CN108227745B - Unmanned plane working method and UAV system - Google Patents
Unmanned plane working method and UAV system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The present invention provides unmanned plane working methods, it is related to unmanned plane field, in method provided by the invention, unmanned plane can first obtain infrared photograph, then, decide whether to detect the distance between unmanned plane and infrared target by infrared distance measuring device according to the highlight regions in infrared photograph.If having detected distance, when the distance between unmanned plane and infrared target are more than preset threshold, then alerted according to rudimentary alarm mode, it alerts in this manner, the first infrared photograph is mainly used to detect specified region, and it is alerted when the image detected conforms to a predetermined condition, to achieve the purpose that drive infrared target in the first infrared photograph (when alarm is to play high tone alerts) or achieve the purpose that inform user (when alarm is to send to notify to user terminal).
Description
Technical field
The present invention relates to unmanned plane fields, in particular to unmanned plane working method and UAV system.
Background technique
UAV is to utilize radio robot and the process control provided for oneself referred to as " unmanned plane " (" UAV ")
The not manned vehicle of device manipulation.Unmanned plane is actually the general designation of unmanned vehicle, can be with from technical standpoint definition
It is divided into: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, nothing
People's parasol etc..Compared with manned aircraft, it has many advantages, such as small in size, low cost, easy to use.
With the continuous development of unmanned air vehicle technique, unmanned plane is widely used in plant protection field, aerial survey, field of taking photo by plane, to nothing
Man-machine control is usually operated by the control that remote controler obtains user's unmanned plane and generates corresponding unmanned aerial vehicle (UAV) control and instructed, so
Control instruction is sent to unmanned plane by way of wireless signal transmission afterwards, executes corresponding movement to control unmanned plane.It is existing
Have in technology, there is also the method for controlling unmanned plane by body-sensing sensor, i.e. body-sensing sensor acquires unmanned aerial vehicle (UAV) control person's
Gesture or movement, and corresponding unmanned aerial vehicle (UAV) control instruction is generated, then control instruction is sent out by way of wireless signal transmission
It send to unmanned plane, executes corresponding movement to control unmanned plane.
Present inventor has found that the degree of automation of existing unmanned air vehicle technique is not high enough.
Summary of the invention
The purpose of the present invention is to provide unmanned plane working method and UAV system.
The present invention provides a kind of unmanned plane working methods, comprising:
Unmanned plane during according to set flight line, clap predetermined direction by infrared camera by unmanned plane
According to obtain the first infrared photograph；
Unmanned plane extracts the highlight regions in the first infrared photograph；
Unmanned plane calculates the area of each highlight regions in the first infrared photograph；
Unmanned plane calculates the quantity that area in the first infrared photograph is more than the highlight regions of predetermined threshold；
If the area of at least one highlight regions is greater than the number of preset threshold or area more than the highlight regions of predetermined threshold
Amount is greater than preset threshold, then unmanned plane detects the distance between unmanned plane and infrared target by infrared distance measuring device；
If the distance between unmanned plane and infrared target are more than preset threshold, accused according to rudimentary alarm mode
It is alert.
Preferably, predetermined direction is the preceding line direction of unmanned plane.
Preferably, if the distance between step unmanned plane and infrared target are more than preset threshold, according to rudimentary alarm
Mode carries out alarm
If the distance between unmanned plane and infrared target are more than preset threshold, flash lamp operation is driven.
Preferably, if the distance between step unmanned plane and infrared target are more than preset threshold, according to rudimentary alarm
Mode carries out alarm
If the distance between unmanned plane and infrared target are more than preset threshold, treble audio is played.
Preferably, if the distance between step unmanned plane and infrared target are more than preset threshold, according to rudimentary alarm
Mode carries out alarm
If the distance between unmanned plane and infrared target are more than preset threshold, current time is obtained；If current time position
In in target time section, then flash lamp operation is driven；If current time is not located in target time section, treble audio is played.
Preferably, if the distance between step unmanned plane and infrared target are more than preset threshold, according to rudimentary alarm
Mode carries out alarm
If the distance between unmanned plane and infrared target are more than preset threshold, the bright of unmanned plane current environment is obtained
Degree；If the brightness of unmanned plane current environment is less than preset threshold value, flash lamp operation is driven；If unmanned plane is presently in
The brightness of environment is greater than preset threshold value, then plays treble audio.
Preferably, step unmanned plane includes: by infrared distance measuring device detection the distance between unmanned plane and infrared target
According to relative position of the highlight regions in the first infrared photograph, rotational angle is calculated；
The measurement angle of infrared distance measuring device is adjusted according to rotational angle；
The distance between unmanned plane and infrared target are detected by infrared distance measuring device.
Preferably, after step is alerted according to rudimentary alarm mode, further includes:
Unmanned plane again takes pictures to predetermined direction by infrared camera, to obtain the second infrared photograph；
Unmanned plane extracts the highlight regions in the second infrared photograph；
Unmanned plane judge the highlight regions in the first infrared photograph shape whether the highlight regions with the second infrared photograph
Shape it is identical；If they are the same, then it is alerted using advanced alarm mode.
Preferably, if it is not identical, judge whether the area of the highlight regions of the second infrared photograph is less than preset threshold value,
If being less than, alarm is terminated.
