摘要：【中文】本发明实施例涉及一种高动态范围图像自动曝光方法及无人飞行器,应用于无人飞行器的高动态范围图像自动曝光方法包括：首先获取自动曝光的统计信息和窗口权重，然后根据获取到的统计信息和窗口权重，得到自动曝光的评价值，进而根据评价值和获取到的自动曝光目标值，得到自动曝光的补偿量，进而当补偿量满足预设触发条件时，触发自动曝光，最终避免自动曝光会出现亮暗不准、震荡的现象。 【EN】The embodiment of the invention relates to a high dynamic range image automatic exposure method and an unmanned aerial vehicle, and the high dynamic range image automatic exposure method applied to the unmanned aerial vehicle comprises the following steps: the method comprises the steps of firstly obtaining statistical information and window weight of automatic exposure, then obtaining an evaluation value of the automatic exposure according to the obtained statistical information and the obtained window weight, further obtaining a compensation quantity of the automatic exposure according to the evaluation value and an obtained automatic exposure target value, further triggering the automatic exposure when the compensation quantity meets preset triggering conditions, and finally avoiding phenomena of inaccurate brightness and darkness and oscillation of the automatic exposure.

摘要：【中文】本发明实施例涉及自动驾驶技术领域，尤其涉及一种三维地图生成方法、移动装置和计算机可读存储介质。三维地图生成方法包括：获取移动装置的移动速度V和移动方向；根据所述移动速度V和移动方向计算预设的第一地图相对所述移动装置的滚动量；根据所述第一地图相对所述移动装置的滚动量滚动更新所述第一地图以生成第二地图；获取所述移动装置周围环境的点云数据；根据所述点云数据和所述第二地图生成三维地图。本发明实施例所提供的技术方案，使移动装置移动时安全性较高。 【EN】The embodiment of the invention relates to the technical field of automatic driving, in particular to a three-dimensional map generation method, a mobile device and a computer readable storage medium. The three-dimensional map generation method comprises the following steps: acquiring a moving speed V and a moving direction of a mobile device; calculating the rolling amount of a preset first map relative to the mobile device according to the moving speed V and the moving direction; scrolling updating the first map according to the scroll amount of the first map relative to the mobile device to generate a second map; acquiring point cloud data of the surrounding environment of the mobile device; and generating a three-dimensional map according to the point cloud data and the second map. The technical scheme provided by the embodiment of the invention ensures that the mobile device has higher safety when moving.

摘要：【中文】本发明涉及无人机领域，提供一种全向视觉避障实现方法、系统、装置和存储介质。所述全向视觉避障实现方法包括：步骤S10、发送触发信号到图像采集设备，以使所述采集设备采集图像信号；步骤S20、对所述图像信号进行合并处理，以获得合并的图像数据；步骤S30、对所述合并的图像数据进行拆解处理，以获得拆解的图像数据；步骤S40、对所述拆解的图像数据进行视觉处理，以获得视觉图像。通过本发明提供的技术方案，解决现有无人机全向视觉避障多个镜头接入问题，同时提升图像处理效率和性能。 【EN】The invention relates to the field of unmanned aerial vehicles, and provides a method, a system, a device and a storage medium for realizing omnidirectional visual obstacle avoidance. The omnidirectional vision obstacle avoidance implementation method comprises the following steps: step S10, sending a trigger signal to an image acquisition device so as to enable the acquisition device to acquire an image signal; step S20, performing merging processing on the image signals to obtain merged image data; step S30, performing disassembly processing on the merged image data to obtain disassembled image data; and step S40, performing visual processing on the disassembled image data to obtain a visual image. By the technical scheme provided by the invention, the problem of access of a plurality of lenses of the existing unmanned aerial vehicle in the omnidirectional vision obstacle avoidance process is solved, and meanwhile, the image processing efficiency and performance are improved.

