An Unmanned Aerial Vehicle-Based Inkjet Printing Control Method and System

Abstract

This application relates to the field of spray printing repair technology, and discloses a spray printing control method and system based on a drone. The method includes receiving pixel points of a target image transmitted by a camera of the drone; comparing the pixel points of the target image with the pixel points of a picture of the identification to be repaired to determine the similarity; judging whether the similarity is greater than a preset similarity threshold; when the similarity is greater than the similarity threshold, controlling the drone to move towards the identification 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 picture of the identification to be repaired; controlling the spray printing display screen to display two parts of content, namely the target image and the repair effect picture of the old identification, in a split screen manner; planning a movement trajectory based on the split screen display content of the spray printing display screen; controlling the drone to carry a spray printing device to move along the movement trajectory, and triggering the spray printing device to spray the identification to be repaired by using the spray printing display screen. This application has the effect of improving the recognition accuracy of spray printing targets.

Description

Technical Field

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

[0002] Some signs in uninhabited areas, high-altitude dangerous construction areas, danger warning areas, etc. need to be re-sprayed and repaired after years of disrepair. However, due to traffic and terrain restrictions in most of these areas, it is necessary to use UAVs to replace manual operations. The existing UAV control functions are relatively simple, only having a single function of controlling the flight and video of the UAV, and can only identify approximately blank areas through the UAV and perform spray printing operations on the blank areas to avoid overlapping with the old signs during the spray printing process, thereby affecting the normal use of the old signs.

[0003] In view of the above related technologies, the inventors found that the existing spray printing method cannot perform detailed identification of old signs, and there is a problem of low identification accuracy of spray printing targets. Summary of the Invention

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

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

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

[0007] A spray printing control method based on a UAV includes the following steps

[0008] Receiving pixel points of a target image transmitted by a camera of the UAV;

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

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

[0011] When the similarity is greater than the similarity threshold, determining that the target image is an image of the sign to be repaired, and controlling the UAV to move towards the sign to be repaired until the central pixel point of the image transmitted back by the camera of the UAV coincides with the central pixel point of the pre-stored picture of the sign to be repaired;

[0012] Controlling the spray printing display screen to display two parts of content in a split screen, namely the target image framing the pixel area of the old sign and the pre-stored rendering of the repaired old sign;

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

[0014] Control the drone to move along the motion trajectory with the printing device, and use the printing display screen to trigger the printing device to print the to-be-repaired identifier.

[0015] In a preferred example of the present application, it can be further configured as follows: comparing the pixel points of the target image with the pixel points of the pre-stored to-be-repaired identifier picture, and the steps for determining the similarity include,

[0016] Reduce the target image and the to-be-repaired identifier picture to a preset size respectively;

[0017] Convert the reduced target image and the reduced to-be-repaired identifier picture into a target grayscale image and a to-be-repaired identifier grayscale picture respectively;

[0018] Calculate the grayscale average values of the target grayscale image and the to-be-repaired identifier grayscale picture respectively to obtain the target image grayscale average value and the to-be-repaired identifier picture grayscale average value;

[0019] Judge the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average value, and judge the magnitude relationship between the grayscale value of each pixel point in the to-be-repaired identifier grayscale picture and the to-be-repaired identifier picture grayscale average value to determine the eigenvalue of the target image and the eigenvalue of the to-be-repaired identifier picture;

[0020] Compare the eigenvalue of the target image and the eigenvalue of the to-be-repaired identifier picture to determine the similarity.

[0021] In a preferred example of the present application, it can be further configured as follows: judging the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average value, and judging the magnitude relationship between the grayscale value of each pixel point in the to-be-repaired identifier grayscale picture and the to-be-repaired identifier picture grayscale average value, and the steps for determining the eigenvalue of the target image and the eigenvalue of the to-be-repaired identifier picture include,

[0022] If the grayscale value of the pixel point of the target grayscale image is greater than or equal to the target image grayscale average value, record the value of this pixel point of the target grayscale image as 1; if the grayscale value of the pixel point of the target grayscale image is less than the target image grayscale average value, record the value of this pixel point of the target grayscale image as 0, determine the value of each pixel point of the target grayscale image, and combine them in sequence to obtain the eigenvalue of the target image; and

[0023] If the grayscale value of a pixel in the grayscale image of the identification to be repaired is greater than or equal to the average grayscale value of the identification image to be repaired, the value of the pixel in the grayscale image of the identification to be repaired is recorded as 1. If the grayscale value of a pixel in the grayscale image of the identification to be repaired is less than the average grayscale value of the identification image to be repaired, the value of the pixel in the grayscale image of the identification to be repaired is recorded as 0. Determine the value of each pixel in the grayscale image of the identification to be repaired, and combine them in sequence to obtain the feature value of the grayscale image of the identification to be repaired.

