CN107066994A - Assess the method and unmanned plane of savanna tree death rate - Google Patents
Assess the method and unmanned plane of savanna tree death rate Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000011835 investigation Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims description 30
- 239000000523 sample Substances 0.000 claims description 30
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 claims description 22
- 239000002023 wood Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000010792 warming Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/188—Vegetation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The method and unmanned plane of the assessment savanna tree death rate of the present invention, wherein the method for assessing savanna tree death rate is shot using unmanned plane to target area；Determine the quantity of dead trees in image；Calculate the tree death rate in target area.The unmanned plane of the present invention includes the camera mounting seat being arranged on body, the camera aperture stretched out for camera lens is provided with the bottom plate of camera mounting seat, the camera interface for being connected with camera is provided with the side wall of camera mounting seat, camera interface is connected with camera connection unit, and controller controls camera to work by camera connection unit.Technical scheme can solve the problems such as artificial sampling investigation is wasted time and energy, spatial representative is poor with Ecological informations such as quick obtaining sparse woods trees spatial framework and the death rates.
Description
Technical field
The present invention relates to image data processing, more particularly to a kind of method and nothing for assessing savanna tree death rate
It is man-machine.
Background technology
Parkland grassland is distributed mainly on northern China desertificated area, is Keerqin sandy land, Otingdag Sandy Land, exhales
The areas such as human relations Bel's sand ground.With global warming, tree death is in increase trend, in addition, tree death can also influence to dredge
The spatial framework of woods trees, traditionally the investigation of tree death and spatial framework it is main by sample sample investigation mode carry out,
But the method investigated by artificial sampling is due to bad environments, big human input, arduous working environment and inefficiency, investigation model
The shortcomings of spatial representative is poor with enclosing small, sample, it is impossible to carry out large area generaI investigation.And it is current, unmanned air vehicle technique has been achieved with larger
Development, but unmanned plane aerophotography ecology it is also relatively low with the level of application in forestry.
The content of the invention
Can be with quick obtaining sparse woods trees spatial framework and the death rate the technical problem to be solved in the present invention is to provide one kind
Deng the method and unmanned plane of the assessment savanna tree death rate of Ecological information.
The method of the assessment savanna tree death rate of the present invention, including：
Target area is shot using unmanned plane, the image of target area is obtained；
Count the quantity of trees in the image；
Determine the quantity of dead trees in the image；
Calculated according to the quantity of dead trees in the quantity and the image of trees in the image in target area
Tree death rate.
The method of the assessment savanna tree death rate of the present invention, wherein, target area is clapped using unmanned plane
Take the photograph, obtaining the image of target area includes：
Set and focused away from digital color camera on unmanned plane；
The sensor resolution away from digital color camera is focused it is determined that described, including：
Investigation for per wood is carried out to the trees hat of the target area, i.e., sets several to investigate sample in the target area
Ground, using trunk as the center of circle in each investigation sample ground, canopy radius is measured every 45 degree, it is then determined that institute in all investigation sample ground
There are the area and diameter of minimum canopy in trees, sensor resolution S is determined by following formula：
S is sensor resolution, and FOV is the bond length of the target area, and CAN investigates for several of practical measurement
The minimum canopy average diameter on sample ground；
Unmanned plane during flying height is determined, including：
According to camera focus, size sensor, the flying height needed for unmanned plane is calculated as the following formula：
Focal length × FOV=size sensors × flying height；
Make unmanned plane be maintained in the flying height to fly, control camera shoots target area, obtains target area
Image.
The method of the assessment savanna tree death rate of the present invention, wherein, target area is clapped using unmanned plane
Take the photograph, obtaining the image of target area also includes：The shooting of the color camera on unmanned plane is determined according to the flying speed of unmanned plane
Frequency, makes the image of target area continuously reflect the pattern of target area.
The method of the assessment savanna tree death rate of the present invention, wherein, in addition to：
Unmanned aerial vehicle remote sensing atural object is corrected, including：Before unmanned plane aerial photography, in target area, multiple keys are determined
Atural object, is determined after the space and geographical coordinate of multiple crucial atural objects, the image for obtaining target area, in shadow respectively by differential GPS
The multiple crucial atural object is found as upper, using the space and geographical coordinate of the multiple crucial atural object, is determined in image allly
The accurate coordinates of thing.
