Indoor flight unmanned aerial vehicle positioning method, device and equipment based on motion capture and storage medium

Abstract

The invention discloses an indoor flying unmanned aerial vehicle positioning method based on motion capture, and relates to the technical field of unmanned aerial vehicles. Based on the indoor environment, the positions and the number of infrared cameras used for capturing the unmanned aerial vehicle are determined and arranged, and an infrared light source is arranged; capturing the marking point data of the reflective marking ball through the infrared camera; preprocessing the punctuation data, and feeding back the processed data to an unmanned aerial vehicle control system in real time; and an unmanned aerial vehicle flight control instruction is formed based on the processed data and is fed back to the unmanned aerial vehicle, so that the unmanned aerial vehicle adjusts the flight attitude and position in real time according to the control instruction. According to the invention, the reflective marking ball with a strong reflective characteristic is arranged on the unmanned aerial vehicle, and the infrared camera is used for capturing, so that the accurate positioning of the unmanned aerial vehicle can be realized, the positioning mode is not influenced by the change of indoor ambient light, and a stable capturing effect can be kept under various illumination conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment and storage medium for positioning an indoor flying unmanned aerial vehicle based on motion capture. Background Art

[0002] Most traditional drones rely on the Global Navigation Satellite System (GNSS) for positioning and navigation, which performs well in open outdoor environments, but faces many challenges in indoor environments. Due to the complexity of the indoor environment, such as building occlusion, signal interference and other factors, GNSS signals are often not stably received, resulting in greatly reduced positioning accuracy and flight stability of indoor drones. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an indoor flying drone positioning method, device, equipment and storage medium based on motion capture.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows: A method for positioning an indoor flying drone based on motion capture, comprising: Set up reflective marker balls on the drone; Determine the location and quantity of infrared cameras for capturing drones based on the indoor environment and arrange them, and set up infrared light sources; Capturing the punctuation data of the reflective marker ball by the infrared camera; Preprocessing the punctuation data and feeding back the processed data to the UAV control system in real time; The drone flight control instructions are formed based on the processed data and fed back to the drone, so that the drone can adjust its flight attitude and position in real time according to the control instructions.

[0005] As a preferred solution of the indoor flying UAV positioning method based on motion capture described in the present invention, the number of the reflective marker balls is several, and the several reflective marker balls form a stable geometric shape.

[0006] As a preferred solution of the indoor flying UAV positioning method based on motion capture described in the present invention, the number of the reflective marker balls is three, and the three reflective marker balls are arranged in a triangle.

[0007] As a preferred solution of the indoor flying UAV positioning method based on motion capture of the present invention, the preprocessing of the punctuation data includes: The punctuation data captured by all cameras are fused and processed.

[0008] As a preferred solution of the indoor flying drone positioning method based on motion capture of the present invention, after the punctuation data captured by all cameras are fused, the method further includes: Adaptive filtering algorithm and intelligent denoising algorithm are used to pre-process the punctuation data after fusion processing.

[0009] As a preferred solution of the indoor flying UAV positioning method based on motion capture described in the present invention, the illumination intensity and wavelength of the infrared light source are both adjustable.

[0010] The present invention also provides an indoor flying drone positioning device based on motion capture, comprising: A data acquisition module, used for capturing the punctuation data of the reflective marker ball through an infrared camera; A data processing module is used to pre-process the punctuation data and feed back the processed data to the UAV control system in real time; The UAV control module is used to form UAV flight control instructions based on the processed data and feed them back to the UAV so that the UAV can adjust its flight attitude and position in real time according to the control instructions.

[0011] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method as described in any of the above-mentioned indoor flying drone positioning methods based on motion capture is implemented.

[0012] The present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the method described in any one of the indoor flying drone positioning methods based on motion capture is implemented.

[0013] The beneficial effects of the present invention are: (1) The present invention can achieve accurate positioning of the drone by arranging a reflective marker ball with strong reflective properties on the drone and capturing it with an infrared camera. This positioning method is not affected by changes in indoor ambient light and can maintain a stable capture effect under various lighting conditions.

[0014] (2) The present invention uses multiple infrared cameras for capturing and fuses the data through image processing and computer vision algorithms, thereby improving the reliability and accuracy of the system. Even if a camera fails or is disturbed, the other cameras can continue to work, ensuring the normal operation of the system.