Preferably, further include following steps:
Unmanned plane during according to set flight line, unmanned plane pass through in real time digital camera to predetermined direction into
Row is taken pictures, to obtain RGB photo；
Unmanned plane extracts the foreground image in RGB photo；
Unmanned plane calculates the shape feature of foreground image and the area of unmanned plane calculating foreground image；
If the shape feature of foreground image meets preset requirement, and the area of foreground image is more than scheduled threshold value, then
Unmanned plane is alarmed；
If the shape feature of foreground image does not meet preset requirement, and the area of foreground image is more than scheduled threshold value,
Then unmanned plane is by foreground image and/or RGB photo upload to server.
Preferably, further includes: the profile of foreground image is extracted, and the profile extracted is compared with nominal contour,
The shape feature of foreground image accords with if the similarity of the profile and some nominal contour that extract is more than scheduled threshold value
Close preset requirement.
Preferably, further includes:
The profile extracted is carried out with nominal contour it is be overlapped, with the overlay region of the profile and nominal contour that are extracted
Domain and Non-overlapping Domain；
The overlapping region ratio of Non-overlapping Domain and overlapping region is calculated, if overlapping region ratio is less than predetermined threshold,
Then the shape feature of foreground image meets preset requirement.
Preferably, foreground image and/or RGB photo upload to server are included: by step unmanned plane
The practical network speed value of unmanned machine testing current video transmission channel；
If the practical network speed value in transmission of video channel is more than preset threshold, unmanned plane shoots current environment, with
Ambient video is obtained, and ambient video is sent by transmission of video channel to server；
If the practical network speed value in transmission of video channel is less than preset threshold, unmanned plane and server establish the first safety respectively
Channel, the second exit passageway；
Foreground image is packed into the first data packet by unmanned plane, and first data packet is stored in local；
RGB photo is packed into the second data packet by unmanned plane, and second data packet is stored in local；
Unmanned plane measures the practical network speed value of the first exit passageway, the second exit passageway respectively；
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is big
In preset threshold, then unmanned plane adjusts point of the foreground image in the first data packet according to the practical network speed value of the first exit passageway
Resolution, and, unmanned plane adjusts the resolution of the RGB photo in the second data packet according to the practical network speed value of the second exit passageway
Rate；Also, unmanned plane passes through the first exit passageway and the second exit passageway respectively and sends the first data packet and second to server
Data packet.
Preferably, further includes:
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is small
In preset threshold, then unmanned plane is sent the first data packet and the first Crypted password to server by the first exit passageway；If
Receiving the first verifying password that server returns, then unmanned plane verifies the first verifying password, if being verified, makes
It is encrypted with the first corresponding the second data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The second data packet by the second exit passageway to server send.
Preferably, further includes:
If the practical network speed value of the second exit passageway is greater than preset threshold, and, the practical network speed value of the first exit passageway is small
In preset threshold, then unmanned plane is sent the second data packet and the second Crypted password to server by the second exit passageway；If
Receiving the second verifying password that server returns, then unmanned plane verifies the second verifying password, if being verified, makes
It is encrypted with the second corresponding the first data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The first data packet by the first exit passageway to server send.
Preferably, further includes:
If the practical network speed value of the first exit passageway is less than in preset threshold, and, the practical network speed value of the second exit passageway
Less than preset threshold, then the first data packet and the second data packet are maintained in local by unmanned plane, and pass through short range transmission chain
First data packet and the second data packet are saved place to nearest data and sent by road.
Preferably, foreground image and/or RGB photo upload to server are included: by step unmanned plane
Foreground image/RGB photo is carried out fragmentation processing by unmanned plane, obtains first group of fragmentation data and second group broken
Piece data, and obtain data rule of combination；Herein, only first group of fragmentation data and second group of fragmentation data are according to number
After combining according to rule of combination, foreground image/RGB photo can be formed；
First group of fragmentation data is uploaded to first server by unmanned plane, and, second group of fragmentation data is uploaded
It is sent to second server, and by data rule of combination to scheduled user terminal.
Preferably, unmanned plane includes: main body rack, and multiple propellers on main body rack are arranged in, and is arranged in main body branch
The processing module inside main body rack is arranged in the support frame of frame lower part, and inflator, the infrared camera of support frame circumference is arranged in
And inflatable air cushion, and the balloon suspension portion on main body rack top is set；Processing module and inflator are electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
Preferably, further includes:
Unmanned plane sends the first upload request to the first fragment server, with receive that the first fragment server is returned the
One verification information；
Unmanned plane sends the second upload request to the second fragment server, with receive that the second fragment server is returned the
Two verification informations；
Unmanned plane respectively verifies the first verification information and the second verification information；
If the first verification information and the second verification information are verified, unmanned plane carries out foreground image/RGB photo
Fragmentation processing, obtains first group of fragmentation data, second group of fragmentation data and data rule of combination；Only first group of fragment
After changing data and second group of fragmentation data according to the combination of data rule of combination, foreground image/RGB photo can be formed；
Unmanned plane is encrypted using first group of fragmentation data of encryption secret key pair corresponding to the first verification information, and
It is encrypted using second group of fragmentation data of encryption secret key pair corresponding to the second verification information；
Encrypted first group of fragmentation data is uploaded to first server by unmanned plane, and, by encrypted second
Group fragmentation data is uploaded to second server, and data rule of combination is sent to scheduled user terminal.