摘要：【中文】本发明涉及通讯技术领域，尤其涉及一种双频天线和飞行器。双频天线包括基板、第一辐射部、第二辐射部和同轴线；所述第一辐射部和所述第二辐射部设置于所述基板的表面；所述同轴线包括内导线以及与所述内导线绝缘隔离的外导线；所述第一辐射部和所述内导线电性连接；所述第二辐射部和所述外导线电性连接，所述第二辐射部和所述第一辐射部间隔设置。飞行器包括了上述的双频天线。双频天线和飞行器具有较好的全向性。 【EN】The invention relates to the technical field of communication, in particular to a dual-frequency antenna and an aircraft. The dual-frequency antenna comprises a substrate, a first radiation part, a second radiation part and a coaxial line; the first radiation part and the second radiation part are arranged on the surface of the substrate; the coaxial line comprises an inner conductor and an outer conductor insulated and isolated from the inner conductor; the first radiation part is electrically connected with the inner lead; the second radiation part is electrically connected with the outer lead, and the second radiation part and the first radiation part are arranged at intervals. The aircraft includes the dual-band antenna described above. The dual-frequency antenna and the aircraft have better omni-directionality.

摘要：【中文】本发明实施例公开了时间戳对齐方法、装置、存储介质及设备。该方法包括：确定第一数据源对应的第一数据队列中待对齐的第一时间戳；在第二数据源对应的第二数据队列中，采用预设顺序查询与所述第一时间戳对应的满足预设对齐条件的目标时间戳，其中，所述第二数据队列采用先进先出的环形队列数据结构进行存储；返回所述目标时间戳对应的数据。本发明实施例通过采用上述技术方案，在进行时间戳查询时，可以减少等待时间，进而提高时间戳对齐效率。 【EN】The embodiment of the invention discloses a timestamp alignment method, a timestamp alignment device, a timestamp alignment storage medium and timestamp alignment equipment. The method comprises the following steps: determining a first timestamp to be aligned in a first data queue corresponding to a first data source; in a second data queue corresponding to a second data source, querying a target timestamp which corresponds to the first timestamp and meets a preset alignment condition by adopting a preset sequence, wherein the second data queue stores the target timestamp by adopting a first-in first-out annular queue data structure; and returning the data corresponding to the target timestamp. By adopting the technical scheme, the embodiment of the invention can reduce the waiting time when inquiring the timestamp, thereby improving the timestamp alignment efficiency.

摘要：【中文】本发明实施例涉及航拍技术领域，公开了一种图传控制方法，该方法首先检测所述无人机与地面接收端之间的网络带宽，以及，在所述无人机的缓冲空间所缓冲的待传输数据的数据量，然后根据所述网络带宽，调整所述待传输数据的编码码率，并根据所述数据量,调整所述待传输数据的编码方式，本发明实施例提供的图传控制方法应用于无人机时，能够在无人机进行远距离传输时保持图像数据的流畅。 【EN】The embodiment of the invention relates to the technical field of aerial photography, and discloses a picture transmission control method.

摘要：【中文】本发明实施例涉及汽车电源领域，提供了一种应急启动电源、其应急启动方法以及汽车。应急启动电源包括：控制电路；第一开关电路，电连接于电池组件的正极与超级电容的正极之间，并且，还与控制电路电连接，用于根据控制电路发送的第一控制信号，工作在导通状态或关断状态，以及当第一开关电路工作在导通状态时，响应于控制电路发送的电量调节信号，以调节充电电量；第一升降压模块，电连接于电池组件的正极与超级电容的正极之间，并且，还与控制电路通信连接，用于当第一开关电路工作在导通状态时，响应于控制电路发送的电压调节信号，以调节充电电压，还用于根据控制电路发送的电流调节信号，调节充电电流。本发明实施例能够实现汽车应急启动。 【EN】The embodiment of the invention relates to the field of automobile power supplies, and provides an emergency starting power supply, an emergency starting method thereof and an automobile. The emergency starting power supply includes: a control circuit; the first switch circuit is electrically connected between the positive electrode of the battery component and the positive electrode of the super capacitor, is also electrically connected with the control circuit, and is used for working in a conducting state or a switching-off state according to a first control signal sent by the control circuit and responding to an electric quantity adjusting signal sent by the control circuit when the first switch circuit works in the conducting state so as to adjust the charging electric quantity; the first buck-boost module is electrically connected between the positive electrode of the battery assembly and the positive electrode of the super capacitor, is in communication connection with the control circuit, is used for responding to a voltage regulation signal sent by the control circuit when the first switch circuit works in a conducting state so as to regulate charging voltage, and is also used for regulating charging current according to a current regulation signal sent by the control circuit. The embodiment of the invention can realize the emergency starting of the automobile.

