CN105764304B - Detector carries the aircraft of steady type radiator structure - Google Patents
Detector carries the aircraft of steady type radiator structure Download PDFInfo
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- CN105764304B CN105764304B CN201510750053.XA CN201510750053A CN105764304B CN 105764304 B CN105764304 B CN 105764304B CN 201510750053 A CN201510750053 A CN 201510750053A CN 105764304 B CN105764304 B CN 105764304B
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- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000001816 cooling Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 15
- 239000002184 metal Substances 0.000 claims description 13
- 239000000779 smoke Substances 0.000 claims description 10
- 238000012986 modification Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 claims description 9
- 210000001217 buttock Anatomy 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000009825 accumulation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 4
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 238000005183 dynamical system Methods 0.000 claims description 3
- 238000011410 subtraction method Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000003331 infrared imaging Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000017525 heat dissipation Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000010006 flight Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/2039—Modifications to facilitate cooling, ventilating, or heating characterised by the heat transfer by conduction from the heat generating element to a dissipating body
- H05K7/205—Heat-dissipating body thermally connected to heat generating element via thermal paths through printed circuit board [PCB]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Closed-Circuit Television Systems (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
The invention discloses the aircraft that a kind of detector carries steady type radiator structure, and by, instead of fan structure, not only saving space, but also meet demand of the product to stability with heat radiating fin structure, cooling fin can well be fixed on circuit boards.In addition, include the first camera and second camera, first camera is infrared thermoviewer, the infrared thermoviewer is for acquiring Infrared Image Information, the second camera is colour TV camera, the colour TV camera is for acquiring color image information, Infrared Image Information and color image information are sent to control system by the detection device by communication module, it can solve the problems, such as that the clear image under several scenes acquires by analyzing Infrared Image Information and color image information, the use demand of user can be met.
Description
Technical field
The invention belongs to the flights that fire fighting monitoring technical field more particularly to a kind of detector carry steady type radiator structure
Device.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.Unmanned plane press application field, can be divided into it is military with it is civilian.Unmanned plane is in civilian neck
Domain is widely used, is mainly used for the industries such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
With the rapid development of social economy, detection device has been widely applied to include fire prevention, traffic, intelligent recognition etc.
In field.In some cases, detection device can not effectively and timely carry out monitoring, especially in adverse circumstances and
Personnel are difficult to the place reached.Therefore, the unmanned plane with detection device is devised out by people.
But existing detector, the radiator structure of processing chip is fan structure, is easy to fall, to fail, make
The heat dissipation for obtaining processing chip is bad, and seriously the application scenarios of detection device are brought great limitation by scaling loss processing chip.
In consideration of it, the present invention provides the aircraft that a kind of detector carries steady type radiator structure.
Invention content
It is an object of the invention to the aircraft that a kind of detector carries steady type radiator structure, to solve in the prior art
The radiator structure of existing existing detector, processing chip is fan structure, is easy to fall, to fail so that processing
The heat dissipation of chip is bad, seriously the problem of scaling loss processing chip.
To achieve the purpose of the present invention, the present invention provides a kind of detector carry steady type radiator structure aircraft,
Including drone body, fixed frame, detection device, the fixed mount setting is in the lower part of the drone body, the detection
Device is connected by fixed frame with drone body, and the detection device includes shell, upper cover, sheet metal component, circuit board, mirror
Head, buttock line, wherein one end of the upper cover and the housing hinge, the circuit board are fixedly mounted on sheet metal component, the metal plate
Golden part is fixedly mounted in the shell, and the shell includes protecgulum, middle section and rear cover, and the camera lens is mounted on described
On sheet metal component, the buttock line is connect across the rear cover with the circuit board, and the circuit board is integrated with power module, the electricity
Processing chip is installed, the upper surface of the processing chip is connected with cooling fin, the cooling fin and the circuit board on the plate of road
It is fixedly connected.
Wherein, the detection device further includes the first camera and second camera, power module, communication module, described
First camera is infrared thermoviewer, and the infrared thermoviewer is coloured silk for acquiring Infrared Image Information, the second camera
Color video camera, the colour TV camera are used for for acquiring color image information, the power module to the infrared thermoviewer
It powers with colour TV camera, Infrared Image Information and color image information are sent to control by the detection device by communication module
System processed.
Wherein, the drone body includes flying platform and dynamical system and automatic control module, described to automatically control
Module includes GPS navigation system, attitude control system, altimeter and holder, and the detection device passes through fixed frame and holder
Connection.