Preferably, unmanned plane includes: main body rack, and multiple propellers on main body rack are arranged in, and is arranged in main body branch
The processing module inside main body rack is arranged in the support frame of frame lower part, and inflator, the infrared camera of support frame circumference is arranged in
And inflatable air cushion, and the balloon suspension portion on main body rack top is set；Processing module and inflator are electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
Preferably, balloon suspension portion includes connector and balloon, the both ends of connector respectively with balloon and main body rack phase
Connection；Hydrogen or nitrogen or air are provided in balloon.
Preferably, unmanned plane further includes the inflation gas tank being arranged in main body rack, and inflation gas tank is internally provided with compression
Hydrogen or compressed nitrogen, the gas outlet for inflating gas tank are connected with the air inlet of balloon；Inflate computing module and inflation gas tank electricity
Property connection；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters floating state and fills
Gas inside gas gas tank；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters state of flight and fills
Gas inside gas gas tank；
Unmanned plane further includes power supply module, and power supply module electrically connects with inflation computing module, propeller, inflation gas tank respectively
It connects, and for powering to inflation computing module, propeller and inflation gas tank；
Computing module is inflated, is also used to detect the remaining capacity of power supply module, and works as remaining capacity and is lower than preset threshold, and
When the distance between unmanned plane and target location are greater than preset threshold, driving inflation gas tank is filled with inside inflation gas tank into balloon
Gas；
And inflation computing module, it is also used to be greater than preset threshold when remaining capacity, and normal acceleration is more than predetermined threshold
When value, driving inflation gas tank is filled with the gas inside inflation gas tank into balloon.
Preferably, infrared camera includes:
Fuselage in hollow columnar and the camera lens positioned at front fuselage；
The cross section of the roof of fuselage is in arc-shaped, and protrudes towards external fuselage；
The top of camera lens is provided with weather shield, and one end and the fuselage of weather shield are detachably connected, and the other end is directed away from machine
The direction of body extends；
Weather shield is telescopic curved form plate；
Fan is provided between weather shield and camera lens, fan is detachably connected with weather shield, the blowing direction court of fan
To camera lens；
Side of the camera lens far from fuselage is also vertically arranged with the protective net for being cross-woven and being formed by cable, and the diameter of cable is small
In 0.5 millimeter, the distance between equidirectional two adjacent cables are greater than 2 millimeters, and less than 8 millimeters.
Preferably, camera lens top is provided with weather shield.
Preferably, weather shield includes a side opening, and the first hollow plate, and passes through the opening socket of the first plate
The second plate, driving motor and automatic switch in the first plate；First plate and the second plate are in tabular；
First plate is detachably connected with fuselage；
Driving motor, for after receiving the issued driving signal of automatic switch, the second plate of driving to pass through opening
The first plate is stretched out, to be directed away from the direction movement of fuselage, or the second plate of driving passes through opening the first plate of income.
Preferably, the first plate and the second plate are metal material.
Preferably, automatic switch includes the vibrating sensor and vibration comparator that fuselage top wall outer surface is arranged in；Vibration
Sensor, vibration comparator and driving motor sequence are electrically connected；
Comparator is vibrated, for comparing the big of the amplitude of vibrating sensor signal generated and the amplitude of standard signal
It is small, and when the amplitude of vibrating sensor signal generated is greater than the amplitude of standard signal, generate driving signal.
Preferably, the surface of protective net is coated with corrosion-resistant coating.
Preferably, protective net is aluminum alloy material.
The present invention also provides a kind of UAV system, including unmanned plane and earth station；Unmanned plane and earth station remotely lead to
News connection；Unmanned plane is used to execute corresponding movement according to method as the aforementioned.
Unmanned plane working method provided in an embodiment of the present invention, unmanned plane can first obtain infrared photograph, then, according to red
Highlight regions in outer photo decide whether to detect the distance between unmanned plane and infrared target by infrared distance measuring device.Such as
Fruit has detected distance, when the distance between unmanned plane and infrared target are more than preset threshold, then according to rudimentary alarm mode
It is alerted, is alerted in this manner, mainly used the first infrared photograph and specified region is detected, and when detection
To image conform to a predetermined condition when alerted, (work as alarm to achieve the purpose that drive infrared target in the first infrared photograph
It is when playing high tone alerts), or achieve the purpose that inform user (when alarm is to send to notify to user terminal).
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the basic flow chart of unmanned plane working method provided by the embodiment of the present invention；
Fig. 2 shows the schematic diagrames of first Optimizing Flow of unmanned plane working method provided by the embodiment of the present invention；
Fig. 3 shows the schematic diagram of second Optimizing Flow of unmanned plane working method provided by the embodiment of the present invention；
Fig. 4 shows the schematic diagram of the third Optimizing Flow of unmanned plane working method provided by the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
In the related technology, a variety of unmanned planes have been had already appeared, the technology that a variety of pairs of unmanned planes are controlled also have occurred.Mesh
Before, unmanned aerial vehicle (UAV) control technology all develops towards automation, intelligentized direction.But present inventor has found, currently, nothing
Man-machine the degree of automation is still lower.
For the lower situation of current unmanned plane the degree of automation, this application provides a kind of unmanned plane work sides of improvement
Method, as shown in Figs 1-4, the unmanned plane working method include the following steps:
S101, for unmanned plane during according to set flight line, unmanned plane is by infrared camera to predetermined direction
It takes pictures, to obtain the first infrared photograph；
S102, unmanned plane extract the highlight regions in the first infrared photograph；
S103, unmanned plane calculate the area of each highlight regions in the first infrared photograph；
S104, unmanned plane calculate the quantity that area in the first infrared photograph is more than the highlight regions of predetermined threshold；
S105, if the area of at least one highlight regions is greater than preset threshold or area is more than the highlight bar of predetermined threshold
The quantity in domain is greater than preset threshold, then unmanned plane detects the distance between unmanned plane and infrared target by infrared distance measuring device；
S106, if the distance between unmanned plane and infrared target be more than preset threshold, according to rudimentary alarm mode into
Row alarm.