摘要：【中文】本发明实施例涉及一种机场限制方法及装置、无人机。所述方法包括：所述机场周围区域被划分为多个不同的飞行区域，多个所述所述飞行区域包括高速警告区、模式转换区、低速限制飞行区及禁飞区；首先获取当前所述无人机所处的所述飞行区域，然后根据所述飞行区域，调整所述无人机的飞行状态。上述方法可以避免无人机进入禁飞区，减少事故的发生，提高飞行的安全性。 【EN】The embodiment of the invention relates to an airport limiting method and device and an unmanned aerial vehicle. The method comprises the following steps: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area; firstly, the flight area where the unmanned aerial vehicle is located is obtained, and then the flight state of the unmanned aerial vehicle is adjusted according to the flight area. By the method, the unmanned aerial vehicle can be prevented from entering the no-fly area, accidents are reduced, and the flying safety is improved.

摘要：【中文】本发明实施例涉及编码通信领域，公开了一种串口数据编码方法、装置、嵌入式设备及通信系统。其中，串口数据编码方法包括：获取串口数据；将目标报文格式段的串口数据转换为预设进制的串口编码数据；判断串口编码数据是否小于或等于预设进制的第一预设数值；若是，则将串口编码数据加上预设进制的第二预设数值获得编码传输数据，以使编码传输数据不包含字符型数据；若否，则将串口编码数据拆分成均小于或等于第一预设数值的第一拆分数据和第二拆分数据，分别将第一拆分数据和第二拆分数据加上预设进制的第二预设数值获得第一拆分编码传输数据和第二拆分编码传输数据，以使其均不包含字符型数据。本发明实施例提升了设备通信的可靠性。 【EN】The embodiment of the invention relates to the field of coding communication, and discloses a serial port data coding method, a serial port data coding device, embedded equipment and a communication system. The serial port data coding method comprises the following steps: acquiring serial port data; converting the serial port data of the target message format segment into serial port coding data of a preset system; judging whether the serial port coded data is less than or equal to a first preset value of a preset system; if so, adding a second preset numerical value of a preset system to the serial port coded data to obtain coded transmission data so that the coded transmission data does not contain character type data; if not, the serial port coded data is split into first split data and second split data which are both smaller than or equal to a first preset value, and the first split data and the second split data are added with a second preset value of a preset system respectively to obtain first split code transmission data and second split code transmission data, so that the first split code transmission data and the second split code transmission data do not contain character type data. The embodiment of the invention improves the reliability of equipment communication.

摘要：【中文】本发明涉及飞行器技术领域，公开了一种多目标传输方法、系统及遥控设备、无人机，所述多目标传输方法，应用于遥控设备，所述遥控设备通信连接无人机以及移动终端，包括：实时接收无人机发送的数据包，每一数据包包括N个目标的目标信息，其中，N为正整数；根据所述数据包的数据标识，缓存数据标识相同的多个数据包；对数据标识相同的多个数据包进行组合，生成组合后的数据包；向所述移动终端发送所述组合后的数据包。通过数据标识对同一帧图像的多个数据包进行组合，生成并向移动终端发送组合后的数据包，本发明实施例能够解决目前无人机在多目标下进行数据传输由于带宽不足而导致目标丢失的技术问题，提高无人机进行多目标数据传输的准确性。 【EN】The invention relates to the technical field of aircrafts, and discloses a multi-target transmission method, a system, remote control equipment and an unmanned aerial vehicle, wherein the multi-target transmission method is applied to the remote control equipment, the remote control equipment is in communication connection with the unmanned aerial vehicle and a mobile terminal, and the multi-target transmission method comprises the following steps: receiving data packets sent by the unmanned aerial vehicle in real time, wherein each data packet comprises target information of N targets, and N is a positive integer; caching a plurality of data packets with the same data identification according to the data identification of the data packet; combining a plurality of data packets with the same data identification to generate a combined data packet; and sending the combined data packet to the mobile terminal. The data identification is used for combining a plurality of data packets of the same frame of image to generate and send the combined data packets to the mobile terminal.