Wherein, the detection device includes data processing module, and the data include the infrared of processing Infrared Image Information
Flame algorithm unit is detected, the infrared acquisition flame algorithm unit processing Infrared Image Information carries out in accordance with the following steps：
(1) sequence of video images is obtained from video image acquisition device；
(2) foreground area is sought using background subtraction method：Infrared thermoviewer collects image and is carried out according to each pixel
The renewal learning of gray value；
Model gray value renewal learning process is divided into：avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1Respectively to the model mean value training result of new frame image, avgYiExpression modeling is put current
Gauss model mean value, avgYCurFor the model gray value of new frame image, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, in order to prevent doubtful flame foreground learn rapidly into
Background causes to can not be detected doubtful flame foreground, uses different renewal rates for background model, the model of background dot is more
The usual value of the new factor 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：
If that is, the region average gray value is more than given threshold, it is labeled as doubtful flame region；Wherein, N is the region picture
Vegetarian refreshments number, f (xi) be i-th pixel gray value, T is given threshold；
(4) doubtful flame region feature is extracted：Including gray feature, area features, Jump, area change feature；
(5) feature for seeking (4) step judges whether the region is flame as the input of BP neural network；
(6) tracking counts the number that doubtful flame region is judged as flame, when reaching threshold value Tn, exports flame report
It is alert.
Wherein, the detection device includes data processing module, and the data processing module includes processing coloured image letter
The Smoke Detection algorithm unit of breath, the Smoke Detection algorithm unit processing color image information carry out in accordance with the following steps：
(1) sequence of video images is obtained from video image acquisition device；
(2) doubtful smoke region is sought using accumulation frame difference method according to vedio data, accumulation frame number can be according to algorithm
Demand self-defining；
Frame difference method basic principle can be found out with following formula：
|i(t)-i(t-1)|<T backgrounds
|i(t)-i(t-1)|>=T foregrounds
Wherein, i (t), i (t-1) are respectively t, and the pixel value of t-1 moment corresponding pixel points, T is threshold value；
(3) it is specifically included according to smog static nature：Minimum area, color characteristic, gray feature and smog behavioral characteristics
Waving property spy, area change feature removal deceptive information are specifically included, judges whether to meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, using label Alarm count, when early warning number
Alarm>Smog alarm is exported when Time, wherein Time is threshold value of warning.
The present invention by, instead of fan structure, not only saving space with heat radiating fin structure, but also meets product to firm
The demand of property, cooling fin can well be fixed on circuit boards.In addition, include the first camera and second camera,
Two camera colour TV cameras, the infrared thermoviewer is for acquiring Infrared Image Information, the second camera colour camera shooting
Machine, the colour TV camera is for acquiring color image information, and the detection device is by communication module by Infrared Image Information
It is sent to control system with color image information, a variety of fields can be solved by analyzing Infrared Image Information and color image information
The problem of clear image under scape acquires, can meet the use demand of user.
Description of the drawings
Fig. 1 show the structural schematic diagram of the present invention；
Fig. 2 show the structural schematic diagram of detection device of the present invention；
Fig. 3 show the method flow diagram of infrared acquisition flame algorithm unit processing Infrared Image Information of the present invention；
Fig. 4 show the method flow diagram of Smoke Detection algorithm unit processing color image information of the present invention；
In figure：1. drone body, 2. fixed frames, 3. detection devices, 31. shells, 32. transparent windows, 33. first camera shootings
Head, 34. second cameras, 35. power modules, 36. communication modules.
Specific implementation mode
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
It should be noted that " connection " described herein and the word for expressing " connection ", as " being connected ",
" connected " etc. both may include that a certain component is directly connected to another component, and can also pass through other component including a certain component
It is connected with another component.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the present invention provides the flights that a kind of detector carries steady type radiator structure
Device, including drone body 1, fixed frame 2, detection device 3, the fixed frame 2 are set to the lower part of the drone body 1,
The detection device 3 is connected by fixed frame 2 with drone body 1, and the detection device 3 includes shell, upper cover, metal plate
Part, circuit board, camera lens, buttock line, wherein one end of the upper cover and the housing hinge, the circuit board are fixedly mounted on metal plate
On golden part, the sheet metal component is fixedly mounted in the shell, and the shell includes protecgulum, middle section and rear cover, described
Camera lens is mounted on the sheet metal component, and the buttock line is connect across the rear cover with the circuit board, and the circuit board is integrated with
Power module is equipped with processing chip on the circuit board, and the upper surface of the processing chip is connected with cooling fin, the heat dissipation
Piece is fixedly connected with the circuit board..Infrared thermoviewer therein can effectively solve colorful digital video camera night even
The deficiency of monitoring objective under the conditions of the extreme climate environment of pole.
In a preferred embodiment, the detection device further includes shell 31, first camera and second camera, electricity
Source module, communication module are installed in the shell, and the front end of the shell is equipped with transparent window 32.
In a preferred embodiment, the drone body includes flying platform and dynamical system and automatic control module, institute
It includes GPS navigation system, attitude control system, altimeter and holder to state automatic control module, and the detection device passes through solid
Determine frame to connect with holder.The holder is stabilized platform, and stabilized platform can eliminate shake, improve picture quality, at the same time it can also
Convert visual angle of taking photo by plane.