Scheme provided herein mainly uses the first infrared photograph and detects to specified region, and when inspection
The image measured is alerted when conforming to a predetermined condition, and (works as announcement to achieve the purpose that drive infrared target in the first infrared photograph
Police is when playing high tone alerts), or achieve the purpose that inform user (when alarm is to send to notify to user terminal
It waits).
Wherein, predetermined direction is preferably the preceding line direction of unmanned plane, when predetermined direction is the preceding line direction of unmanned plane, energy
Enough so that whether unmanned plane has obstacle to prejudge line direction before oneself.The unmanned plane gone on patrol automatically under normal conditions be compared with
Gone on patrol for remote area, therefore, unmanned plane patrol the general few people in region, and then alert purpose be expel it is dynamic
Object, therefore, the movement alerted are usually to play treble audio, to achieve the purpose that expel animal.Certainly, the movement of alarm
It can also be and glistened (if it is night).
In turn, above-mentioned steps S106 can be executed as follows:
If the distance between unmanned plane and infrared target are more than preset threshold, treble audio is played.
Above-mentioned steps S106 can also be executed as follows:
If the distance between unmanned plane and infrared target are more than preset threshold, flash lamp operation is driven.
Certainly, above two mode can use simultaneously.
Specifically, step S106 can also be executed in accordance with the following steps:
If the distance between unmanned plane and infrared target are more than preset threshold, current time is obtained；If current time position
In in target time section, then flash lamp operation is driven.If current time is not located in target time section, treble audio is played.
The step can also execute as follows:
If the distance between unmanned plane and infrared target are more than preset threshold, the bright of unmanned plane current environment is obtained
Degree；If the brightness of unmanned plane current environment is less than preset threshold value, flash lamp operation is driven.If unmanned plane is presently in
The brightness of environment is greater than preset threshold value, then plays treble audio.
The area of highlight regions is greater than preset threshold, then explanation may have biggish heat source, similar, if highlight regions
Quantity it is excessive, then same explanation may have biggish heat source (certain heat sources may be blocked, therefore intermittent can only show
Multiple heat sources).At this point, the distance between unmanned plane and infrared target should be detected by infrared distance measuring device, infrared target is
Refer to target corresponding to highlight regions in the first infrared photograph.
Specifically, step S105 can be executed in accordance with the following steps:
S1051 calculates rotational angle according to relative position of the highlight regions in the first infrared photograph；
S1052 adjusts the measurement angle of infrared distance measuring device according to rotational angle；
S1053 detects the distance between unmanned plane and infrared target by infrared distance measuring device.
It is, first having to the angle of adjustment infrared distance measuring device before carrying out ranging, after the adjustment, then measuring
Distance.
If step S106 is to be expelled by flash lamp or treble audio to animal, after step S106, may be used also
To include the following steps:
S107, unmanned plane again take pictures to predetermined direction by infrared camera, to obtain the second infrared photograph；
S108, unmanned plane extract the highlight regions in the second infrared photograph；
S109, unmanned plane judge whether the shape of the highlight regions in the first infrared photograph is highlighted with the second infrared photograph
The shape in region is identical；If so, being alerted using advanced alarm mode.
It is, the shape of two highlight regions should be in step S109 if the alarm in step S106 is effective
It is distinguishing.If step S109's is judged as NO (i.e. not identical), it may determine that the highlight regions of the second infrared photograph
Whether area is less than preset threshold value, if so, terminating alarm.
In addition to using infrared photograph to be judged, general RGB photo can also be used to be judged, mainly patrolled automatically
The unmanned plane patrolled is usually to go on patrol in the few area of people, therefore can go forward side by side one by carrying out foreground extraction to RGB photo
Step carries out subsequent processing.
It is, further including following steps in scheme provided herein:
S201, for unmanned plane during according to set flight line, unmanned plane passes through digital camera to predetermined in real time
Direction is taken pictures, to obtain RGB photo；
S202, unmanned plane extract the foreground image in RGB photo；
S203, unmanned plane calculate the shape feature of foreground image and the area of unmanned plane calculating foreground image；
S204, if the shape feature of foreground image meets preset requirement, and the area of foreground image is more than scheduled threshold
Value, then unmanned plane is alarmed；
S205, if the shape feature of foreground image does not meet preset requirement, and the area of foreground image is more than scheduled
Threshold value, then unmanned plane is by foreground image and/or RGB photo upload to server.
In step S204, the shape feature of foreground image, which meets, specified certain in preset interpellation foreground image
Animal, such as the step can extract the profile of foreground image, and (be usually to have largely by the profile extracted and nominal contour
Nominal contour, to compare one by one) compare, if the similarity of the profile extracted and some nominal contour is more than
Scheduled threshold value then illustrates that the shape feature of foreground image meets preset requirement.Further, the calculating of similarity can be according to
As under type calculates:
The profile extracted is carried out with nominal contour it is be overlapped, with extracted profile and nominal contour (such as certain
The profile of animal or people) overlapping region (profile that overlapping region had not only been extracted to is surrounded, but also is surrounded by nominal contour)
With Non-overlapping Domain (profile that Non-overlapping Domain is only extracted to is surrounded, or is only surrounded by nominal contour)；Then, it calculates
The overlapping region ratio of Non-overlapping Domain and overlapping region, if overlapping region ratio is less than predetermined threshold, foreground image
Shape feature meets preset requirement.