The method of the assessment savanna tree death rate of the present invention, wherein, the number of trees in the statistics image
Amount includes：
The space profiles and position data of trees canopy in image are extracted, and count the quantity of trees in image.
The method of the assessment savanna tree death rate of the present invention, wherein, it is described to determine dead tree in the image
The quantity of wood includes：
Image is subjected to gray processing processing, the image after gray processing processing is obtained；
The gray-value variation scope of dead trees and Normal tree, sets up just respectively in image after being handled according to gray processing
Often with the gray threshold of dead trees；
According to the gray threshold of Normal tree and the gray threshold of dead trees, determined in the image after gray processing processing
Go out the quantity of dead trees and the quantity of Normal tree.
The unmanned plane of the present invention, including controller and the remote control receiver unit, the satellite that are connected respectively with the controller
Positioning unit, number leaflet member, memory cell, analog-digital converter, USB interface, camera connection unit, the unmanned plane also include setting
The camera aperture for being provided with and being stretched out for camera lens on the camera mounting seat on body, the bottom plate of the camera mounting seat is put, it is described
It is provided with and is connect for the camera being connected with camera on the axis and horizontal plane of camera aperture, the side wall of the camera mounting seat
Mouthful, the camera interface is connected with the camera connection unit, and the controller is controlled described by the camera connection unit
Camera works.
The unmanned plane of the present invention, wherein, it is provided with radiating ribs on the side wall of the camera mounting seat.
The unmanned plane of the present invention, wherein, in addition to multiple ultrasonic probes, multiple ultrasonic probes are arranged on described
The fuselage side of unmanned plane, each ultrasonic probe is connected with controller.
The present invention assessment savanna tree death rate method can for quick obtaining sparse woods trees spatial framework with
The Ecological informations such as the death rate, solving artificial sampling investigation wastes time and energy, the problems such as spatial representative is poor.The purpose of the present invention is
By unmanned plane aeroplane photography, the Ecological informations such as the spatial framework and tree death of ground sparse woods are obtained, so as to promote unmanned plane
Remote sensing technology is in ecological and Forestry Investigation and extensive use in research.
Brief description of the drawings
Fig. 1 is the structural representation of the unmanned plane of the present invention.
Embodiment
The method of the assessment savanna tree death rate of the present invention, including：
Target area is shot using unmanned plane, the image of target area is obtained；
Count the quantity of trees in the image；
Determine the quantity of dead trees in the image；
Calculated according to the quantity of dead trees in the quantity and the image of trees in the image in target area
Tree death rate.
The method of the assessment savanna tree death rate of the present invention, wherein, target area is clapped using unmanned plane
Take the photograph, obtaining the image of target area includes：
Set and focused away from digital color camera on unmanned plane；
The sensor resolution away from digital color camera is focused it is determined that described, including：
Investigation for per wood is carried out to the trees hat of the target area, i.e., sets several to investigate sample in the target area
Ground, using trunk as the center of circle in each investigation sample ground, canopy radius is measured every 45 degree, it is then determined that institute in all investigation sample ground
There are the area and diameter of minimum canopy in trees, sensor resolution S is determined by following formula：
S is sensor resolution, and FOV is the bond length of the target area, and CAN investigates for several of practical measurement
The minimum canopy average diameter on sample ground；
Unmanned plane during flying height is determined, including：
According to camera focus, size sensor, the flying height needed for unmanned plane is calculated as the following formula：
Focal length × FOV=size sensors × flying height；
Make unmanned plane be maintained in the flying height to fly, control camera shoots target area, obtains target area
Image.
The method of the assessment savanna tree death rate of the present invention, wherein, target area is clapped using unmanned plane
Take the photograph, obtaining the image of target area also includes：The shooting of the color camera on unmanned plane is determined according to the flying speed of unmanned plane
Frequency, makes the image of target area continuously reflect the pattern of target area.
