CN105235912B - Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane - Google Patents
Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane Download PDFInfo
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- CN105235912B CN105235912B CN201510721258.5A CN201510721258A CN105235912B CN 105235912 B CN105235912 B CN 105235912B CN 201510721258 A CN201510721258 A CN 201510721258A CN 105235912 B CN105235912 B CN 105235912B
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Abstract
The present invention discloses a kind of public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane, and the unmanned plane includes four groups of propeller force arm components, cubic frame component, photomoduel, battery case and blade assemblies；Four groups of propeller force arm components are separately fixed at four ends of cubic frame component, battery case is fixed on cubic frame component, cubic frame component is fixed on the one side of blade assemblies, photomoduel is fixed on the another side of blade assemblies, battery electrically connects with photomoduel in battery case, control terminal to control propeller force arm component to provide lifting power by wireless telecommunications connected mode, and drive cubic frame component, photomoduel, battery case and blade assemblies to depart from ground and go up the shooting writing task that specified ground carries out camera.The UAV Maneuver of the present invention is functional and requires relatively low to landing condition；Endurance is strong, and higher aerial mission is required suitable for public security fire-fighting enforcing law.
Description
Technical field
The present invention relates to the technical field for unmanned plane of taking photo by plane, more particularly to a kind of law enforcement of public security fire-fighting to gather nobody with taking photo by plane
Machine and its control method.
Background technology
Unmanned plane, i.e. UAV, its english abbreviation are " UAV ", using radio robot and are provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Depopulated helicopter, unmanned fixed-wing aircraft,
This several major class of unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol.In terms of purposes classification can be divided into military unmanned air vehicle and
Civilian unmanned plane.Military aspect, penetrated available for completion battle reconnaissance and monitoring, positioning school, injure assessment, electronic warfare, and it is civilian
Aspect, available for border patrol, nuclear radiation detection, aeroplane photography, mineral exploration aviation, the condition of a disaster monitoring, traffic patrolling and security monitoring.
Currently, various countries' police law execution is faced with increasingly complicated fire fighting and rescue and social helping situation with fire department,
Situations such as to all kinds of scenes of a crime, earthquake rescue, flood-fighting, lofty mountains relief and large span or high-rise fire, conventional on-site is detectd
The limitation for looking into means increasingly highlights, and it has monitoring faciostenosis, monitoring is not real-time and haze weather can not be overcome to influence
The defects of.How effectively to implement fire-fighting early warning and scene is detected, and rapidly, accurately obtain field condition and be particularly important.Nothing
The ripe utilization of man-machine application technology and system scheme so that the monitoring such as scounting aeroplane platform combination video, infrared and
Transmission equipment, patrolled by region of patrolling in the air setting and field rescue commander turns into the new selection of fire department.
The content of the invention
For weak point present in above-mentioned technology, the present invention provides a kind of public security simple in construction, easy to carry and disappeared
Anti- law enforcement collection unmanned plane and its control method of taking photo by plane.
In order to achieve the above object, a kind of public security fire-fighting law enforcement collection unmanned plane of taking photo by plane of the present invention, including four groups of spirals
Oar arm of force component, cubic frame component, photomoduel, battery case and blade assemblies；Four groups of propeller force arm components difference
Four ends of cubic frame component are fixed on, the battery case is fixed on cubic frame component, and the cubic frame component is fixed on
The one side of blade assemblies, the photomoduel are fixed on the another side of blade assemblies, battery and photomoduel in the battery case
Electrical connection, control terminal controls propeller force arm component to provide lifting power by wireless telecommunications connected mode, and drives four directions
Frame component, photomoduel, battery case and blade assemblies depart from ground and go up the shooting record work that specified ground carries out camera
Make, propeller force arm component is in folded state before unmanned plane startup, and deployed condition is in after unmanned plane startup.