The area of foreground image is more than predetermined threshold, then illustrates that object corresponding to foreground image is very big, then answer at this time
Work as alarm, but in view of will appear error in some cases, therefore, whether can be accorded with according to the shape feature of foreground image
Preset requirement is closed, to select different processing modes.
When the shape feature of foreground image does not meet preset requirement, and the area of foreground image is more than scheduled threshold value,
Then unmanned plane by foreground image and/or RGB photo upload to server so that server is further judged, either
Judged by user.
Step S205 can be executed in accordance with the following steps:
The practical network speed value of unmanned machine testing current video transmission channel；
If the practical network speed value in transmission of video channel is more than preset threshold, unmanned plane shoots current environment, with
Ambient video is obtained, and ambient video is sent by transmission of video channel to server；
If the practical network speed value in transmission of video channel is less than preset threshold, unmanned plane and server establish the first safety respectively
Channel, the second exit passageway；
Foreground image is packed into the first data packet by unmanned plane, and first data packet is stored in local；
RGB photo is packed into the second data packet by unmanned plane, and second data packet is stored in local；
Unmanned plane measures the practical network speed value of the first exit passageway, the second exit passageway respectively；
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is big
In preset threshold, then unmanned plane adjusts point of the foreground image in the first data packet according to the practical network speed value of the first exit passageway
Resolution, and, unmanned plane adjusts the resolution of the RGB photo in the second data packet according to the practical network speed value of the second exit passageway
Rate；Also, unmanned plane passes through the first exit passageway and the second exit passageway respectively and sends the first data packet and second to server
Data packet；
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is small
In preset threshold, then unmanned plane is sent the first data packet and the first Crypted password to server by the first exit passageway；If
Receiving the first verifying password that server returns, then unmanned plane verifies the first verifying password, if being verified, makes
It is encrypted with the first corresponding the second data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The second data packet by the second exit passageway to server send；
If the practical network speed value of the second exit passageway is greater than preset threshold, and, the practical network speed value of the first exit passageway is small
In preset threshold, then unmanned plane is sent the second data packet and the second Crypted password to server by the second exit passageway；If
Receiving the second verifying password that server returns, then unmanned plane verifies the second verifying password, if being verified, makes
It is encrypted with the second corresponding the first data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The first data packet by the first exit passageway to server send；
If the practical network speed value of the first exit passageway is less than in preset threshold, and, the practical network speed value of the second exit passageway
Less than preset threshold, then the first data packet and the second data packet are maintained in local by unmanned plane, and pass through short range transmission chain
First data packet and the second data packet are saved place to nearest data and sent by road.
On the basis of above scheme, step S205 can also be executed in accordance with the following steps:
Unmanned plane sends the first upload request to the first fragment server, with receive that the first fragment server is returned the
One verification information；
Unmanned plane sends the second upload request to the second fragment server, with receive that the second fragment server is returned the
Two verification informations；
Unmanned plane respectively verifies the first verification information and the second verification information；
If the first verification information and the second verification information are verified, unmanned plane carries out foreground image/RGB photo
Fragmentation processing, obtains first group of fragmentation data, second group of fragmentation data and data rule of combination；Only first group of fragment
After changing data and second group of fragmentation data according to the combination of data rule of combination, foreground image/RGB photo can be formed；
Unmanned plane is encrypted using first group of fragmentation data of encryption secret key pair corresponding to the first verification information, and
It is encrypted using second group of fragmentation data of encryption secret key pair corresponding to the second verification information；
Encrypted first group of fragmentation data is uploaded to first server by unmanned plane, and, by encrypted second
Group fragmentation data is uploaded to second server, and data rule of combination is sent to scheduled user terminal.
Certainly, unmanned plane can also send the first verification information and the second verification information to user terminal, or by the
Encryption key corresponding to one verification information to user terminal send, and by encryption key corresponding to the second verification information to
Family end is sent.User is when reading foreground image/RGB photo, it is necessary to use decruption key corresponding with encryption key into
Row decryption.Certainly, the corresponding relationship of encryption key and decruption key should be pre-stored in user terminal.
If at least one in the first verification information and the second verification information is not verified, unmanned plane is sent to user terminal
Prompt information.
Later, user is when needing to check foreground image, so that it may in the way of data combination, utilize first group
Fragmentation data and second group of fragmentation data combine to form foreground image/RGB photo.
Specifically, fragmentation data herein refer to by partial data (a such as article, a word, a word,
The electronic data such as one picture, one section of video, a segment of audio) split the obtained partial data of partial data, and fragment number
According to being (being different between any two crumb data) for being unable to respond the meaning of partial data.Such as former field
(partial data) is number 55, and being split as 50 and 60 two fields for 55, (the two fields are just first group of fragment respectively
Change data and second group of fragmentation data), then 50 and 60 can not react the meaning of former field 55, just play in this way by
The real meaning of field in tables of data, while by 50/2+60/2, can calculate 55, in this way in a manner of fractionation into
The hiding function of row；For another example, 5 and 11 (55 and 1 cannot be split as) can be split as by 55,5*11=55 is also just restored
Original 55.
In such manner, it is possible to mention the safety of data.
