CN105752352A - Unmanned aerial vehicle having detector with anti-static device - Google Patents
Unmanned aerial vehicle having detector with anti-static device Download PDFInfo
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- CN105752352A CN105752352A CN201510738604.0A CN201510738604A CN105752352A CN 105752352 A CN105752352 A CN 105752352A CN 201510738604 A CN201510738604 A CN 201510738604A CN 105752352 A CN105752352 A CN 105752352A
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- unmanned plane
- image information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Abstract
The invention discloses an unmanned aerial vehicle with an anti-static structure. An EVA (Ethylene Vinyl Acetate) sealing foam is adhered to the inner side of an upper cover; a rubber sealing strip is arranged at a position where a shell is connected with the upper cover airtightly; the surface of the EVA sealing foam is uniformly adhered with a conductive fabric, without a gap therebetween after adhesion; the surface of the rubber sealing strip is completely adhered with a conductive fabric, the surface of the conductive fabric being smooth after adhesion, without a gap therebetween; therefore, a favorable electric conduction structure can be formed between the upper cover and the shell, such that static damage can be avoided, the service life of a detector is effectively prolonged, and the hardware cost of a user is saved. The unmanned aerial vehicle is convenient for industrial application.
Description
Technical field
The invention belongs to fire fighting monitoring technical field, particularly relate to a kind of detector unmanned plane with anti-static device.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Unmanned plane presses application, can be divided into military and civilian.Unmanned plane is of many uses at civil area, is mainly used in the industries such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
Along with socioeconomic fast development, detection device has been widely applied in the middle of fields such as including fire prevention, traffic, Intelligent Recognition.In some cases, detection device cannot carry out monitoring effectively and timely, is difficult to the place arrived particularly in adverse circumstances and personnel.Therefore, the unmanned plane with detection device is devised out by people.
Current detection device, owing to conducting poor-performing between its upper cover and shell, therefore, on the electrostatic that covers cannot lead in time, fully ground, thus causing that the internal components of detection device is easily subject to the infringement of electrostatic, seriously can cause that mainboard cannot work, even burning apparatus.In consideration of it, the invention provides a kind of unmanned plane with electrostatic prevention structure.
Summary of the invention
It is an object of the invention to a kind of detector unmanned plane with anti-static device, be easily subject to the infringement of electrostatic with the intelligent monitoring device solving exist in prior art, serious can cause that mainboard does not work, the even problem of burning apparatus.
nullFor realizing the purpose of the present invention，The invention provides a kind of detector unmanned plane with anti-static device，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，The inner side of described upper cover is pasted with sealing EVA foam，Described shell and the described upper cover place of being tightly connected are provided with sealing rubber strip，Conductive fabric is uniformly pasted on described sealing EVA foam surface，And it is seamless between the two after pasting，Described sealing rubber strip surface is pasted with conductive fabric completely，And conductive fabric surface smoothing is seamless between the two after pasting.
Wherein, described detection device includes the first photographic head and second camera, power module, communication module, described first photographic head is infrared thermoviewer, described infrared thermoviewer is used for gathering Infrared Image Information, described second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described infrared thermoviewer and color video camera, and Infrared Image Information and color image information are sent to control system by communication module by described detection device.
Wherein, described unmanned plane body includes flying platform and dynamical system and automatic control module, and described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
Wherein, described detection device includes data processing module, and described data include the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
Wherein, described detection device includes data processing module, and described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below:
| i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
nullThe present invention，Compared with prior art，The inner side of described upper cover is pasted with sealing EVA foam，Described shell and the described upper cover place of being tightly connected are provided with sealing rubber strip，Conductive fabric is uniformly pasted on described sealing EVA foam surface，And it is seamless between the two after pasting，Described sealing rubber strip surface is pasted with conductive fabric completely，And conductive fabric surface smoothing is seamless between the two after pasting，Structure is well conducted thus can have between upper cover and shell，Can avoid being damaged by electrostatic，It is effectively improved the service life of detector，Save the hardware cost of user，It is easy to industrially apply，Simultaneously，Include the first photographic head and second camera，First photographic head is infrared thermoviewer，Described infrared thermoviewer is used for gathering Infrared Image Information，Described second camera is color video camera，Described color video camera is used for gathering color image information，Infrared Image Information and color image information are sent to control system by communication module by described detection device，The problem that the picture rich in detail under several scenes gathers can be solved by analysis Infrared Image Information and color image information，The user demand of user can be met.
Accompanying drawing explanation
Fig. 1 show the structural representation of the present invention；
Fig. 2 show the present invention and detects the structural representation of device；
Fig. 3 show infrared acquisition flame algorithm unit of the present invention and processes the method flow diagram of Infrared Image Information；
Fig. 4 show Smoke Detection algorithm unit of the present invention and processes the method flow diagram of color image information；
In figure: 1. unmanned plane body, 2. fixed mount, 3. detection device, 31. housings, 32. transparent windows, 33. first photographic head, 34. second cameras, 35. power modules, 36. communication modules.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Should be noted that, " connection " described herein and be used for expressing the word of " connection ", such as " being connected ", " being connected " etc., both can include a certain parts and be directly connected to another parts, it is also possible to include a certain parts and be connected with another parts by miscellaneous part.
nullSuch as Fig. 1、Fig. 2、Fig. 3、Shown in Fig. 4，The invention provides a kind of unmanned plane with electrostatic prevention structure，Including unmanned plane body 1、Fixed mount 2、Detection device 3，Described fixed mount 2 is arranged at the bottom of described unmanned plane body 1，Described detection device 3 is connected with unmanned plane body 1 by fixed mount 2，Described detection device 3 includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，The inner side of described upper cover is pasted with sealing EVA foam，Described shell and the described upper cover place of being tightly connected are provided with sealing rubber strip，Conductive fabric is uniformly pasted on described sealing EVA foam surface，And it is seamless between the two after pasting，Described sealing rubber strip surface is pasted with conductive fabric completely，And conductive fabric surface smoothing is seamless between the two after pasting.Infrared thermoviewer therein can effectively solve colorful digital video camera deficiency of monitoring objective when even pole extreme climate environment at night.