Wherein, the cubic frame component presss from both sides including being pressed from both sides under folder on four groups of carbon fiber pipes, pipe fitting and pipe fitting on the pipe fitting
Enclose to form the accommodating cast cavity for being mutually perpendicular to carbon fiber pipe with folder under pipe fitting, four groups of carbon fiber pipes are end to end, sequentially connect
After entering in four groups of tubular cavities, the square rack structure of corner balance is formed.
Wherein, every group of propeller force arm component includes the first rotational structure, is provided with the cubic frame component and first
The second rotational structure that rotational structure is adapted, first rotational structure are carried out after being alignd with the second rotational structure by bearing
It is rotatably connected.
Wherein, every group of propeller force arm component also includes extension rod and spiral fan, described extension rod one end and the first rotation
Rotation structure is connected, and the extension rod other end is connected with spiral fan, and the extension rod rotates to and the carbon fiber on cubic frame component
When managing parallel, propeller force arm component is in folded state；The extension rod is rotated in the diagonal side of cubic frame component
Xiang Shi, propeller force arm component are in deployed condition.
Wherein, this take photo by plane collection unmanned plane also include U-shaped fixed support, be provided with the square support component with it is U-shaped
The fixing hole that fixed support exit is adapted, the groove being adapted with U-shaped fixed support cell body is provided with the blade assemblies
Body sets of holes, it is fixedly connected between the square support component and blade assemblies by the two symmetrically arranged U-shaped fixed supports.
Wherein, the collection unmanned plane of taking photo by plane also includes bipod component, and the foot stool component is in inverted T-shaped foot stool shape, institute
To state and two chucking lugs are symmetrically stretched out in blade assemblies, the foot stool component is symmetrically fixed on two chucking lugs by screw structural, and
Foot stool component is tilted and is fixed in blade assemblies.
Wherein, the photomoduel includes photography structure, GPS location structure and master controller, the photography structure,
Battery is connected with master controller in GPS location structure and battery case, the shooting structure captured in real-time photo and by photo
It is sent in master controller, the GPS location structure and position location satellite wireless connection, and the collection of taking photo by plane is sent to master controller
The field condition of real-time on-site is sent to control eventually by the real time position of unmanned plane, the master controller by radio connection
In end.
Wherein, the photomoduel also includes the haze treatment facilities that image is carried out to sharpening processing, and the haze is net
Changing structure includes haze concentration detection module, processes pixel module and sharpening figure acquisition module, the haze Concentration Testing
Module detection, which is taken photo by plane, gathers the haze concentration of unmanned plane region, and according to haze concentration confirmation haze removal intensity, then by
Processes pixel module carries out the pixel value that gray processing obtains picture with colorization, is finally obtained by the computing of sharpening figure acquisition module
The R of each pixel, G, the Color Channel sharpening pixel values of B tri-, the sharpening pixel value composition sharpening image of all pixels.
Control method the invention also discloses a kind of law enforcement of public security fire-fighting with collection unmanned plane of taking photo by plane, its specific steps bag
Include：
S1, before taking off, the collection unmanned plane of taking photo by plane is upright on the ground by foot stool modular support, deploys propeller arm of force group
Part, the extension rod on propeller force arm component is in the diagonal positions of square support component, while check electric in battery compartment
Whether pond electricity is sufficient；
S2, when taking off, the motor on four groups of propeller force arm components produces the required lift that takes off vertically, four groups of spirals simultaneously
It is liftoff that flabellum drives the collection unmanned plane of taking photo by plane vertically to stablize；
S3, during cruise, the camera taken photo by plane on collection unmanned plane receives the instruction of master controller, is clapped at any time
Take the photograph, the motor on four groups of propeller force arm components is according to height and the adjustment into action edge size that needs at angle of inclination；
When S4, landing, the motor on four groups of propeller force arm components instructs the tune into action edge size according to master controller
It is whole, to cause square support component and blade assemblies to be in parastate with landing ground, four groups of propeller arm of force groups afterwards
Motor on part is gradually reduced lift, vertically declines in the presence of collection unmanned plane self gravitation of taking photo by plane.