Preferably, unmanned plane provided herein includes: main body rack, and multiple spirals on main body rack are arranged in
The support frame of main body rack lower part is arranged in paddle, and the processing module inside main body rack is arranged in, and support frame circumference is arranged in
Inflator, infrared camera and inflatable air cushion, and the balloon suspension portion on main body rack top is set；Processing module and inflator
It is electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
It is, unmanned plane provided herein, can carry out inflatable air cushion when unmanned plane rapid decrease
Inflation reduces the damage of unmanned plane in this way, can then mitigate impact force when unmanned plane landing.Meanwhile it is provided herein
Unmanned plane is also provided with balloon suspension portion, and balloon can be set in portion in balloon suspension, rushing when can also mitigate unmanned plane landing
Hit power.It can also be and be flushed with hydrogen gas in balloon to assist unmanned plane is more convenient to suspend and rise in the sky.
It is, balloon suspension portion includes connector and balloon, the both ends of connector in unmanned plane provided herein
It is connected respectively with balloon and main body rack；Hydrogen or nitrogen or air are provided in balloon.
In order to avoid influencing the normal flight of unmanned plane, it can also be and just balloon is inflated when needed.
It is, unmanned plane provided herein further includes the inflation gas tank being arranged in main body rack, gas tank is inflated
It is internally provided with compression hydrogen or compressed nitrogen, the gas outlet for inflating gas tank is connected with the air inlet of balloon；Inflation calculates mould
Block and inflation gas tank are electrically connected；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters floating state and fills
Gas inside gas gas tank.
In above scheme mainly unmanned plane be in hovering in the state of, balloon is inflated, with by balloon come
Achieve the purpose that unmanned plane is helped to suspend in the sky.If connector is flexible connecting member (as tightrope is easy to happen deformation
Material), then it is typically only capable to enough in the state that unmanned plane suspends using the balloon for being filled with hydrogen or nitrogen, this is mainly examined
When considering state of the unmanned plane in movement, if connector is flexible connecting member, by the effect of inertia, balloon and main body
Between can occur opposite displacement, and then balloon is easy to collide with propeller or flexible connecting member is easy and spiral
Paddle collides, and then the failure of balloon suspension portion or propeller is caused to be damaged, this will lead to the damage of unmanned plane.
It is corresponding, if can be if connector is rigid connector (material of deformation being less likely to occur, such as metal tube, metallic rod)
Balloon can be used under any state.
In turn, it is preferred that connector is rigid connector；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters state of flight and fills
Gas inside gas gas tank.
In practical operation, mainly there are two effects for the balloon full of hydrogen or nitrogen, reduce the revolving speed of propeller respectively,
The energy consumption (mainly in floating state and propradation) of reduction system, and reduce unmanned plane and damaged in landing by shock
Bad degree (mainly in improper landing, when such as falling), therefore, the specifically used mode of balloon can regard specific use
Scene determines.
That is, can be only inflated when unmanned plane falls to balloon when electricity abundance, to reduce nobody
Machine is hit in landing and the degree damaged.Even if connecting balloon using rigid connector, i.e., this is mainly considered
Balloon or connector is set to will not influence flight, it is also possible to will lead to other accidents and occur, for example balloon or connector can be hit
To other objects (such as tree or flying bird).In turn, unmanned plane provided herein further includes power supply module, power supply module point
It is not electrically connected, and is used for inflation computing module, propeller and inflating air with inflation computing module, propeller, inflation gas tank
Tank power supply；
Computing module is inflated, is also used to detect the remaining capacity of power supply module, and works as remaining capacity and is lower than preset threshold, and
When the distance between unmanned plane and target location are greater than preset threshold, driving inflation gas tank is filled with inside inflation gas tank into balloon
Gas；
And inflation computing module, it is also used to be greater than preset threshold when remaining capacity, and normal acceleration is more than predetermined threshold
When value, driving inflation gas tank is filled with the gas inside inflation gas tank into balloon.
Preferably, unmanned plane is also used to be carried out as follows automatic charging:
Preferably, processing module includes automatic charging module；
Automatic charging module drives for detecting the remaining capacity of power supply module, and when remaining capacity is lower than preset threshold
Dynamic unmanned plane flies towards wireless charging stake, and is charged by wireless charging stake to power supply module.
Specifically, infrared camera includes:
Fuselage in hollow columnar and the camera lens positioned at front fuselage；
The cross section of the roof of fuselage is in arc-shaped, and protrudes towards external fuselage；
The top of camera lens is provided with weather shield, and one end and the fuselage of weather shield are detachably connected, and the other end is directed away from machine
The direction of body extends；
Weather shield is telescopic curved form plate；
Fan is provided between weather shield and camera lens, fan is detachably connected with weather shield, the blowing direction court of fan
To camera lens；
Side of the camera lens far from fuselage is also vertically arranged with the protective net for being cross-woven and being formed by cable, and the diameter of cable is small
In 0.5 millimeter, the distance between equidirectional two adjacent cables are greater than 2 millimeters, and less than 8 millimeters.
From the point of view of specific, this shape of cuboid, cylindrical body is can be set into fuselage, no matter fuselage global shape, is
So that the top of fuselage is not will form ponding, the roof of fuselage should be set to curved surface, that is, fuselage roof along its length
It is arc-shaped for spending the cross section in direction, and the roof of fuselage is directed towards external fuselage protrusion.