The method of the assessment savanna tree death rate of the present invention, wherein, in addition to：
Unmanned aerial vehicle remote sensing atural object is corrected, including：Before unmanned plane aerial photography, in target area, multiple keys are determined
Atural object, is determined after the space and geographical coordinate of multiple crucial atural objects, the image for obtaining target area, in shadow respectively by differential GPS
The multiple crucial atural object is found as upper, using the space and geographical coordinate of the multiple crucial atural object, is determined in image allly
The accurate coordinates of thing.
The method of the assessment savanna tree death rate of the present invention, wherein, the number of trees in the statistics image
Amount includes：
The space profiles and position data of trees canopy in image are extracted, and count the quantity of trees in image.
The method of the assessment savanna tree death rate of the present invention, wherein, it is described to determine dead tree in the image
The quantity of wood includes：
Image is subjected to gray processing processing, the image after gray processing processing is obtained；
The gray-value variation scope of dead trees and Normal tree, sets up just respectively in image after being handled according to gray processing
Often with the gray threshold of dead trees；
According to the gray threshold of Normal tree and the gray threshold of dead trees, determined in the image after gray processing processing
Go out the quantity of dead trees and the quantity of Normal tree.
The embodiment of the method for the assessment savanna tree death rate of the present invention is as follows：
First, it is necessary to carry out object coordinates correction work, in target area, thing before unmanned plane aerial photography is carried out
Crucial atural object is first determined, the space and geographical coordinate of crucial atural object is accurately determined by differential GPS, the quantity of crucial atural object is many
In 10, preferably 30；
Investigation for per wood is carried out to the trees hat in target area, several investigation samples are set in region (such as sample
Size is 100 × 100m), in each investigation sample ground, using trunk as the center of circle, canopy radius is measured every 45 degree, is then counted
All areas and diameter for investigating minimum canopy in all trees in sample ground, sensor resolution S is determined by following formula
S is sensor resolution, and FOV is the bond length of the target area, and CAN investigates for several of practical measurement
The minimum canopy average diameter on sample ground；
Then, with 1/2 of minimum trees canopy radius length in all investigation sample ground sub-pix chi that image is obtained for plan
It is very little；
Set and focused away from digital color camera on unmanned plane；Determine that unmanned plane flies according to camera focus, size sensor
Row height, calculates the flying height needed for unmanned plane as the following formula：
Focal length × FOV=size sensors × flying height
Carry out unmanned plane carry color digital camera and shoot experiment in advance in the air, determine the auto photographing time, debug unmanned plane
With camera working condition, the filming frequency of the color camera on unmanned plane is determined according to the flying speed of unmanned plane, makes target area
The image in domain continuously reflects the pattern of target area, unmanned plane is maintained in the flying height and flies, control camera is to mesh
Mark region to shoot, obtain the image of target area, to ensure the stability of the definition and camera imaged, it is necessary to adjust camera mirror
Head posture over the ground, keeps camera lens perpendicular to the ground, unmanned plane is maintained on certain altitude, then keeps unmanned plane to fix
Altitude, controls camera to shoot over the ground by remote control means, and filming frequency is general to be shot once per 10-20s, by Image preservation
In in camera memory, obtaining after the image of target area, above-mentioned multiple crucial atural objects are found on image, multiple keys are utilized
The space and geographical coordinate of atural object, determines the accurate coordinates of all atural objects in image；
The image of shooting is imported into the geography in formation software such as ARCGIS softwares or ENVI softwares, knot automatic by software
The method for closing artificial visual interpretation, extracts the space profiles of trees canopy and position in image, and count the number of trees in image
Amount；
Image is subjected to gray processing processing, the image after gray processing processing is obtained；Grayscale image can also reflect view picture shadow
The entirety of picture and local colourity and distribution and the feature of brightness degree, gray processing processing method be by MATLAB softwares or
The softwares such as ENVI softwares, the characteristics of brightness degree can be reflected according to the parameter Y for the brightness that pixel is represented in YUV color spaces,
According to the corresponding of tri- color components of Y in YUV and R, G, B in RGB color：Y=0.299R+0.587G+0.114B, with this
Individual brightness value Y expresses the gray value of image, makes the Y value of image between 0-255；With reference to target area internal zone dividing domain
The result of factual survey, determines the normal tree crown of part and dead tree crown in image, according in above-mentioned image by artificial visual
Mortality trees and the gray-value variation scope of Normal tree, set up the gray threshold of normal and dead trees respectively；
According to the gray threshold of Normal tree and the gray threshold of dead trees, pass through in the image after gray processing processing
ARCGIS softwares or ENVI software classifications count the quantity of normal tree crown and dead tree crown, then calculate tree death rate, and it is counted
Calculate formula as follows：Tree death rate=death trees number/(dead trees number+Normal tree number) × 100%.