Wherein, this method is also included to the haze in the take photo by plane position control method and shooting process that gather unmanned plane
Purification method；Position control method is installation GPS location structure, the GPS location structure and position location satellite in photomoduel
Wireless connection, and to master controller send this take photo by plane collection unmanned plane real time position；Haze purification method is dense by haze
Degree detection module detection, which is taken photo by plane, gathers the haze concentration of unmanned plane region, and confirms that haze removal is strong according to haze concentration
Degree, then the pixel value by processes pixel module progress gray processing and colorization acquisition picture, finally by sharpening figure acquisition module
Computing obtains the R of each pixel, and the Color Channel sharpening pixel value of G, B tri-, the sharpening pixel value composition of all pixels is clearly
Clearization image.
The beneficial effects of the invention are as follows：
Compared with prior art, public security fire-fighting law enforcement of the invention gathers unmanned plane with taking photo by plane, by by battery case, camera
Component is independent, is directly supported using square support component with blade assemblies, substantially reduce the quality of unmanned plane with
Floor space, while personal installation and dismounting have been also convenient for, while in four groups of propeller arm of forces of end set of cubic frame component
Component, increase horsepower per liter so that unmanned plane during flying speed faster, also causes the balance flight of unmanned plane to be more easy to adjust.This
Invention take photo by plane collection unmanned plane can VTOL, hovering, inverted flight, pivot turn, mobility is good and to landing bar
Part requires relatively low；Endurance is strong, and higher aerial mission is required suitable for public security fire-fighting enforcing law；Stability is preferable,
It is adapted to carry photomoduel, obtains the real-time condition of ad-hoc location whenever and wherever possible.
The public security fire-fighting law enforcement control method for collection unmanned plane of taking photo by plane of the present invention, passes through four groups of propeller force arm components
The VTOL function for collection unmanned plane of taking photo by plane is realized, and the propeller force arm component of the present invention can facilitate nobody with folding and expanding
The carrying control of machine.The collection unmanned aerial vehicle (UAV) control method of taking photo by plane of the present invention is easily achieved, and can avoid taking photo by plane as far as possible gathers nobody
Impaction lesion of the machine in flight course or shutdown process.
Brief description of the drawings
Fig. 1 is explosive view of the public security fire-fighting of the present invention law enforcement with collection unmanned plane of taking photo by plane；
Fig. 2 is first structure figure of the public security fire-fighting of the present invention law enforcement with collection unmanned plane of taking photo by plane；
Fig. 3 is second structure chart of the public security fire-fighting of the present invention law enforcement with collection unmanned plane of taking photo by plane；
Fig. 4 is the explosive view of square support component of the present invention；
Fig. 5 is control method flow chart of the public security fire-fighting of the present invention law enforcement with collection unmanned plane of taking photo by plane.
Main element symbol description is as follows：
10th, battery case 11, square support component
12nd, propeller force arm component 13, photomoduel
14th, blade assemblies 15, U-shaped fixed support
16th, foot stool component
111st, carbon fiber pipe 112, press from both sides on pipe fitting
113rd, the 114, second rotational structure is pressed from both sides under pipe fitting
121st, the first rotational structure 122, spiral fan
123rd, extension rod.
Embodiment
In order to more clearly state the present invention, the present invention is further described below in conjunction with the accompanying drawings.
