CN107985569A - A kind of unmanned plane - Google Patents
A kind of unmanned plane Download PDFInfo
- Publication number
- CN107985569A CN107985569A CN201711278203.7A CN201711278203A CN107985569A CN 107985569 A CN107985569 A CN 107985569A CN 201711278203 A CN201711278203 A CN 201711278203A CN 107985569 A CN107985569 A CN 107985569A
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- Prior art keywords
- unmanned plane
- equipment
- test
- image
- model
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- 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
-
- 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
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The present invention provides a kind of unmanned plane, including：Unmanned plane body, is provided with propeller on the horn of the unmanned plane body, dismountable protective stent corresponding with the propeller is separately installed with the unmanned plane body, the propeller is fallen into the baffle ring of the protective stent；The bottom of the propeller is resisted against on the protective stent；Solar panels are provided with the unmanned plane body, the bottom of the unmanned plane body is provided with dismountable arc support rod.The protective stent of unmanned plane propeller of the present invention is mounted on unmanned plane body, is not arranged on the horn where propeller, certain protective action can be played to horn and propeller, overall structure is simple, and practicality is higher.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of unmanned plane.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself.From technology
Angle definition can be divided into：Unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship, unmanned helicopter, more rotor flies for nobody
Row device, unmanned parasol etc..Unmanned plane presses application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane
And target drone.Civilian aspect, unmanned plane+sector application, is that unmanned plane has really just needed；At present take photo by plane, it is agricultural, plant protection, miniature
Self-timer, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, shadow
Depending on the application in shooting, manufacture romance etc. field, the purposes of unmanned plane in itself has greatly been expanded.Existing unmanned plane has plenty of not
There is propeller safeguard measure, propeller can be damaged after falling accidentally, the protective stent of some propellers is mounted in horn
On, the meeting having after falling accidentally causes horn to miscue deformation, influences flight and uses.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide a kind of simple in structure, protective stent is directly installed on unmanned plane body
On unmanned plane.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of unmanned plane, including：Unmanned plane body, the unmanned plane sheet
Propeller is installed on the horn of body, is separately installed with the unmanned plane body corresponding with the propeller dismountable anti-
Stent is protected, the propeller is fallen into the baffle ring of the protective stent；The bottom of the propeller is resisted against the protective stent
On；Solar panels are provided with the unmanned plane body, the bottom of the unmanned plane body is provided with dismountable curved support
Bar.
Further, further include：Wind-force measuring apparatus, is arranged on the unmanned plane body, works as detecting unmanned plane
The instant wind-force size of preceding place air position；Inclination angle identification equipment, is arranged on the unmanned plane body, for detecting nobody
The pitch angle of current flight posture during machine flight in the air；Embedded processing equipment, is arranged on the unmanned plane body, respectively
It is connected with the wind-force measuring apparatus and the inclination angle identification equipment, described in being incited somebody to action based on the instant wind-force size received
The pitch angle that the instant wind-force size that the pitch angle of current flight posture is adjusted to and receives matches；Aerial photography equipment,
It is arranged on the chassis of the unmanned plane body, towards ground, bottom is carried out to ground environment for when unmanned plane declines, starting
Disk lower images gather, to obtain and export chassis lower images；
Further, further include：
Subregion detection device, is arranged on the unmanned plane body, is connected with the Aerial photography equipment, for receiving
The chassis lower images, determine the signal-to-noise ratio of each subject area in the lower images of chassis, and based on figure below chassis
The signal-to-noise ratio in each object region determines the current signal of whole chassis lower images as in；
Amount of images determines equipment, is connected with the subregion detection device, for low in the current signal received
When equal to predetermined lower threshold value, selection and the test image of current signal corresponding number test quantity as default, currently
Signal-to-noise ratio is lower, and the quantity of test image is more, and is additionally operable to be higher than predetermined lower threshold value in the current signal received
When, the test image of fixed qty is selected as default test quantity；
Color space conversion equipment, determines that equipment is connected with described image quantity, for each type scene, chooses default
The image of quantity is tested as test image, the test image of all types scene is all transformed into YUV color spaces to obtain
Multiple test color images；
Size adjusting equipment, is connected with color space conversion equipment, for receiving the multiple test color image, to institute
State multiple test color images and perform normalized respectively to obtain multiple standard testing images of fixed dimension；