The method of the assessment savanna tree death rate of the present invention can greatly improve operating efficiency, strengthen the sky of investigation
Between it is representative, improve the reliability and accuracy of Ecological Investigation.
The present invention assessment savanna tree death rate method can for quick obtaining sparse woods trees spatial framework with
The Ecological informations such as the death rate, solving artificial sampling investigation wastes time and energy, the problems such as spatial representative is poor.The purpose of the present invention is
By unmanned plane aeroplane photography, the Ecological informations such as the spatial framework and tree death of ground sparse woods are obtained, so as to promote unmanned plane
Remote sensing technology is in ecological and Forestry Investigation and extensive use in research.
Advantage of the invention is that：
(1) efficiency and the degree of accuracy of sparse woods vegetation field investigation are improved, a large amount of manpowers are saved；
(2) office work is simplified, image processing is automated；
(3) the ecological work with Forestry Investigation of savanna is optimized.
As shown in figure 1, the unmanned plane of the present invention, including controller and the remote control reception list that is respectively connected with controller
Member, satellite positioning unit, number leaflet member, memory cell, analog-digital converter, USB interface, camera connection unit, unmanned plane are also wrapped
Include the camera aperture for being provided with and being stretched out for camera lens on the camera mounting seat 10 being arranged on body, the bottom plate 1 of camera mounting seat 10
2, the axis and horizontal plane of camera aperture 2 are provided with the camera interface for being connected with camera on the side wall 3 of camera mounting seat
4, camera interface 4 is connected with camera connection unit, and controller controls camera to work by camera connection unit.
The unmanned plane of the present invention, wherein, it is provided with radiating ribs 5 on the side wall 3 of camera mounting seat 10.
The unmanned plane of the present invention, wherein, in addition to multiple ultrasonic probes 6, multiple ultrasonic probes are installed in unmanned plane
Fuselage side, each ultrasonic probe is connected with controller.
The unmanned plane of the present invention, wherein, in addition to multiple heat emission holes 7, multiple heat emission holes 7 are arranged on the fuselage side of unmanned plane
Face.
The unmanned plane of the present invention, wherein, multiple 7 points of heat emission holes are close unmanned plane axis in four groups, every group of heat emission hole
The area of heat emission hole is more than the area of the heat emission hole away from unmanned plane axis.
The unmanned plane of the present invention, wherein, multiple ultrasonic probes enter in unmanned plane during flying or hovering to surrounding environment
Row real-time detection.Ultrasonic probe is used to launch ultrasonic wave transmission signal and receive ultrasonic wave, and ultrasonic echo can also be believed
Number handled, obtain echo data, further obtain barrier data, the barrier data can include barrier direction number
According to obstacle distance data etc..
Controller can generate flight control instruction according to barrier data, and flight control instruction can include early warning, subtract
The state of flight control instructions such as speed, brake and/or hovering.
It the above is only the preferred embodiment of the present invention, it is noted that come for those skilled in the art
Say, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of method for assessing savanna tree death rate, it is characterised in that including：
Target area is shot using unmanned plane, the image of target area is obtained；
Count the quantity of trees in the image；
Determine the quantity of dead trees in the image；
The tree in target area is calculated according to the quantity of dead trees in the quantity and the image of trees in the image
The wooden death rate.