Refering to Fig. 1-3, a kind of public security fire-fighting law enforcement collection unmanned plane of taking photo by plane of the present invention, including four groups of propeller arm of force groups
Part 12, cubic frame component, photomoduel 13, battery case 10 and blade assemblies 14；Four groups of propeller force arm components 12 are solid respectively
Four ends of cubic frame component are scheduled on, battery case 10 is fixed on cubic frame component, and cubic frame component is fixed on blade assemblies
14 one side, photomoduel 13 are fixed on the another side of blade assemblies 14, and battery electrically connects with photomoduel 13 in battery case 10,
Control terminal to control propeller force arm component 12 to provide lifting power by wireless telecommunications connected mode, and drive cubic frame group
Part, photomoduel 13, battery case 10 and blade assemblies 14 depart from ground and go up the shooting record that specified ground carries out camera
Work, propeller force arm component 12 are in folded state before unmanned plane startup, and deployed condition is in after unmanned plane startup.
Compared to prior art, public security fire-fighting of the invention law enforcement gathers unmanned plane with taking photo by plane, by by battery case 10, phase
Thermomechanical components 13 are independent, are directly supported using square support component 11 with blade assemblies 14, substantially reduce unmanned plane
Quality and floor space, while personal installation and dismounting have been also convenient for, while in four groups of spiral shells of end set of cubic frame component
Oar arm of force component 12 is revolved, increases horsepower per liter so that unmanned plane during flying speed faster, also causes the balance flight of unmanned plane more
Easily adjustment.The present invention take photo by plane collection unmanned plane can VTOL, hovering, inverted flight, pivot turn, mobility is well simultaneously
Relatively low is required to landing condition；Endurance is strong, and higher aerial mission is required suitable for public security fire-fighting enforcing law；It is stable
Property it is preferable, be adapted to carry photomoduel 13, whenever and wherever possible obtain ad-hoc location real-time condition.
Fig. 4 is further regarded to, in the present embodiment, cubic frame component on four groups of carbon fiber pipes 111, pipe fitting including pressing from both sides 112
And 113 are pressed from both sides under pipe fitting, folder 113 under 112 and pipe fitting is pressed from both sides on pipe fitting and encloses to form the accommodating cast for being mutually perpendicular to carbon fiber pipe 111
Cavity, four groups of carbon fiber pipes 111 are end to end, after sequentially accessing in four groups of tubular cavities, form the square rack of corner balance
Structure.By pressing from both sides folder 113 and the mounting means of carbon fiber pipe 111 under 112, pipe fitting on dismountable pipe fitting, be on the one hand advantageous to mark
The making of quasi- part, to improve operating efficiency, on the other hand, the carbon fiber pipe of different length can be selected according to different situations
111 are installed, to adapt to the collocation of different propeller force arm components 12 and battery case 10.
In the present embodiment, every group of propeller force arm component 12 includes the first rotational structure 121, is set on cubic frame component
There is the second rotational structure 114 being adapted with the first rotational structure 121, the first rotational structure 121 and the second rotational structure 114 are right
It is rotatably connected after neat by bearing.Propeller force arm component 12 also includes extension rod 123 and spiral fan 122, extension
The one end of bar 123 is connected with the first rotational structure 121, and the other end of extension rod 123 is connected with spiral fan 122, and extension rod 123 rotates
To it is parallel with the carbon fiber pipe 111 on cubic frame component when, propeller force arm component 12 is in folded state, and extension rod 123 revolves
When going to the diagonal in cubic frame component, propeller force arm component 12 is in deployed condition.First rotational structure 121
With the setting of the second rotational structure 114 so that propeller force arm component 12 is foldable, deployable, facilitates the fortune of the unmanned plane
It is defeated to pick and place,
In the present embodiment, the collection unmanned plane of taking photo by plane also includes U-shaped fixed support 15, is set on square support component 11
There is the fixing hole being adapted with the exit of U-shaped fixed support 15, be provided with blade assemblies 14 and the cell body phase of U-shaped fixed support 15
The cell body sets of holes of adaptation, it is solid by two symmetrically arranged U-shaped fixed supports 15 between square support component 11 and blade assemblies 14
Fixed connection.The collection unmanned plane of taking photo by plane also includes bipod component 16, and foot stool component 16 is in inverted T-shaped foot stool shape, blade assemblies
Two chucking lugs are symmetrically stretched out on 14, foot stool component 16 is symmetrically fixed on two chucking lugs by screw structural, and foot stool component 16
Inclination is fixed in blade assemblies 14.U-shaped fixed support 15 serves supporting role with foot stool component 16, and the two is ensureing surely
Surely while support, reduce consumptive material as far as possible, so both having saved material, alleviate the weight of unmanned plane again.