Feature amount selecting device, is connected with the size adjusting equipment and the subregion detection device, according to current respectively
Signal-to-noise ratio determines the input quantity type of the model of selection, and the input quantity type according to selection carries out each standard testing image
Feature extraction meets input quantity type, the corresponding test feature amount of the standard testing image of selection to obtain, wherein, currently
Signal-to-noise ratio is lower, and the corresponding data processing amount of input quantity type of the model of selection is more；
Model measurement equipment, is connected with the feature amount selecting device, corresponding each for receiving each standard testing image
A test feature amount, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model bag
Input layer, hidden layer and output layer are included, the output quantity of the output layer is standard testing image and the matching for presetting photography scene
Degree；
Model performs equipment, is connected respectively with the feature amount selecting device and the subregion detection device, for receiving
Chassis lower images, to chassis lower images successively YUV color space conversions, normalized and input quantity according to selection
The feature extraction of type meets input quantity type, the corresponding identification feature amount of the chassis lower images of selection to obtain, will
Input of the corresponding identification feature amount of the chassis lower images as the input layer of model after training, to pass through model after training
The output quantity of output layer obtains the chassis lower images and the matching degree of default photography scene, when the matching with default photography scene
When degree is more than or equal to preset matching threshold value, scene identification signal is sent；
Wherein, the embedded processing equipment also performs equipment with the model and is connected, for receiving the scene
During identification signal, the decrease speed of unmanned plane is adjusted until unmanned plane reaches floating state；The model performs equipment and is additionally operable to
When the matching degree with default photography scene is less than preset matching threshold value, the unidentified signal of scene is sent.
(3) beneficial effect
The protective stent of unmanned plane propeller of the present invention is mounted on unmanned plane body, is not arranged on propeller institute
Horn on, certain protective action can be played to horn and propeller, overall structure is simple, and practicality is higher.
Brief description of the drawings
Fig. 1 is the structure diagram of unmanned plane of the present invention；
Fig. 2 is the block diagram between the unmanned machine equipment of the present invention；
Wherein：1 be unmanned plane body, 2 be horn, 3 be propeller, 4 be protective stent, 5 be baffle ring, 6 be solar panels,
7 be arc support rod.
Embodiment
Refering to Fig. 1 and Fig. 2, the present invention provides a kind of unmanned plane, including：Unmanned plane body 1, the horn 2 of unmanned plane body 1
On propeller 3 is installed, dismountable protective stent 4 corresponding with propeller 3 is separately installed with unmanned plane body 1, it is spiral
Paddle 3 is fallen into the baffle ring 5 of protective stent 4；The bottom of propeller 3 is resisted against on protective stent 4；It is provided with unmanned plane body 1
Solar panels 6, the bottom of unmanned plane body 1 are provided with dismountable arc support rod 7.
The protective stent of the present embodiment unmanned plane propeller is mounted on unmanned plane body, is not arranged on propeller
On the horn at place, certain protective action can be played to horn and propeller, overall structure is simple, and practicality is higher.
Unmanned plane market development is rapid, particularly applies in shooting, rescue etc., can be fast it is desirable to unmanned plane
When reaching ground, stable floating state is slowly entered, so as to the various operations such as be rescued, followed the trail of, shot, however, existing
Some unmanned planes lack effective hovering means, operation is too urgent to cause unmanned plane during flying shakiness to cause to fall.Therefore,
Refering to Fig. 2, the present embodiment further includes：
Wind-force measuring apparatus, is arranged on unmanned plane body 1, and the instant of air position is currently located for detecting unmanned plane
Wind-force size；
Inclination angle identification equipment, is arranged on unmanned plane body 1, current flight appearance during for detecting unmanned plane flight in the air
The pitch angle of state；
Embedded processing equipment, is arranged on unmanned plane body 1, respectively with wind-force measuring apparatus and inclination angle identification equipment
Connection, for the instant wind that the pitch angle of current flight posture is adjusted to and is received based on the instant wind-force size received
The pitch angle that power size matches；
Aerial photography equipment, is arranged on the chassis of unmanned plane body 1, towards ground, for when unmanned plane declines, opening
It is dynamic that chassis lower images collection is carried out to ground environment, to obtain and export chassis lower images；
Subregion detection device, is arranged on unmanned plane body 1, is connected with Aerial photography equipment, for receiving under chassis
Square image, determines the signal-to-noise ratio of each subject area in the lower images of chassis, and based on each right in the lower images of chassis
As the signal-to-noise ratio in region determines the current signal of whole chassis lower images；
Amount of images determines equipment, is connected with subregion detection device, for the current signal received less than etc.
