the grayscale value of the pixel point of the grayscale image of the logo to be repaired is less than the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 0, and the value of each pixel point of the grayscale image of the logo to be repaired is determined, and the characteristic values ​​of the grayscale image of the logo to be repaired are obtained by combining them in sequence, that is, the fingerprint information characterizing the logo image to be repaired is obtained, which is conducive to the refined comparison between the target image and the logo image to be repaired, and is also conducive to the subsequent refined printing and repair of the old logo.

[0085] In one embodiment, when controlling the display screen of the drone to display the target image of the pixel area of ​​the old logo and the pre-stored old logo restoration effect image, the following steps are also included:

[0086] The environment background image except the old logo pixel area on the target image is rendered to the position area corresponding to the old logo restoration effect image.

[0087] By automatically rendering the environmental background image except the framed old logo area image in the left display area to the repaired effect image in the right display area, a comparison chart of the effects before and after repair is formed. This is helpful to further confirm whether the target image is the logo image to be repaired. At the same time, it is helpful for the operator to intuitively feel the real-time repair effect of the old logo and intervene and adjust the printing process in time.

[0088] In one embodiment, a printing control method based on a drone further includes the following steps:

[0089] During the printing process, the printing device is manually controlled to align with the pixel area on the to-be-sprayed area of ​​the to-be-repaired mark that is different from the repaired effect image of the old mark according to the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the same color spraying;

[0090] Alternatively, the printing device is manually controlled to aim at the area to be sprayed of the mark to be repaired based on the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the new color covering spraying.

[0091] By adding manual re-inspection and detail fine-tuning processing links, the operator will conduct manual re-inspection and detail fine-tuning processing according to the real-time split-screen display content of the printing display screen, such as confirming the drone position and the printing parameter settings of the printing equipment, setting the ink printing thickness to be thicker in the severely rusted areas of the old logo, and adding a layer of paint if the color of the old logo after repair is lighter than the original color, and covering the area to be repaired of the old logo with a new color when the repair effect comparison chart is not good.

[0092] After adjusting the position of the drone and the printing task configuration of the printing equipment, the operator clicks on the printing display screen to trigger the printing equipment to start and stop spraying the mark to be repaired, repair the damaged part of the old mark or cover it with a new color print.

[0093] In summary, a printing control method based on a drone receives pixel points of a target image transmitted by a camera of the drone, compares the pixel points of the target image with the pixel points of a pre-stored image of a logo to be repaired, determines the similarity, and is used to judge whether the target image is the image of the logo to be repaired, so as to identify whether the target image is the image of the logo to be repaired from a pixel level, and then can identify more details of the logo to be repaired, which is beneficial to the subsequent logo repair printing operation; when the similarity is greater than the similarity threshold, the target image is judged to be the image of the logo to be repaired, and the drone is controlled to move toward the logo to be repaired until the center pixel point of the image transmitted back by the camera of the drone coincides with the center pixel point of the image of the logo to be repaired, so as to achieve accurate alignment of the position of the drone with the position of the logo to be repaired from a pixel level, thereby improving the control accuracy of the drone; the printing display screen is controlled to split the screen to display the target image framing the pixel area of ​​the old logo and the pre-stored old logo repair effect The two parts of the result and the picture are beneficial for the back-end management personnel to observe the on-site situation of the signs to be repaired in time, and assist the back-end management personnel to intervene in the repair operation of the old signs in time; based on the split-screen display content of the printing display screen, the motion trajectory is planned, and the drone carrying the printing equipment is controlled to move along the motion trajectory, so as to realize the purpose of automatically controlling the drone and the printing equipment to perform collaborative printing operations according to the effect comparison of the split-screen display content, and the control is intelligent and precise; finally, the printing display screen is used to trigger the printing equipment to print the signs to be repaired, and the printing operation of the old signs can be started after the back-end management personnel confirm that it is correct, so as to achieve the purpose of more accurately repairing the incomplete parts of the old signs; the recognition accuracy of the printing target and the control accuracy of the drone are improved, and the problem that the existing printing method can only perform rough operations on the blank area of ​​the old signs is overcome, and the problem that the printing process affects the use of the old signs due to overlap with the old signs is improved, and the incomplete parts of the old signs can be repaired more accurately.