In the present embodiment, photomoduel 13 includes photography structure, GPS location structure and master controller, structure of photographing,
Battery is connected with master controller in GPS location structure and battery case 10, shoots structure captured in real-time photo and sends out photo
It is sent in master controller, GPS location structure and position location satellite wireless connection, and the collection unmanned plane of taking photo by plane is sent to master controller
Real time position, master controller by radio connection by the field condition of real-time on-site be sent to control terminal in.Photography
Structure acts on simultaneously with GPS location structure so that shoots that the real-time on-site of photo is more accurate, for public security fire-fighting personnel's
Information gathering is advantageously.
In the present embodiment, photomoduel 13 also includes the haze treatment facilities that image is carried out to sharpening processing, haze
Treatment facilities includes haze concentration detection module, processes pixel module and sharpening figure acquisition module, haze Concentration Testing mould
Block detection, which is taken photo by plane, gathers the haze concentration of unmanned plane region, and confirms that haze removes intensity according to haze concentration, then by picture
Plain processing module carries out the pixel value that gray processing obtains picture with colorization, is finally obtained by the computing of sharpening figure acquisition module every
The R of one pixel, G, the Color Channel sharpening pixel values of B tri-, the sharpening pixel value composition sharpening image of all pixels.
Haze concentration detection module, in air, for detecting the haze concentration of unmanned plane position, and root in real time
Determine that haze removes intensity according to haze concentration, haze removes intensity value between 0 to 1；Processes pixel module, is connected first
Digital photo capture apparatus carries out gray processing processing to beat image to obtain gray processing area to receive beat image
Area image, by the pixel between upper limit gray threshold and sky lower limit gray threshold on high of gray value in gray processing area image
Identify and form gray processing sky sub-pattern, be partitioned into gray processing sky sub-pattern from gray processing area image to obtain gray processing
Non- sky subgraph, the correspondence position based on the non-sky subgraph of gray processing in beat image obtain and the non-day of gray processing
Null subgraph colored non-sky subgraph as corresponding to；Then, for each pixel in colored non-sky subgraph, its R is calculated,
The Color Channel pixel value of G, B tri-, the R of all pixels in colored non-sky subgraph, extract in the Color Channel pixel value of G, B tri-
Color Channel where the minimum Color Channel pixel value of one numerical value is as black channel；Presetted pixel value threshold value is obtained again,
Equipment sub- with region division and black channel obtain sub- equipment and are connected respectively to obtain beat image and black channel, will patrol
Multiple pixels composition set of pixels to be tested that black channel pixel value in area image is more than or equal to presetted pixel value threshold value is patrolled, will
The gray value of the pixel with maximum gradation value is as overall air light value in set of pixels to be tested；Again to beat image
Each pixel, its R is extracted, minimum value uses the height for keeping edge as target pixel value in the Color Channel pixel value of G, B tri-
This smoothing filter EPGF (edge-preserving gaussian filter) is filtered processing to target pixel value to obtain
Filtered target pixel value is obtained, target pixel value is subtracted into filtered target pixel value to obtain object pixel difference, uses EPGF pairs
Object pixel difference is filtered processing to obtain filtered target pixel value difference, and filtered target pixel value is subtracted into filtered target picture
Plain difference removes a reference value to obtain haze, and haze removal intensity is multiplied by into haze removes a reference value to obtain haze removal threshold
Value, take haze to remove the minimum value in threshold value and target pixel value as comparison reference, take the maximum in comparison reference and 0
It is worth the atmospheric scattering light value as each pixel；In next step by the atmospheric scattering light value of each pixel divided by overall atmosphere light
Value removes value to obtain, and 1 is subtracted except value to obtain the medium transfer rate of each pixel；Sharpening image collection module, by 1
The medium transfer rate of each pixel is subtracted to obtain the first difference, the first difference is multiplied by overall air light value to obtain product
Value, subtracts product value to obtain the second difference by the pixel value of each pixel in beat image, by the second difference divided by
The medium transfer rate of each pixel is to obtain the sharpening pixel value of each pixel, each pixel in beat image
Pixel value include beat image in each pixel R, the Color Channel pixel value of G, B tri-, correspondingly, acquisition it is each
The sharpening pixel value of individual pixel includes the R of each pixel, the Color Channel sharpening pixel value of G, B tri-, all pixels it is clear
Clearization pixel value forms sharpening image.