When predetermined lower threshold value, selection and the test image of current signal corresponding number test quantity, current noise as default
Than lower, the quantity of test image is more, and is additionally operable to when the current signal received is higher than predetermined lower threshold value, choosing
The test image of fixed qty is selected as default test quantity；
Color space conversion equipment, determines that equipment is connected with amount of images, for each type scene, chooses default test
It is multiple to obtain all to be transformed into YUV color spaces as test image by the image of quantity for the test image of all types scene
Test color image；
Size adjusting equipment, is connected with color space conversion equipment, for receiving multiple test color images, to multiple surveys
Examination color image performs normalized to obtain multiple standard testing images of fixed dimension respectively；
Feature amount selecting device, is connected with size adjusting equipment and subregion detection device respectively, true according to current signal
Determine the input quantity type of the model of selection, the input quantity type according to selection carries out feature extraction to each standard testing image
To obtain the input quantity type, the corresponding test feature amount of the standard testing image that meet selection, wherein, current signal is got over
Low, the corresponding data processing amount of input quantity type of the model of selection is more；
Model measurement equipment, is connected with feature amount selecting device, for receiving the corresponding each survey of each standard testing image
Characteristic quantity is tried, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model includes defeated
Enter layer, hidden layer and output layer, the output quantity of output layer is standard testing image and the matching degree for presetting photography scene；
Model performs equipment, is connected respectively with feature amount selecting device and subregion detection device, for receiving below chassis
Image, to the spy of chassis lower images successively YUV color space conversions, normalized and input quantity type according to selection
Sign extraction meets input quantity type, the corresponding identification feature amount of the chassis lower images of selection to obtain, by under the chassis
Input of the corresponding identification feature amount of square image as the input layer of model after training, to pass through the output layer of model after training
Output quantity obtains the chassis lower images and the matching degree of default photography scene, when the matching degree with default photography scene is more than etc.
When preset matching threshold value, scene identification signal is sent；
Wherein, embedded processing equipment also performs equipment with model and is connected, for when receiving scene identification signal, adjusting
The decrease speed of whole unmanned plane is until unmanned plane reaches floating state；Model performs equipment and is additionally operable to work as and default photography scene
When matching degree is less than preset matching threshold value, the unidentified signal of scene is sent.
The present embodiment realizes that unmanned plane is slow from rapidly dropping to by the identification of the shooting scene based on deep neural network
Slowly the switching hovered, improves the quality of shooting image.Corresponding image recognition pattern is determined based on the corresponding signal-to-noise ratio of image,
So that the image of low signal-to-noise ratio, the identifying processing operation of acquisition is finer, while the identification of the image of high s/n ratio is simplified,
Accelerate the speed of identifying processing operation；Signal-to-noise ratio based on each object region in image determines the current noise of whole image
Than improving the efficiency that signal noise ratio (snr) of image judges；By the identification of the shooting scene based on deep neural network, unmanned plane is realized
From the switching slowly hovered is rapidly dropped to, the quality of shooting image is improved.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (3)
- A kind of 1. unmanned plane, it is characterised in that including：Unmanned plane body (1), pacifies on the horn (2) of the unmanned plane body (1) Equipped with propeller (3), dismountable protection corresponding with the propeller (3) is separately installed with the unmanned plane body (1) Stent (4), the propeller (3) are fallen into the baffle ring (5) of the protective stent (4)；The bottom of the propeller (3) is resisted against On the protective stent (4)；Solar panels (6), the bottom of the unmanned plane body (1) are provided with the unmanned plane body (1) Portion is provided with dismountable arc support rod (7).