[0024] In a preferred example of the present application, it can be further configured that: comparing the feature value of the target image with the feature value of the identification image to be repaired, the steps of determining the similarity include,

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

[0026] Divide the number of pixels with the same value by the total number of pixels in the target grayscale image, or divide the number of pixels with the same value by the total number of pixels in the grayscale image of the identification to be repaired, to obtain the similarity.

[0027] In a preferred example of the present application, it can be further configured that: when controlling the display screen of the drone to frame and display the target image of the old identification pixel area and the pre-stored old identification repair effect picture, the following steps are further included,

[0028] Render the environmental background image on the target image except for the old identification pixel area to the corresponding position area of the old identification repair effect picture.

[0029] In a preferred example of the present application, it can be further configured that: the following steps are further included,

[0030] During the spraying process, according to the real-time split-screen display content of the spraying display screen by a human, control the spraying device to align the pixel area on the spraying area of the identification to be repaired that is different from the old identification repair effect picture, and remotely control the spraying device to perform the start-stop operation of spraying the same color;

[0031] Alternatively, according to the real-time split-screen display content of the spraying display screen by a human, control the spraying device to align the spraying area of the identification to be repaired, and remotely control the spraying device to perform the start-stop operation of covering and spraying a new color.

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

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

[0034] A drone-based printing control system, including a drone and a printing device, the drone is equipped with a camera, and the printing device is installed on the drone;

[0035] It further includes an ARM master controller, and the ARM master controller executes the steps of any of the above-mentioned drone-based printing control methods;

[0036] The drone and the printing device are respectively communicatively connected to the ARM master controller;

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

[0038] In a preferred example of the present application, it can be further configured that: the drone is communicatively connected to the ARM master controller through WIFI, and the printing device is communicatively connected to the ARM master controller through WIFI.

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

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

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

[0042] A computer program product, including a computer program, and when the computer program is executed by a processor, it realizes the steps of any of the above-mentioned drone-based printing control methods.

[0043] In summary, compared with the prior art, the beneficial effects brought by the technical solution provided by the present application at least include:

[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] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

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

[0050] The following will further describe the embodiments of this application in detail with reference to the drawings in the specification.

[0051] Refer to Figure 1 , the embodiments of this application provide a spraying control method based on an unmanned aerial vehicle (UAV), 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 UAV;

[0053] S2: Compare the pixel points of the target image with the pixel points of the pre-stored identification picture to be repaired, and 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, determine that the target image is an identification image to be repaired, and control the UAV to move towards the identification to be repaired until the central pixel point of the image transmitted back by the camera of the UAV coincides with the central pixel point of the identification picture to be repaired;

[0056] S5: Control the spraying display screen to display the target image framing the pixel area of the old identification and the pre-stored rendering of the repaired old identification in a split-screen manner;

[0057] S6: Plan the movement trajectory based on the split-screen display content of the spraying display screen;

[0058] S7: Control the UAV to carry the spraying device to move along the movement trajectory, and use the spraying display screen to trigger the spraying device to spray the identification to be repaired.

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

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

[0061] Next, control the drone to gradually approach the mark to be repaired, and continuously perform image comparison at the same time. Adjust the position of the drone according to the coincidence degree of the pixel points until the pixel center point of the transmitted image coincides with the pixel center point of the pre-stored image of the mark to be repaired.

[0062] After the center points coincide, control the inkjet display screen to perform split-screen display in two parts, with the left display area showing the transmitted target image and framing the pixel area range of the old mark on the target image, and the right display area automatically retrieving the pre-stored rendering of the repaired old mark.

[0063] Based on the split-screen display content of the inkjet display screen, plan the motion trajectory.

[0064] By obtaining the position information of the pixel area of the old mark framed in the target image, combining the current position information, current flight acceleration, maximum flight speed, flight altitude limit and other parameter information of the drone fed back, inputting into the pre-designed path planning model, taking the current position information of the drone as the starting node, and successively selecting the next node with the minimum cost function to generate neighbor nodes, and finally outputting a set of path points to obtain the motion trajectory of the drone.

[0065] When the path planning model is initialized, take the current position information of the drone as the starting node and add it to the open list; select the node with the minimum cost from the open list as the current node; generate neighbor nodes according to the current node to realize the motion control of the drone such as forward, backward, ascending, and descending. If the neighbor node is not in the open list, add the neighbor node to the open list; if the neighbor node is in the open list and the estimated cost is smaller, update the cost. When the current node is the target node, the model terminates the calculation and outputs the motion trajectory.

[0066] Among them, 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 cost calculation can be performed using the Euclidean distance.