2. the method for savanna tree death rate is assessed as claimed in claim 1, it is characterised in that using unmanned plane to mesh
Mark region is shot, and obtaining the image of target area includes：
Set and focused away from digital color camera on unmanned plane；
The sensor resolution away from digital color camera is focused it is determined that described, including：
Investigation for per wood is carried out to the trees hat of the target area, i.e., several are set in the target area with investigating sample,
Using trunk as the center of circle in each investigation sample ground, canopy radius is measured every 45 degree, it is then determined that owning in all investigation sample ground
The area and diameter of minimum canopy, sensor resolution S is determined by following formula in trees：
<mrow>
<mi>S</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>F</mi>
<mi>O</mi>
<mi>V</mi>
</mrow>
<mrow>
<mi>C</mi>
<mi>A</mi>
<mi>N</mi>
</mrow>
</mfrac>
</mrow>
S is sensor resolution, FOV is the bond length of the target area, CAN for practical measurement several investigation samples
Minimum canopy average diameter；
Unmanned plane during flying height is determined, including：
According to camera focus, size sensor, the flying height needed for unmanned plane is calculated as the following formula：
Focal length × FOV=size sensors × flying height；
Make unmanned plane be maintained in the flying height to fly, control camera shoots target area, obtains the shadow of target area
Picture.
3. the method for savanna tree death rate is assessed as claimed in claim 2, it is characterised in that using unmanned plane to mesh
Mark region is shot, and obtaining the image of target area also includes：The coloured silk on unmanned plane is determined according to the flying speed of unmanned plane
The filming frequency of form and aspect machine, makes the image of target area continuously reflect the pattern of target area.
4. the method for savanna tree death rate is assessed as claimed in claim 3, it is characterised in that also included：
Unmanned aerial vehicle remote sensing atural object is corrected, including：Before unmanned plane aerial photography, in target area, multiple crucial atural objects are determined,
Determined after the space and geographical coordinate of multiple crucial atural objects, the image for obtaining target area, sought on image respectively by differential GPS
The multiple crucial atural object is looked for, using the space and geographical coordinate of the multiple crucial atural object, the essence of all atural objects in image is determined
True coordinate.
5. the method for savanna tree death rate is assessed as claimed in claim 4, it is characterised in that the statistics shadow
As the quantity of interior trees includes：
The space profiles and position data of trees canopy in image are extracted, and count the quantity of trees in image.
6. assess the method for savanna tree death rate as claimed in claim 5, it is characterised in that it is described determine it is described
The quantity of dead trees includes in image：
Image is subjected to gray processing processing, the image after gray processing processing is obtained；
The gray-value variation scope of dead trees and Normal tree in image after being handled according to gray processing, set up respectively it is normal and
The gray threshold of dead trees；
According to the gray threshold of Normal tree and the gray threshold of dead trees, determined in the image after gray processing processing dead
Die the quantity of trees and the quantity of Normal tree.
7. a kind of unmanned plane, it is characterised in that the remote control reception list including controller and being respectively connected with the controller
Member, satellite positioning unit, number leaflet member, memory cell, analog-digital converter, USB interface, camera connection unit, the unmanned plane
Also include being provided with the camera lens stretched out for camera lens on the camera mounting seat being arranged on body, the bottom plate of the camera mounting seat
It is provided with hole, the axis and horizontal plane of the camera aperture, the side wall of the camera mounting seat for being connected with camera
Camera interface, the camera interface is connected with the camera connection unit, and the controller passes through the camera connection unit control
Make the camera work.
8. unmanned plane as claimed in claim 7, it is characterised in that be provided with radiating ribs on the side wall of the camera mounting seat.
9. unmanned plane as claimed in claim 8, it is characterised in that also including multiple ultrasonic probes, multiple ultrasonic waves
Probe is connected installed in the fuselage side of the unmanned plane, each ultrasonic probe with controller.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108791847A (en) * | 2018-06-08 | 2018-11-13 | 南京熙赢测控技术有限公司 | A kind of device being used for automatic identification road surface inspection well cover and automatic numbering |
| CN109765932A (en) * | 2019-01-31 | 2019-05-17 | 交通运输部天津水运工程科学研究所 | A kind of desert shrubbery cover degree unmanned plane investigation method |
| CN109961466A (en) * | 2017-12-14 | 2019-07-02 | 翔升（上海）电子技术有限公司 | Ranch animals monitoring method and system |
| CN111582176A (en) * | 2020-05-09 | 2020-08-25 | 湖北同诚通用航空有限公司 | Visible light remote sensing image withered and dead wood recognition software system and recognition method |
| KR102173589B1 (en) * | 2020-08-31 | 2020-11-04 | 조은석 | Surveying system by Drone |
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