Weather shield should be set on camera lens top simultaneously, be directly fallen on the eyeglass of camera lens to avoid rainwater.In view of gear
If rain plate is too long, the shooting of image will affect.Therefore, weather shield can be set to tensile form, it is preferable in weather
When, weather shield can be shunk, or will be disassembled with weather shield slave；When rainfall is larger, then
To the limit by weather shield elongation, to greatest extent by weather shield come rain cover.
Weather shield is usually to block the rainwater directly fallen on camera lens by top, but when rainfall and larger wind speed,
Weather shield is then difficult to block whole rainwater, it is contemplated that this kind of situation can be vertically arranged in camera lens far from the side of fuselage
The protective net formed is cross-woven by cable.If rainwater has been fallen on protective net, it would not also be then passed through protective net and fall in
On eyeglass.Cable in view of forming protective net excessively slightly will block the light entered in camera lens, therefore cable is straight
Diameter should be less than 0.5 millimeter.The hole that intersects to form of cable cannot excessive (the excessive rainwater that will lead to falls on mirror across hole simultaneously
On piece), can not too small (influence light enter in camera lens), therefore, the distance between two adjacent cables are greater than 2 millis
Rice, and less than 8 millimeters.
Although rainwater can be avoided to fall on eyeglass to a certain extent by setting protective net and weather shield, work as rainwater mistake
When big, still may there is few rainwater to fall on eyeglass, it is contemplated that this kind of situation can also weather shield and camera lens it
Between fan is set, the rainwater fallen on eyeglass is dispelled as soon as possible by fan, the rainwater fallen on eyeglass can be made as soon as possible
It is slid from eyeglass, and the water wave that rainwater leaves can also dispel as soon as possible, and then improves the quality of camera shooting.
In order to improve the property easy to use of weather shield, weather shield can be set to automatically controlled flexible form, specifically,
Weather shield includes a side opening, and the first hollow plate, and is socketed in the first plate by the opening of the first plate
Second plate, driving motor and automatic switch；First plate and the second plate are in tabular；
First plate is detachably connected with fuselage；
Driving motor, for after receiving the issued driving signal of automatic switch, the second plate of driving to pass through opening
The first plate is stretched out, to be directed away from the direction movement of fuselage, or the second plate of driving passes through opening the first plate of income.
Wherein, the first plate and the second plate are preferably metal material.
When in view of using, infrared camera is likely to be under more atrocious weather situation and works, from the angle of user
The change of the possible imperceptible weather conditions of degree, but in fact, the change of this weather conditions is very serious to affect recording
The acquisition of picture.Therefore, it automatically to stretch out weather shield, that is, can be opened automatically in such a way that automatic controller is set
Closing includes the vibrating sensor and vibration comparator that fuselage top wall outer surface is arranged in；Vibrating sensor, vibration comparator and drive
Dynamic motor sequence is electrically connected；
Comparator is vibrated, for comparing the big of the amplitude of vibrating sensor signal generated and the amplitude of standard signal
It is small, and when the amplitude of vibrating sensor signal generated is greater than the amplitude of standard signal, generate driving signal.
Certainly, the driving signal of generation can be driving motor by the second plate stretch out the first plate, can also be by second
Plate is taken in the first plate.When actual use, vibrating sensor can fall on the upper table of fuselage in rain or sand and dust
Transducing signal is generated when face, in order to which subsequent vibration comparator is handled.
Further, further protective net can also be transformed, i.e., protective net is diamond shape mesh sheet, and the diamond shape of protective net
The long-diagonal in hole is parallel with gravity vertical.
By the setting of above-mentioned protective net, can the more convenient rainwater by protective net be directed to outside.Wherein, water chestnut
The long-diagonal in shape hole is parallel with gravity vertical (referring to line of the physics with the earth's core), can make rainwater as early as possible along the net of protective net
Line glides (cable and the angle of gravity vertical are acute angle at this time, and rainwater is larger along the component of gravity direction).
Since protective net is easy to be poured by water, the problem of in order to avoid getting rusty, anti-corrosion can be coated on the surface of protective net
Lose layer.
Unmanned plane provided herein further include: buffering stand, the shrinking connecting-rod of strip, circumference blade, central leaf
Piece, air draught blade and multiple jet cylinders；The main body rack includes first for being cascading, and being interconnected from the bottom to top
Grade frame, second level frame and third level frame, the first order frame, second level frame and third level frame are in shape phase
Same is cylindric, and diameter is sequentially increased；The first order frame, second level frame and third level frame coaxial line；The place
It manages module to be arranged in the third level frame, the central vane is located at the top of the third level frame, the air draught leaf
Piece is located at the first order lower portion, and the central vane and the air draught blade pass through different transmission shafts and institute respectively
State the output end electrical connection of drive module；The air inlet of the jet cylinder is connected with the inside of the third level frame, multiple
The jet cylinder is looped around the upper surface of the third level frame；
The buffering stand includes multiple support legs, and multiple support legs are evenly distributed on the lower surface of first order frame, often
A support leg is Z-shaped.Support leg includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third
Connecting rod sequence first place connects, to form Z-type.The upper surface of first connecting rod is fixedly connected in the lower surface of first order frame；Second
The head end of connecting rod and the tail end of first connecting rod are by resetting connector connection；The head end of third connecting rod and the tail end of second connecting rod are logical
Cross the connection of reset connector；The side of the tail end of third connecting rod is provided with the balanced support wing, and the lower surface of the third connecting rod is equal
Even is provided with multiple support contacts.The balanced support wing is two, and in netted, and two balanced support wings are separately positioned on the
The two sides of three-link along its length；The lower surface of the balanced support wing is provided with the support chip of ellipsoid planar, the support chip
Lower surface be provided with and post cushion.The support contact includes in containing groove, elastic support points and connection containing groove
The elastic supporting member for supporting optical member of wall and elastic support points；Elastic supporting member for supporting optical member one end is connect with elastic support points, and the other end passes through multiple respectively
Resilient support section is connect with the inner wall of containing groove.