[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] Calculate the grayscale averages of the target grayscale image and the grayscale image of the logo to be repaired respectively, obtaining the target image grayscale average and the logo to be repaired image grayscale average;

[0080] Judge the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average, and judge the magnitude relationship between the grayscale value of each pixel point in the grayscale image of the logo to be repaired and the logo to be repaired image grayscale average, to determine the feature value of the target image and the feature value of the grayscale image of the logo to be repaired;

[0081] Compare the feature value of the target image and the feature value of the grayscale image of the logo to be repaired to determine the similarity.

[0082] In one embodiment, the steps of judging the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average, and judging the magnitude relationship between the grayscale value of each pixel point in the grayscale image of the logo to be repaired and the logo to be repaired image grayscale average, to determine the feature value of the target image and the feature value of the grayscale image of the logo to be repaired include,

[0083] If the grayscale value of a pixel point in the target grayscale image is greater than or equal to the target image grayscale average, then record the value of this pixel point in the target grayscale image as 1; if the grayscale value of a pixel point in the target grayscale image is less than the target image grayscale average, then record the value of this pixel point in the target grayscale image as 0, to determine the value of each pixel point in the target grayscale image, and sequentially combine them to obtain the feature value of the target image, that is, obtain the fingerprint information representing the target image, which can more detailedly reflect the features of the target image; and

[0084] If the grayscale value of a pixel point in the grayscale image of the logo to be repaired is greater than or equal to the logo to be repaired image grayscale average, then record the value of this pixel point in the grayscale image of the logo to be repaired as 1; if the grayscale value of a pixel point in the grayscale image of the logo to be repaired is less than the logo to be repaired image grayscale average, then record the value of this pixel point in the grayscale image of the logo to be repaired as 0, to determine the value of each pixel point in the grayscale image of the logo to be repaired, and sequentially combine them to obtain the feature value of the grayscale image of the logo to be repaired, that is, obtain the fingerprint information representing the grayscale image of the logo to be repaired, which is beneficial for the refined comparison between the target image and the grayscale image of the logo to be repaired, and is also beneficial for the refined spray printing repair of the old logo in the subsequent process.

[0085] In one embodiment, when controlling the display screen of the drone to display the target image of the old logo pixel area and the pre-stored old logo repair effect picture in a split screen manner, the following steps are further 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, the drone carrying a camera, and the printing device being installed on the drone;

[0098] It further includes an ARM main controller that executes any of the above-mentioned printing control methods based on the drone;

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

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

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

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

[0103] The ARM main controller can adopt a domestic main controller RK3588, which has the high-performance advantages of simultaneously controlling the drone, the printing device, video decoding ability above 4K, high-speed data transmission, and a high-computing-power NPU, and is low-power and portable, facilitating outdoor operations.

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

[0105] Further, the drone is communicatively connected to the ARM main controller via WIFI, and the printing device is communicatively connected to the ARM main controller via WIFI, with convenient communication and lower control costs.

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

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

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

[0109] A drone-based printing control system integrates the hardware systems of drones, printing devices, and control screens, as well as a software printing control system with a camera display program, an old logo visual recognition algorithm, a drone motion control program, and a printing control program. The coordination and control of the cooperation between peripherals such as drones, printing devices, and cameras are all handed over to 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 transmitted by the camera, so as to adjust the drone's angle to an ideal printing position, realizing the refined control of the drone during the old logo printing process, greatly reducing the operator's proficiency requirements for drones and printing devices, enabling the drone equipped with a high-definition camera to maintain precise motion capabilities, and enabling the printing device 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 real-time control of the drone status, and real-time visualization of a high-definition printing display screen, greatly improving the printing effect of old logos.

[0111] At the same time, real-time printing effect comparison diagrams are displayed and fed back to the operator through a high-definition printing display screen to prevent unexpected situations from turning into manual control states, and the images of the printing process are synchronously stored for record-keeping.

[0112] A drone-based printing control system can also be combined with different drones, cameras, and printing devices according to actual needs, and the combination method is very flexible.

[0113] For the specific limitations of a drone-based printing control system, reference can be made to the limitations of a drone-based printing control method in the above text, which will not be elaborated here.

[0114] Each module in the above-mentioned drone-based printing control system can be implemented in whole or in part through software, hardware, and their combinations. The above-mentioned modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0115] In one embodiment, a computer device is provided, and the computer device may be a server. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, 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 through a network connection. When the computer program is executed by the processor, it implements any one of the above-mentioned drone-based printing control methods.