In a preferred embodiment, described detection device also includes housing 31, and described first photographic head and second camera, power module, communication module are installed in described housing, and the front end of described housing is provided with transparent window 32.
Wherein, described detection device includes the first photographic head and second camera, power module, communication module, described first photographic head is infrared thermoviewer, described infrared thermoviewer is used for gathering Infrared Image Information, described second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described infrared thermoviewer and color video camera, and Infrared Image Information and color image information are sent to control system by communication module by described detection device.
Wherein, described unmanned plane body includes flying platform and dynamical system and automatic control module, and described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
In a preferred embodiment, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.Described The Cloud Terrace is stabilized platform, and stabilized platform can eliminate shake, improves picture quality, the visual angle at the same time it can also be conversion is taken photo by plane.
nullThe present invention，Compared with prior art，The inner side of described upper cover is pasted with sealing EVA foam，Described shell and the described upper cover place of being tightly connected are provided with sealing rubber strip，Conductive fabric is uniformly pasted on described sealing EVA foam surface，And it is seamless between the two after pasting，Described sealing rubber strip surface is pasted with conductive fabric completely，And conductive fabric surface smoothing is seamless between the two after pasting，Structure is well conducted thus can have between upper cover and shell，Can avoid being damaged by electrostatic，It is effectively improved the service life of detector，Save the hardware cost of user，It is easy to industrially apply，Simultaneously，Include the first photographic head and second camera，First photographic head is infrared thermoviewer，Described infrared thermoviewer is used for gathering Infrared Image Information，Described second camera is color video camera，Described color video camera is used for gathering color image information，Infrared Image Information and color image information are sent to control system by communication module by described detection device，The problem that the picture rich in detail under several scenes gathers can be solved by analysis Infrared Image Information and color image information，The user demand of user can be met.
In a preferred embodiment, in order to make detection device place convenient, safety, following structure can be set: described unmanned plane body is provided with accommodation chamber, described The Cloud Terrace is arranged at accommodation intracavity, described fixed mount is lift fixed mount, specifically, described fixed mount includes fixing cylinder, snap close, the upper end of described fixing cylinder is connected with The Cloud Terrace, the piston rod of fixing cylinder is fixing with snap close to be connected, and described detection device casing upper surface is provided with connection ring, during use, snap close locking is used to connect ring, such that it is able to detection device and fixing cylinders are connect.When not using, it is possible to use detection device retraction is held intracavity by cylinder, it is thus possible to place detection device well, unmanned plane can also comparatively random lifting and parking；When using, it is possible to use detection device is stretched out outside accommodation chamber by cylinder.
In a preferred embodiment, in order to ensure the cleaning of transparent window, shell outside transparent window is provided with air-flow shower nozzle, described air-flow shower nozzle is connected with air pump by pipeline, described air pump is connected with controller, described air-flow shower nozzle can be multiple, and shower nozzle gas outlet, towards transparent window, can arrange injecting time and the interval time of air-flow shower nozzle by controller.
As it is shown on figure 3, described detection device includes data processing module, described data include the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image according to each pixel
Point carries out the renewal learning of gray value；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
As shown in Figure 4, described detection device includes data processing module, and described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below:
| i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
- null1. a detector is with the unmanned plane of anti-static device，It is characterized in that，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，The inner side of described upper cover is pasted with sealing EVA foam，Described shell and the described upper cover place of being tightly connected are provided with sealing rubber strip，Conductive fabric is uniformly pasted on described sealing EVA foam surface，And it is seamless between the two after pasting，Described sealing rubber strip surface is pasted with conductive fabric completely，And conductive fabric surface smoothing is seamless between the two after pasting.
- 2. a kind of detector according to claim 1 is with the unmanned plane of anti-static device, it is characterized in that, described detection device includes the first photographic head and second camera, power module, communication module, described first photographic head is infrared thermoviewer, described infrared thermoviewer is used for gathering Infrared Image Information, described second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described infrared thermoviewer and color video camera, Infrared Image Information and color image information are sent to control system by communication module by described detection device.
- 3. detector according to claim 1 is with the unmanned plane of anti-static device, it is characterized in that, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
- 4. detector according to claim 1 is with the unmanned plane of anti-static device, it is characterized in that, described detection device includes data processing module, described data include the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCurWherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；(3) according to following formula, effective foreground area is screened:That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
- 5. detector according to claim 1 is with the unmanned plane of anti-static device, it is characterized in that, described detection device includes data processing module, described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；Frame difference method ultimate principle can be found out by formula below:| i (t)-i (t-1) | < T background| i (t)-i (t-1) | >=T prospectWherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
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