The present invention is provided with heat radiating fin structure radiator, has included the first camera and second camera, and first takes the photograph
Picture head is infrared thermoviewer, and the infrared thermoviewer is colored camera shooting for acquiring Infrared Image Information, the second camera
Machine, the colour TV camera is for acquiring color image information, and the detection device is by communication module by Infrared Image Information
It is sent to control system with color image information, a variety of fields can be solved by analyzing Infrared Image Information and color image information
The problem of clear image under scape acquires, can meet the use demand of user.
In a preferred embodiment, in order to make detection device place convenient, safety, can be arranged such as lower structure：It is described nobody
Machine ontology is provided with accommodating chamber, and the holder is set in accommodating chamber, and the fixed frame is lift fixed frame, specifically, institute
It includes fixed cylinder, lock to state fixed frame, and the upper end of the fixed cylinder is connected with holder, the piston rod of fixed cylinder and
Lock is fixedly connected, and the detection device casing upper surface is provided with connection ring, in use, using lock locking connection ring, from
And detection device and fixed cylinders can be connect.When not in use, detection device retraction can be held using cylinder
Receive intracavitary, it is thus possible to place detection device well, lifting and park that unmanned plane can also be more random；Use when
It waits, cylinder can be utilized to stretch out detection device outside accommodating chamber.
In a preferred embodiment, in order to enable shell mechanism is simple, it is easy to process to make, shell can be divided into upper cover and
Lower shell structure, one end of the upper cover is hinged with the lower casing, and the other end is connect by locking member with lower casing, and the lower casing includes
Protecgulum, middle section and rear shell, the camera lens are mounted on sheet metal component, and the buttock line passes through the rear shell to connect with power supply source
It connects, sealing EVA foams is pasted on the inside of the upper cover, caulking gum is provided at the lower casing and the upper cover sealed connection
Conductive fabric, and seamless between the two, the sealing rubber strip table after stickup are uniformly pasted in item, sealing EVA foams surface
Face is pasted with conductive fabric completely, and conductive fabric surface smoothing is seamless between the two after stickup.It, can be to avoid using above structure
Electronic unit in shell is damaged by static electricity.
In a preferred embodiment, in order to ensure the cleaning of transparent window, gas is provided on the shell on the outside of transparent window
Nozzle is flowed, the air-flow nozzle is connect by pipeline with air pump, and the air pump is connect with controller, and the air-flow nozzle can be
Multiple, injecting time and the interval time of air-flow nozzle can be arranged towards transparent window in nozzle gas outlet by controller.
As shown in figure 3, the detection device includes data processing module, the data include processing Infrared Image Information
Infrared acquisition flame algorithm unit, infrared acquisition flame algorithm unit processing Infrared Image Information in accordance with the following steps into
Row：
(1) sequence of video images is obtained from video image acquisition device；
(2) foreground area is sought using background subtraction method：Infrared thermoviewer collects image and is carried out according to each pixel
The renewal learning of gray value；
Model gray value renewal learning process is divided into：avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1Respectively to the model mean value training result of new frame image, avgYiExpression modeling is put current
Gauss model mean value, avgYCurFor the model gray value of new frame image, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, in order to prevent doubtful flame foreground learn rapidly into
Background causes to can not be detected doubtful flame foreground, uses different renewal rates for background model, the model of background dot is more
The usual value of the new factor 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：
If that is, the region average gray value is more than given threshold, it is labeled as doubtful flame region；Wherein, N is the region picture
Vegetarian refreshments number, f (xi) be i-th pixel gray value, T is given threshold；
(4) doubtful flame region feature is extracted：Including gray feature, area features, Jump, area change feature；
(5) feature for seeking (4) step judges whether the region is flame as the input of BP neural network；
(6) tracking counts the number that doubtful flame region is judged as flame, when reaching threshold value Tn, exports flame report
It is alert.