[0015] (3) The present invention introduces an infrared light source with adjustable light intensity and wavelength, which can adjust the light source intensity and wavelength in real time according to indoor lighting conditions and camera performance to ensure the clarity and stability of the reflected signal of the reflective marker ball. This adaptive adjustment mechanism enhances the adaptability of the system, enabling it to operate stably in various indoor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of the flow of the indoor flying UAV positioning method based on motion capture provided by the present invention; Figure 2 This is a schematic diagram of the arrangement of reflective marker balls on the drone; Figure 3 A schematic diagram of an indoor flying drone positioning device based on motion capture provided by the present invention; Figure 4 A schematic diagram of a computer device provided by the present invention; Among them: 1. Reflective marker ball; 2. Placement seat; 3. Drone. DETAILED DESCRIPTION

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings.

[0019] Figure 1 The flowchart of the method for positioning an indoor flying drone based on motion capture provided in an embodiment of the present application is as follows: Step S101: Setting a reflective marker ball on the drone.

[0020] Specifically, a marker ball 1 with strong reflective properties is installed on the drone 3, see Figure 2 , the reflective marker ball 1 is fixedly mounted on the drone 3 through the placement seat 2. At the same time, a camera with infrared function is selected as a capture device for the reflective ball.

[0021] It should be noted that the reflective marker ball 1 is made of silver-plated or aluminum-plated lightweight plastic and has high reflectivity and wear resistance.

[0022] Preferably, a plurality of reflective marker balls 1 are arranged on the drone 3, and the plurality of reflective marker balls 1 form a stable geometric shape, thereby ensuring that the reflective marker balls are always visible during the flight of the drone 3, thereby improving the capture accuracy and stability.

[0023] In this embodiment, the number of the reflective marker balls 1 is three, and the three reflective marker balls 1 are arranged in a triangle, that is, the three reflective marker balls 1 are respectively located at the three vertices of the triangle, see Figure 2 .

[0024] In another embodiment, the number of the reflective marking balls 1 is four, and the four reflective marking balls 1 are arranged in a rectangular shape, that is, the four reflective marking balls 1 are respectively located at the four vertices of the rectangle.

[0025] Step S102: Determine the position and quantity of infrared cameras used to capture the drone based on the indoor environment and arrange them, and set the infrared light source.

[0026] Specifically, the position and number of infrared cameras are reasonably arranged according to the shape and size of the indoor environment to ensure that the drone is always within the monitoring range of the camera during flight.

[0027] In this embodiment, the infrared camera adopts a three-dimensional spatial arrangement strategy to ensure that the reflective marker ball on the drone can be accurately captured in all directions.

[0028] In addition, an infrared light source needs to be installed indoors, and the light intensity and wavelength of the infrared light source can be adjusted according to the lighting conditions of the indoor environment and the camera performance to ensure that the reflective marker ball can produce a clear reflection signal under infrared light.

[0029] It should be noted that the infrared camera uses an infrared camera with high sensitivity, low noise and wide dynamic range to improve capture accuracy and adaptability.

[0030] Step S103: Capturing the punctuation data of the reflective marker ball through an infrared camera.

[0031] Specifically, the drone always captures the punctuation data of the reflective marker ball through the infrared camera during the flight.

[0032] Step S104: pre-process the punctuation data and feed back the processed data to the drone control system in real time.

[0033] Specifically, the punctuation data of reflective marker balls captured by all infrared cameras are fused to improve the accuracy and reliability of the data. After that, the fused punctuation data are pre-processed using an adaptive filtering algorithm and an intelligent denoising algorithm to eliminate noise and interference in the punctuation data and improve the purity and availability of the data.

[0034] After completing the preprocessing of the punctuation data, the data is fed back to the UAV ground control station in real time.

[0035] Step S105: generating a UAV flight control command based on the processed data and feeding it back to the UAV, so that the UAV can adjust its flight attitude and position in real time according to the control command.

[0036] Specifically, the UAV ground control station obtains the UAV's flight attitude and position information based on the received punctuation data, and then generates control instructions based on this data information, and sends the control instructions to the UAV's flight control system through a high-speed communication protocol, so that the UAV flight control system can adjust the UAV's flight attitude and position in real time.

[0037] It should be noted that the UAV flight control system uses control algorithms such as PID control and adaptive control to control the flight of the UAV.