Fig. 5 is further regarded to, the controlling party the invention also discloses a kind of law enforcement of public security fire-fighting with collection unmanned plane of taking photo by plane
Method, its specific steps include：
S1, before taking off, this take photo by plane collection unmanned plane by foot stool component 16 support it is upright on the ground, deploy the propeller arm of force
Component 12, the extension rod 123 on propeller force arm component 12 is in the diagonal positions of square support component 11, check simultaneously
Whether battery electric quantity is sufficient in battery compartment；
S2, when taking off, the motor on four groups of propeller force arm components 12 produces the required lift that takes off vertically, four groups of spiral shells simultaneously
It is liftoff that rotation flabellum 122 drives the collection unmanned plane of taking photo by plane vertically to stablize；
S3, during cruise, the camera taken photo by plane on collection unmanned plane receives the instruction of master controller, is clapped at any time
Take the photograph, the motor on four groups of propeller force arm components 12 is according to height and the adjustment into action edge size that needs at angle of inclination；
When S4, landing, the motor on four groups of propeller force arm components 12 is instructed into action edge size according to master controller
Adjustment, to cause square support component 11 and blade assemblies 14 to be in parastate with landing ground, four groups of propellers afterwards
Motor on arm of force component 12 is gradually reduced lift, vertically declines in the presence of collection unmanned plane self gravitation of taking photo by plane.
In the present embodiment, this method also includes the position control method and shooting process to the collection unmanned plane of taking photo by plane
In haze purification method；Position control method is the installation GPS location structure in photomoduel 13, and GPS location structure is with determining
Position satellite radio is connected, and the real time position of the collection unmanned plane of taking photo by plane is sent to master controller；Haze purification method is to pass through
The detection of haze concentration detection module, which is taken photo by plane, gathers the haze concentration of unmanned plane region, and confirms that haze is gone according to haze concentration
Except intensity, then the pixel value by processes pixel module progress gray processing and colorization acquisition picture, finally obtained by sharpening figure
Module arithmetic obtains the R of each pixel, the Color Channel sharpening pixel value of G, B tri-, the sharpening pixel value group of all pixels
Into sharpening image.
Compared to prior art, the public security fire-fighting of the invention law enforcement control method for collection unmanned plane of taking photo by plane, pass through four
Group propeller force arm component 12 realizes the VTOL function for collection unmanned plane of taking photo by plane, and the propeller force arm component 12 of the present invention can be with
Folding and expanding, facilitate the carrying control of unmanned plane.The collection unmanned aerial vehicle (UAV) control method of taking photo by plane of the present invention is easily achieved, Neng Goujin
Amount avoids impaction lesion of the collection unmanned plane in flight course or shutdown process of taking photo by plane.
Disclosed above is only several specific embodiments of the present invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think change should all fall into protection scope of the present invention.