[0094] A printing control method based on drones designs a visual recognition algorithm for old logo targets, accurately identifies old logos, and synchronously and accurately controls the position of the drone. At the same time, it takes into account the real-time display function on the printing display screen, which facilitates the operator's operation confirmation and real-time correction, thereby achieving the purpose of more accurately repairing the incomplete parts of the old logo.

[0095] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0096] Reference Figure 2 The embodiment of the present application also provides a UAV-based printing control system, which corresponds one-to-one to a UAV-based printing control method in the above embodiment. The UAV-based printing control system includes:

[0097] A drone and a printing device, wherein the drone carries a camera and the printing device is installed on the drone;

[0098] It also includes an ARM main controller, which executes any one of the above-mentioned printing control methods based on drones;

[0099] The drone and the printing device are respectively connected to the ARM main controller for communication;

[0100] The output end of the ARM main controller is also electrically connected to a printing display screen.

[0101] The camera may adopt a high-definition camera module.

[0102] The printing equipment is fixedly installed on the drone.

[0103] The ARM main controller can use the domestic main controller RK3588, which has the high-performance advantages of simultaneously controlling drones and printing equipment, video decoding capabilities above 4K, high-speed data transmission and high-computing power NPU, and is low-power and portable, making it convenient for outdoor operations.

[0104] The printing device may be a portable printing head.

[0105] Furthermore, the drone is connected to the ARM main controller via WIFI communication, and the printing device is connected to the ARM main controller via WIFI communication, which makes communication convenient and reduces control costs.

[0106] WIFI can adopt high-speed WIFI to achieve high-speed data transmission and control.

[0107] Furthermore, the inkjet printing display screen supports 4K and above high-definition video transmission and display.

[0108] By adopting an ARM main controller and a printing display screen that supports 4K and above high-definition video transmission and display, the video processing capability, real-time data transmission capability, high-definition screen display capability and computing power can meet the printing requirements for repairing old signs, and can perform more refined and efficient spraying operations on old signs.

[0109] A printing control system based on drones integrates the hardware systems of drones, printing equipment and control screens, as well as a software printing control system of camera display programs, old logo visual recognition algorithms, drone motion control programs and printing control programs. The coordination between drones, printing equipment, cameras and other peripherals is all coordinated and controlled by the ARM main controller. The ARM main controller equipped with a printing display screen has an NPU with computing power, which can perform algorithm recognition and control based on the images sent back by the camera, thereby adjusting the angle of the drone to the ideal printing position, realizing refined control of the drone during the old logo printing process, greatly reducing the operator's operating proficiency requirements for drones and printing equipment, allowing drones equipped with high-definition cameras to maintain precise motion capabilities, and printing equipment to maintain precise printing in a static state.

[0110] A drone-based printing control system has excellent real-time performance, high-speed wireless transmission speed, video encoding and decoding capabilities above 4K, real-time monitoring and control of drone status, and real-time visualization of high-definition printing display screen, which greatly improves the printing effect of old signs.

[0111] At the same time, the real-time printing effect comparison chart is displayed and fed back to the operator through the high-definition printing display screen to prevent unexpected situations from switching to manual control, and the printing process images are stored synchronously for record.

[0112] A UAV-based printing control system can also be matched with different UAVs, cameras and printing equipment according to actual needs, and the combination is very flexible.

[0113] For the specific definition of a UAV-based printing control system, please refer to the definition of a UAV-based printing control method mentioned above, which will not be repeated here.

[0114] Each module in the above-mentioned UAV-based printing control system can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0115] In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, any of the above-mentioned printing control methods based on drones is implemented.

[0116] In one embodiment, a computer-readable storage medium is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any one of the above-mentioned UAV-based printing control methods is implemented.

[0117] In one embodiment, a computer program product is provided, which includes a computer program, and when the computer program is executed by a processor, any one of the above-mentioned drone-based printing control methods is implemented.

[0118] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0119] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A printing control method based on drone, characterized in that: The following steps are included: Receive the pixel points of the target image transmitted by the camera of the drone; Comparing the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired to determine the similarity; Determining whether the similarity is greater than a preset similarity threshold; When the similarity is greater than the similarity threshold, the target image is determined to be an image of the mark to be repaired, and the drone is controlled to move toward the mark to be repaired until the central pixel point of the image transmitted back by the camera of the drone coincides with the central pixel point of the image of the mark to be repaired; Control the printing display screen to split the screen to display the target image framing the pixel area of ​​the old logo and the pre-stored old logo restoration effect image; Planning a motion trajectory based on the split-screen display content of the printing display screen; The unmanned aerial vehicle carrying the printing device is controlled to move along the motion track, and the printing display screen is used to trigger the printing device to print the mark to be repaired.