[0038] Figure 3 The schematic diagram of the indoor flying drone positioning device based on motion capture provided in the embodiment of the present application is shown in FIG. The device specifically includes a data acquisition module 201 , a data processing module 202 and a drone control module 203 .

[0039] The data acquisition module 201 is used to capture the punctuation data of the reflective marker ball through an infrared camera.

[0040] It is understandable that a plurality of reflective marker balls are arranged on the drone, and the plurality of reflective marker balls form a stable geometric shape. During the flight of the drone, the infrared camera can accurately capture the reflective marker balls arranged on the drone, thereby forming punctuation data.

[0041] The data processing module 202 is used to pre-process the punctuation data and feed back the processed data to the drone control system in real time.

[0042] Specifically, the data processing module fuses the punctuation data of reflective marker balls captured by all infrared cameras to improve the accuracy and reliability of the data. After that, the adaptive filtering algorithm and intelligent denoising algorithm are used to pre-process the fused punctuation data to eliminate noise and interference in the punctuation data and improve the purity and availability of the data.

[0043] The drone control module 203 is used to form drone flight control instructions based on the processed data and feed them back to the drone, so that the drone can adjust its flight attitude and position in real time according to the control instructions.

[0044] See also Figure 4This embodiment also provides a computer device, and the components of the computer device may include but are not limited to: one or more processors or processing units, a system memory, and a bus connecting different system components (including the system memory and the processing unit).

[0045] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0046] The computer system / server typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer system / server, including volatile and non-volatile media, removable and non-removable media.

[0047] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The computer device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media. A disk drive for reading and writing removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0048] A program / utility having a set (at least one) of program modules may be stored, for example, in a memory, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described herein.

[0049] The computer device may also communicate with one or more external devices such as a keyboard, a pointing device, a display, etc. Such communication may be performed through an input / output (I / O) interface. Furthermore, the computer device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter.

[0050] The processing unit executes the functions and / or methods described in the embodiments of the present invention by running the programs stored in the system memory.

[0051] The above-mentioned computer program can be set in a computer storage medium, that is, the computer storage medium is encoded with a computer program, and when the program is executed by one or more computers, it enables one or more computers to execute the method flow and / or device operation shown in the above-mentioned embodiments of the present invention.

[0052] With the development of time and technology, the meaning of medium is becoming more and more extensive, and the propagation path of computer programs is no longer limited to tangible media, but can also be downloaded directly from the network, etc. Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, - but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by or in combination with instruction execution systems, devices or devices.

[0053] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0054] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0055] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0056] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A method for positioning an indoor flying drone based on motion capture, characterized in that: include: Set up reflective marker balls on the drone; Determine the location and quantity of infrared cameras used to capture drones based on the indoor environment and arrange them, and set up infrared light sources; Capturing the punctuation data of the reflective marker ball by the infrared camera; Preprocessing the punctuation data and feeding back the processed data to the UAV control system in real time; The drone flight control instructions are formed based on the processed data and fed back to the drone, so that the drone can adjust its flight attitude and position in real time according to the control instructions.

2. The method for indoor flying drone positioning based on motion capture according to claim 1, characterized in that: The number of the reflective marking balls is several, and the several reflective marking balls form a stable geometric shape.

3. The method for indoor flying drone positioning based on motion capture according to claim 2 is characterized in that: The number of the reflective marking balls is three, and the three reflective marking balls are arranged in a triangle.

4. The method for indoor flying drone positioning based on motion capture according to claim 1, characterized in that: Preprocessing the punctuation data includes: The punctuation data captured by all cameras are fused and processed.

5. The method for indoor flying drone positioning based on motion capture according to claim 1, characterized in that: After the punctuation data captured by all cameras are fused and processed, the method further includes: Adaptive filtering algorithm and intelligent denoising algorithm are used to pre-process the punctuation data after fusion processing.

6. The method for indoor flying drone positioning based on motion capture according to claim 1, characterized in that: The illumination intensity and wavelength of the infrared light source are adjustable.

7. An indoor flying drone positioning device based on motion capture according to any one of claims 1 to 6, characterized in that: include: A data acquisition module, used for capturing the punctuation data of the reflective marker ball through an infrared camera; A data processing module is used to pre-process the punctuation data and feed back the processed data to the UAV control system in real time; The UAV control module is used to form UAV flight control instructions based on the processed data and feed them back to the UAV so that the UAV can adjust its flight attitude and position in real time according to the control instructions.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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