Claims (8)
1. a kind of public security fire-fighting law enforcement collection unmanned plane of taking photo by plane, it is characterised in that including four groups of propeller force arm components, four directions
Frame component, photomoduel, battery case and blade assemblies；Four groups of propeller force arm components are separately fixed at cubic frame component
Four ends, the battery case is fixed on cubic frame component, wherein the cubic frame component includes four groups of carbon fiber pipes, pipe
Pressed from both sides on part under folder and pipe fitting, folder encloses that to form the accommodating cast for being mutually perpendicular to carbon fiber pipe empty under folder and pipe fitting on the pipe fitting
Chamber, four groups of carbon fiber pipes are end to end, after sequentially accessing in four groups of tubular cavities, form the square rack structure of corner balance,
The cubic frame component is fixed on the one side of blade assemblies, and the photomoduel is fixed on the another side of blade assemblies, the electricity
Battery electrically connects with photomoduel in the box of pond, and control terminal controls propeller force arm component to provide by wireless telecommunications connected mode
Lifting power, and drive cubic frame component, photomoduel, battery case and blade assemblies to depart from ground and go up specified ground
The shooting writing task of row camera, wherein every group of propeller force arm component includes the first rotational structure, the cubic frame component
On be provided with the second rotational structure being adapted with the first rotational structure, first rotational structure aligns with the second rotational structure
It is rotatably connected afterwards by bearing；Propeller force arm component is in folded state before unmanned plane startup, is opened in unmanned plane
Deployed condition is in after dynamic.
2. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterised in that every group of spiral
Oar arm of force component also includes extension rod and spiral fan, and described extension rod one end is connected with the first rotational structure, and extension rod is another
End is connected with spiral fan, when the extension rod rotates to parallel with the carbon fiber pipe on cubic frame component, propeller arm of force group
Part is in folded state；When the extension rod rotates to the diagonal in cubic frame component, at propeller force arm component
In deployed condition.
3. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterised in that the collection nothing of taking photo by plane
It is man-machine also to include U-shaped fixed support, it is provided with the fixation being adapted with U-shaped fixed support exit on the square support component
Hole, the cell body sets of holes being adapted with U-shaped fixed support cell body, the square support component and support are provided with the blade assemblies
It is fixedly connected between board component by the two symmetrically arranged U-shaped fixed supports.
4. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterised in that the collection nothing of taking photo by plane
Man-machine also to include bipod component, the foot stool component is in inverted T-shaped foot stool shape, symmetrically stretches out two positioning in the blade assemblies
Ear, the foot stool component are symmetrically fixed on two chucking lugs by screw structural, and foot stool component tilts and is fixed on blade assemblies
On.
5. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterised in that the photomoduel
Including photography structure, GPS location structure and master controller, battery in the photography structure, GPS location structure and battery case
It is connected with master controller, photo is simultaneously sent in master controller, the GPS location by the photography structure captured in real-time photo
Structure and position location satellite wireless connection, and send to master controller the real time position of the collection unmanned plane of taking photo by plane, the main control
The field condition of real-time on-site is sent in control terminal by device by radio connection.
6. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterised in that the photomoduel
Also include the haze treatment facilities that image is carried out to sharpening processing, the haze treatment facilities includes haze Concentration Testing mould
Block, processes pixel module and sharpening figure acquisition module, the haze concentration detection module detection, which is taken photo by plane, gathers unmanned plane institute
Haze concentration in region, and according to haze concentration confirm haze remove intensity, then by processes pixel module carry out gray processing with
Colorization obtains the pixel value of picture, and the R of each pixel, the color of G, B tri- are finally obtained by sharpening figure acquisition module computing
Passage sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
7. a kind of control method of public security fire-fighting law enforcement collection unmanned plane of taking photo by plane, its specific steps include：
S1, before taking off, the collection unmanned plane of taking photo by plane is upright on the ground by foot stool modular support, deploys propeller force arm component,
The extension rod on propeller force arm component is in the diagonal positions of square support component, while check battery electricity in battery compartment
Whether amount is sufficient；
S2, when taking off, the motor on four groups of propeller force arm components produces the required lift that takes off vertically, four groups of spiral fans simultaneously
The collection unmanned plane of taking photo by plane is driven vertically to stablize liftoff；
S3, during cruise, the camera taken photo by plane on collection unmanned plane receives the instruction of master controller, is shot at any time,
Motor on four groups of propeller force arm components is according to height and the adjustment into action edge size that needs at angle of inclination；
When S4, landing, the motor on four groups of propeller force arm components instructs the adjustment into action edge size according to master controller, with
So that square support component and blade assemblies are in parastate with landing ground, afterwards on four groups of propeller force arm components
Motor is gradually reduced lift, vertically declines in the presence of collection unmanned plane self gravitation of taking photo by plane.