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

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

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

[0119] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, 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 drone-based printing control method, characterized in that, Including the following steps, Receiving 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 image of the identification to be repaired to determine the similarity; specifically, respectively reducing the target image and the image of the identification to be repaired to a preset size; converting the reduced target image and the reduced image of the identification to be repaired into a target grayscale image and a grayscale image of the identification to be repaired respectively; calculating the grayscale average values of the target grayscale image and the grayscale image of the identification to be repaired respectively to obtain the target image grayscale average value and the grayscale average value of the image of the identification to be repaired; judging the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average value, and judging the magnitude relationship between the grayscale value of each pixel point in the grayscale image of the identification to be repaired and the grayscale average value of the image of the identification to be repaired to determine the eigenvalue of the target image and the eigenvalue of the image of the identification to be repaired; Comparing the eigenvalue of the target image with the eigenvalue of the image of the identification to be repaired to determine the similarity; Judging whether the similarity is greater than a preset similarity threshold; When the similarity is greater than the similarity threshold, determining that the target image is an image of the identification to be repaired, and controlling the drone to move towards the identification 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 identification to be repaired; Controlling the printing display screen to display the target image framing the pixel area of the old identification and the pre-stored rendering of the old identification repair in a split screen; Planning a movement trajectory based on the split screen display content of the printing display screen; Controlling the drone to carry the printing device to move along the movement trajectory, and triggering the printing device to print the identification to be repaired by using the printing display screen.

2. The drone-based printing control method according to claim 1, wherein, The steps of judging the magnitude relationship between the grayscale value of each pixel point in the target grayscale image and the target image grayscale average value, and judging the magnitude relationship between the grayscale value of each pixel point in the grayscale image of the identification to be repaired and the grayscale average value of the image of the identification to be repaired to determine the eigenvalue of the target image and the eigenvalue of the image of the identification to be repaired include, If the grayscale value of the pixel point in the target grayscale image is greater than or equal to the target image grayscale average value, then recording the value of this pixel point in the target grayscale image as 1, if the grayscale value of the pixel point in the target grayscale image is less than the target image grayscale average value, then recording the value of this pixel point in the target grayscale image as 0, determining the value of each pixel point in the target grayscale image, and sequentially combining them to obtain the eigenvalue of the target image; And If the grayscale value of the pixel point in the grayscale image of the identification to be repaired is greater than or equal to the grayscale average value of the image of the identification to be repaired, then recording the value of this pixel point in the grayscale image of the identification to be repaired as 1, if the grayscale value of the pixel point in the grayscale image of the identification to be repaired is less than the grayscale average value of the image of the identification to be repaired, then recording the value of this pixel point in the grayscale image of the identification to be repaired as 0, determining the value of each pixel point in the grayscale image of the identification to be repaired, and sequentially combining them to obtain the eigenvalue of the grayscale image of the identification to be repaired.

3. The method for controlling spraying based on an unmanned aerial vehicle according to claim 2, wherein The steps of comparing the eigenvalue of the target image with the eigenvalue of the to-be-restored identification picture to determine the similarity include: Sequentially compare the values of the pixel points of the target grayscale image with the values of the corresponding pixel points of the to-be-restored identification grayscale picture, and count the number of pixel points with the same value; Divide the number of pixel points with the same value by the total number of pixel points of the target grayscale image, or divide the number of pixel points with the same value by the total number of pixel points of the to-be-restored identification grayscale picture to obtain the similarity.

4. The drone-based printing control method according to claim 1, wherein When controlling the display screen of the drone to display the target image that frames the old identification pixel area and the pre-stored old identification restoration effect picture in frames, it also includes the following steps: Render the environmental background image on the target image except the old identification pixel area to the corresponding position area of the old identification restoration effect picture.

5. The method for controlling spraying based on an unmanned aerial vehicle according to claim 1, wherein It also includes the following steps: During the spraying process, manually control the spraying device to align with the pixel area on the to-be-sprayed area of the to-be-restored identification that is different from the old identification restoration effect picture according to the real-time split-screen display content of the spraying display screen, and remotely control the spraying device to perform the start-stop operation of spraying the same color; Alternatively, manually control the spraying device to align with the to-be-sprayed area of the to-be-restored identification according to the real-time split-screen display content of the spraying display screen, and remotely control the spraying device to perform the start-stop operation of covering and spraying with a new color.

6. An unmanned aerial vehicle-based printing control system, comprising an unmanned aerial vehicle and a printing device, wherein the unmanned aerial vehicle is equipped with a camera, and the printing device is installed on the unmanned aerial vehicle, characterized in that, It also includes an ARM main controller, and the ARM main controller executes the steps of the method according to any one of claims 1 to 5; The drone and the spraying device are respectively communicatively connected to the ARM main controller; The output end of the ARM main controller is also electrically connected to a spraying display screen.

7. The drone-based inkjet printing control system according to claim 6, characterized in that, The drone is communicatively connected to the ARM main controller through WIFI, and the spraying device is communicatively connected to the ARM main controller through WIFI.

8. The drone-based inkjet printing control system according to claim 6, characterized in that, The spraying display screen supports high-definition video transmission and display of 4K and above.

9. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, it realizes the steps of the method according to any one of claims 1 to 5.

Images