2. The printing control method based on drone according to claim 1 is characterized in that: The step of comparing the pixel points of the target image with the pixel points of the pre-stored identification image to be repaired to determine the similarity includes: Reducing the target image and the identification image to be repaired to preset sizes respectively; Converting the reduced target image and the reduced mark image to be repaired into a target grayscale image and a mark grayscale image to be repaired, respectively; Calculating the grayscale averages of the target grayscale image and the grayscale image of the mark to be repaired respectively, to obtain the grayscale average of the target image and the grayscale average of the mark to be repaired; Determine the magnitude of the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determine the magnitude of the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired, and determine the characteristic value of the target image and the characteristic value of the identification image to be repaired; The characteristic value of the target image is compared with the characteristic value of the identification picture to be repaired to determine the similarity.

3. The printing control method based on drone according to claim 2 is characterized in that: The steps of determining the grayscale value of each pixel in the target grayscale image and the grayscale average value of the target image, and determining the grayscale value of each pixel in the grayscale image of the identification to be repaired and the grayscale average value of the identification image to be repaired, and determining the characteristic value of the target image and the characteristic value of the identification image to be repaired include: If the grayscale value of a pixel of the target grayscale image is greater than or equal to the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 1; if the grayscale value of a pixel of the target grayscale image is less than the grayscale average value of the target image, the value of the pixel of the target grayscale image is recorded as 0, and the value of each pixel of the target grayscale image is determined, and the characteristic value of the target image is obtained by combining them in sequence; as well as If the grayscale value of the pixel point of the grayscale image of the logo to be repaired is greater than or equal to the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 1; if the grayscale value of the pixel point of the grayscale image of the logo to be repaired is less than the grayscale average value of the logo image to be repaired, the value of the pixel point of the grayscale image of the logo to be repaired is recorded as 0, and the value of each pixel point of the grayscale image of the logo to be repaired is determined, and the characteristic values ​​of the grayscale image of the logo to be repaired are obtained by combining them in sequence.

4. The printing control method based on drone according to claim 3 is characterized in that: The step of comparing the characteristic value of the target image with the characteristic value of the identification picture to be repaired to determine the similarity includes: Compare the pixel values ​​of the target grayscale image with the corresponding pixel values ​​of the grayscale image to be repaired, and count the number of pixels with the same value; The similarity is obtained by dividing the number of pixels with the same value by the total number of pixels of the target grayscale image, or by dividing the number of pixels with the same value by the total number of pixels of the grayscale image to be repaired.

5. The printing control method based on drone according to claim 1, characterized in that: When the display screen of the drone is controlled to display the target image of the pixel area of ​​the old logo and the pre-stored restoration effect image of the old logo, The following steps are included: The environment background image except the old logo pixel area on the target image is rendered to the position area corresponding to the old logo restoration effect image.

6. The printing control method based on a drone according to any one of claims 1 to 5, characterized in that: The following steps are also included: During the printing process, the printing device is manually controlled to align with the pixel area on the to-be-sprayed area of ​​the to-be-repaired mark that is different from the repaired effect image of the old mark according to the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the same color spraying; Alternatively, the printing device is manually controlled to aim at the area to be sprayed of the mark to be repaired based on the real-time split-screen display content of the printing display screen, and the printing device is remotely controlled to start and stop the new color covering spraying.

7. A printing control system based on a drone, comprising a drone and a printing device, wherein the drone carries a camera and the printing device is installed on the drone, characterized in that: It also includes an ARM main controller, which executes the steps of the method according to any one of claims 1 to 5; The drone and the printing device are respectively connected to the ARM main controller for communication; The output end of the ARM main controller is also electrically connected to a printing display screen.

8. The UAV-based printing control system according to claim 7, characterized in that: The drone is connected to the ARM main controller via WIFI communication, and the printing device is connected to the ARM main controller via WIFI communication.

9. The UAV-based printing control system according to claim 7, characterized in that: The inkjet printing display supports 4K and above high-definition video transmission and display.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 5 when being executed by a processor.

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