8. the control method of public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 7, this method also include
To the haze purification method in the take photo by plane position control method and shooting process that gather unmanned plane；Position control method be
GPS location structure, the GPS location structure and position location satellite wireless connection are installed in photomoduel, and sent to master controller
The real time position of the collection unmanned plane of taking photo by plane；Haze purification method is to take photo by plane to gather nobody by the detection of haze concentration detection module
The haze concentration of machine region, and confirm that haze removes intensity according to haze concentration, then gray scale is carried out by processes pixel module
Change the pixel value that picture is obtained with colorization, the R, G, B tri- of each pixel are finally obtained by sharpening figure acquisition module computing
Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510721258.5A CN105235912B (en) | 2015-10-30 | 2015-10-30 | Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510721258.5A CN105235912B (en) | 2015-10-30 | 2015-10-30 | Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235912A CN105235912A (en) | 2016-01-13 |
| CN105235912B true CN105235912B (en) | 2017-11-28 |
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| WO2017132796A1 (en) * | 2016-02-01 | 2017-08-10 | Autel Robotics Co., Ltd | A multirotor aircraft and a method for controlling the multirotor aircraft |
| US10271021B2 (en) * | 2016-02-29 | 2019-04-23 | Microsoft Technology Licensing, Llc | Vehicle trajectory determination to stabilize vehicle-captured video |
| CN105799918B (en) * | 2016-03-18 | 2018-02-09 | 汕头市杰泰电子科技有限公司 | A kind of new unmanned plane for being used to search and rescue based on Internet of Things |
| CN105928493A (en) * | 2016-04-05 | 2016-09-07 | 王建立 | Binocular vision three-dimensional mapping system and method based on UAV |
| CN105857589B (en) * | 2016-04-22 | 2018-05-11 | 安徽天鹰兄弟无人机科技创新有限公司 | A kind of multi-rotor unmanned aerial vehicle |
| CN106882359A (en) * | 2017-02-27 | 2017-06-23 | 东莞产权交易中心 | A kind of foldable unmanned plane of four axles |
| CN108557100A (en) * | 2018-03-12 | 2018-09-21 | 芜湖翼讯飞行智能装备有限公司 | One kind is taken photo by plane unmanned plane |
| CN115619922B (en) * | 2022-10-11 | 2023-11-21 | 江苏中源城乡规划设计有限公司 | Industrial enterprise land investigation method based on three-dimensional live-action modeling technology |
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| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
| CN203975216U (en) * | 2014-06-13 | 2014-12-03 | 芜湖特源鑫复合材料科技有限公司 | A kind of quadrotor |
| CN204250368U (en) * | 2014-11-14 | 2015-04-08 | 北华航天工业学院 | A kind of mini quadrotor of Intelligent aerial photography |
| CN104648664B (en) * | 2014-12-18 | 2017-02-22 | 合肥工业大学 | Retractable folding quad rotor |
| CN204452931U (en) * | 2015-02-14 | 2015-07-08 | 广东澄星航模科技股份有限公司 | One follows four-axle aircraft |
| CN204701770U (en) * | 2015-06-03 | 2015-10-14 | 江苏数字鹰科技发展有限公司 | Exempt from stable four autogiros of taking photo by plane of The Cloud Terrace |
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