As shown in figure 4, in a preferred embodiment, the detection device includes data processing module, the data processing mould
Block includes the Smoke Detection algorithm unit for handling color image information, and the Smoke Detection algorithm unit handles color image information
It carries out in accordance with the following steps：
(1) sequence of video images is obtained from video image acquisition device；
(2) doubtful smoke region is sought using accumulation frame difference method according to vedio data, accumulation frame number can be according to algorithm
Demand self-defining；
Frame difference method basic principle can be found out with following formula：
|i(t)-i(t-1)|<T backgrounds
|i(t)-i(t-1)|>=T foregrounds
Wherein, i (t), i (t-1) are respectively t, and the pixel value of t-1 moment corresponding pixel points, T is threshold value；
(3) it is specifically included according to smog static nature：Minimum area, color characteristic, gray feature and smog behavioral characteristics
Waving property spy, area change feature removal deceptive information are specifically included, judges whether to meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, using label Alarm count, when early warning number
Alarm>Smog alarm is exported when Time, wherein Time is threshold value of warning.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of detector carry steady type radiator structure aircraft, which is characterized in that including drone body, fixed frame,
Detection device, the fixed mount setting pass through fixed frame and unmanned plane in the lower part of the drone body, the detection device
Ontology is connected, and the detection device includes shell, upper cover, sheet metal component, circuit board, camera lens, buttock line, wherein the upper cover
One end and the housing hinge, the circuit board are fixedly mounted on sheet metal component, and the sheet metal component is fixedly mounted on the shell
Interior, the shell includes protecgulum, middle section and rear cover, and the camera lens is mounted on the sheet metal component, and the buttock line passes through
The rear cover is connect with the circuit board, and the circuit board is integrated with power module, and processing chip is equipped on the circuit board,
The upper surface of the processing chip is connected with cooling fin, and the cooling fin is fixedly connected with the circuit board, the unmanned plane sheet
Body includes flying platform and dynamical system and automatic control module, and the automatic control module includes GPS navigation system, navigation attitude control
System, altimeter and holder processed, the detection device are connect by fixed frame with holder；The drone body is provided with appearance
Receive chamber, the holder is set in accommodating chamber, and the fixed frame is lift fixed frame, the fixed frame include fixed cylinder,
Lock, the upper end of the fixed cylinder are connected with holder, and the piston rod of fixed cylinder is fixedly connected with lock, the detection
Crust of the device upper surface is provided with connection ring, and connection ring is locked using lock, to connect detection device and fixed cylinders；
When without using detection device, using cylinder by detection device retraction accommodating chamber, to place detection dress well
It sets, when use, is stretched out detection device outside accommodating chamber using cylinder.
2. detector according to claim 1 carries the aircraft of steady type radiator structure, which is characterized in that the detection
Device further includes the first camera and second camera, power module, communication module, and first camera is infrared imaging
Instrument, the infrared thermoviewer are colour TV camera for acquiring Infrared Image Information, the second camera, the colored camera shooting
For acquiring color image information, the power module is used to power machine to the infrared thermoviewer and colour TV camera, described
Infrared Image Information and color image information are sent to control system by detection device by communication module.
3. detector according to claim 1 carries the aircraft of steady type radiator structure, which is characterized in that the detection
Device includes data processing module, and the data include handling the infrared acquisition flame algorithm unit of Infrared Image Information, described
Infrared acquisition flame algorithm unit processing Infrared Image Information carries out in accordance with the following steps：
(1) sequence of video images is obtained from video image acquisition device；
(2) foreground area is sought using background subtraction method：Infrared thermoviewer collects image and carries out gray scale according to each pixel
The renewal learning of value；
Model gray value renewal learning process is divided into：avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1Respectively to the model mean value training result of new frame image, avgYiIndicate the current Gauss of modeling point
Model mean value, avgYCurFor the model gray value of new frame image, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, and doubtful flame foreground is learned rapidly into background in order to prevent
Cause to can not be detected doubtful flame foreground, different renewal rates used for background model, the model modification of background dot because
Sub usually value 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：
If that is, the region average gray value is more than given threshold, it is labeled as doubtful flame region；Wherein, N is the area pixel point
Number, f (xi) be i-th pixel gray value, T is given threshold；
(4) doubtful flame region feature is extracted：Including gray feature, area features, Jump, area change feature；
(5) feature for seeking (4) step judges whether the region is flame as the input of BP neural network；
(6) tracking counts the number that doubtful flame region is judged as flame, when reaching threshold value Tn, output flame alarm.
4. detector according to claim 1 carries the aircraft of steady type radiator structure, which is characterized in that the detection
Device includes data processing module, and the data processing module includes the Smoke Detection algorithm unit for handling color image information,
The Smoke Detection algorithm unit processing color image information carries out in accordance with the following steps：
(1) sequence of video images is obtained from video image acquisition device；
(2) doubtful smoke region is sought using accumulation frame difference method according to vedio data, accumulation frame number can be according to algorithm requirements
Self-defining；
Frame difference method basic principle can be obtained with following formula：
|i(t)-i(t-1)|<T backgrounds
|i(t)-i(t-1)|>=T foregrounds
Wherein, i (t), i (t-1) are respectively t, and the pixel value of t-1 moment corresponding pixel points, T is threshold value；
(3) it is specifically included according to smog static nature：Minimum area, color characteristic, gray feature and smog behavioral characteristics are specific
Including waving property, special, area change feature removes deceptive information, judges whether to meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, using label Alarm count, as early warning number Alarm>
Smog alarm is exported when Time, wherein Time is threshold value of warning.
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