- 2. unmanned plane as claimed in claim 1, it is characterised in that further include：Wind-force measuring apparatus, is arranged on the unmanned plane On body (1), the instant wind-force size of air position is currently located for detecting unmanned plane；Inclination angle identification equipment, is arranged on institute State on unmanned plane body (1), the pitch angle of current flight posture during for detecting unmanned plane flight in the air；Embedded processing is set It is standby, it is arranged on the unmanned plane body (1), is connected respectively with the wind-force measuring apparatus and the inclination angle identification equipment, For the instant wind that the pitch angle of the current flight posture is adjusted to and is received based on the instant wind-force size received The pitch angle that power size matches；Aerial photography equipment, is arranged on the chassis of the unmanned plane body (1), towards ground, uses Chassis lower images collection is carried out to ground environment in when unmanned plane declines, starting, to obtain and export chassis lower images.
- 3. unmanned plane as claimed in claim 2, it is characterised in that further include：Subregion detection device, is arranged on the unmanned plane body (1), is connected with the Aerial photography equipment, for receiving The chassis lower images, determine the signal-to-noise ratio of each subject area in the lower images of chassis, and based on figure below chassis The signal-to-noise ratio in each object region determines the current signal of whole chassis lower images as in；Amount of images determines equipment, is connected with the subregion detection device, for the current signal received less than etc. When predetermined lower threshold value, selection and the test image of current signal corresponding number test quantity, current noise as default Than lower, the quantity of test image is more, and is additionally operable to when the current signal received is higher than predetermined lower threshold value, choosing The test image of fixed qty is selected as default test quantity；Color space conversion equipment, determines that equipment is connected with described image quantity, for each type scene, chooses default test It is multiple to obtain all to be transformed into YUV color spaces as test image by the image of quantity for the test image of all types scene Test color image；Size adjusting equipment, is connected with color space conversion equipment, for receiving the multiple test color image, to described more A test color image performs normalized to obtain multiple standard testing images of fixed dimension respectively；Feature amount selecting device, is connected with the size adjusting equipment and the subregion detection device, according to current noise respectively Than the input quantity type of the model of definite selection, the input quantity type according to selection carries out feature to each standard testing image Extraction meets input quantity type, the corresponding test feature amount of the standard testing image of selection to obtain, wherein, current noise Than lower, the corresponding data processing amount of input quantity type of the model of selection is more；Model measurement equipment, is connected with the feature amount selecting device, for receiving the corresponding each survey of each standard testing image Characteristic quantity is tried, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model includes defeated Enter layer, hidden layer and output layer, the output quantity of the output layer is standard testing image and the matching degree for presetting photography scene；Model performs equipment, is connected respectively with the feature amount selecting device and the subregion detection device, for receiving chassis Lower images, to chassis lower images successively YUV color space conversions, normalized and input quantity type according to selection Feature extraction to obtain input quantity type, the corresponding identification feature amount of the chassis lower images of selection of meeting, by the bottom Input of the corresponding identification feature amount of disk lower images as the input layer of model after training, to pass through the output of model after training The output quantity of layer obtains the chassis lower images and the matching degree of default photography scene, when big with the matching degree of default photography scene When equal to preset matching threshold value, scene identification signal is sent；Wherein, the embedded processing equipment is also performed with the model Equipment connects, for when receiving the scene identification signal, adjusting the decrease speed of unmanned plane until unmanned plane reaches outstanding Stop state；The model performs equipment and is additionally operable to, when the matching degree with default photography scene is less than preset matching threshold value, send The unidentified signal of scene.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711278203.7A CN107985569A (en) | 2017-12-06 | 2017-12-06 | A kind of unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711278203.7A CN107985569A (en) | 2017-12-06 | 2017-12-06 | A kind of unmanned plane |
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| CN107985569A true CN107985569A (en) | 2018-05-04 |
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ID=62036190
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110844057A (en) * | 2019-11-28 | 2020-02-28 | 湖南库里斯智能科技有限公司 | Multi-functional environmental protection unmanned aerial vehicle that patrols and examines |
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