By setting support contact and balance braced wing, enables unmanned plane when landing or the when of falling subtracts
The dynamics gently to fall, and then preferably guarantee the stabilization of unmanned plane and complete.
Preferably, protective net is aluminum alloy material.
Present invention also provides a kind of UAV system, including unmanned plane and earth station；Unmanned plane and earth station remotely lead to
News connection；Unmanned plane is used to execute corresponding movement according to method as the aforementioned.
This application provides a kind of unmanned plane working methods of A1., comprising:
Unmanned plane during according to set flight line, clap predetermined direction by infrared camera by unmanned plane
According to obtain the first infrared photograph；
Unmanned plane extracts the highlight regions in the first infrared photograph；
Unmanned plane calculates the area of each highlight regions in the first infrared photograph；
Unmanned plane calculates the quantity that area in the first infrared photograph is more than the highlight regions of predetermined threshold；
If the area of at least one highlight regions is greater than the number of preset threshold or area more than the highlight regions of predetermined threshold
Amount is greater than preset threshold, then unmanned plane detects the distance between unmanned plane and infrared target by infrared distance measuring device；
If the distance between unmanned plane and infrared target are more than preset threshold, accused according to rudimentary alarm mode
It is alert.
A2. method according to a1, predetermined direction are the preceding line directions of unmanned plane.
A3. method according to a1 is pressed if the distance between step unmanned plane and infrared target are more than preset threshold
Carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, flash lamp operation is driven.
A4. method according to a1 is pressed if the distance between step unmanned plane and infrared target are more than preset threshold
Carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, treble audio is played.
A5. method according to a1 is pressed if the distance between step unmanned plane and infrared target are more than preset threshold
Carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, current time is obtained；If current time position
In in target time section, then flash lamp operation is driven；If current time is not located in target time section, treble audio is played.
A6. method according to a1 is pressed if the distance between step unmanned plane and infrared target are more than preset threshold
Carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, the bright of unmanned plane current environment is obtained
Degree；If the brightness of unmanned plane current environment is less than preset threshold value, flash lamp operation is driven；If unmanned plane is presently in
The brightness of environment is greater than preset threshold value, then plays treble audio.
A7. method according to a1, step unmanned plane by infrared distance measuring device detect unmanned plane and infrared target it
Between distance include:
According to relative position of the highlight regions in the first infrared photograph, rotational angle is calculated；
The measurement angle of infrared distance measuring device is adjusted according to rotational angle；
The distance between unmanned plane and infrared target are detected by infrared distance measuring device.
A8. method according to a1, after step is alerted according to rudimentary alarm mode, further includes:
Unmanned plane again takes pictures to predetermined direction by infrared camera, to obtain the second infrared photograph；
Unmanned plane extracts the highlight regions in the second infrared photograph；
Unmanned plane judge the highlight regions in the first infrared photograph shape whether the highlight regions with the second infrared photograph
Shape it is identical；If they are the same, then it is alerted using advanced alarm mode.
A9. the method according to A8 judges whether the area of the highlight regions of the second infrared photograph is small if not identical
In preset threshold value, if being less than, alarm is terminated.
A10. the method according to A8, further includes following steps:
Unmanned plane during according to set flight line, unmanned plane pass through in real time digital camera to predetermined direction into
Row is taken pictures, to obtain RGB photo；
Unmanned plane extracts the foreground image in RGB photo；
Unmanned plane calculates the shape feature of foreground image and the area of unmanned plane calculating foreground image；
If the shape feature of foreground image meets preset requirement, and the area of foreground image is more than scheduled threshold value, then
Unmanned plane is alarmed；
If the shape feature of foreground image does not meet preset requirement, and the area of foreground image is more than scheduled threshold value,
Then unmanned plane is by foreground image and/or RGB photo upload to server.
A11. the method according to A10, further includes: extract the profile of foreground image, and by the profile extracted and mark
Quasi- profile compares, the foreground picture if the similarity of the profile and some nominal contour that extract is more than scheduled threshold value
The shape feature of picture meets preset requirement.
A12. the method according to A10, further includes:
The profile extracted is carried out with nominal contour it is be overlapped, with the overlay region of the profile and nominal contour that are extracted
Domain and Non-overlapping Domain；
The overlapping region ratio of Non-overlapping Domain and overlapping region is calculated, if overlapping region ratio is less than predetermined threshold,
Then the shape feature of foreground image meets preset requirement.
A13. the method according to A10, step unmanned plane is by foreground image and/or RGB photo upload to server
Include:
The practical network speed value of unmanned machine testing current video transmission channel；
If the practical network speed value in transmission of video channel is more than preset threshold, unmanned plane shoots current environment, with
Ambient video is obtained, and ambient video is sent by transmission of video channel to server；
If the practical network speed value in transmission of video channel is less than preset threshold, unmanned plane and server establish the first safety respectively
Channel, the second exit passageway；
Foreground image is packed into the first data packet by unmanned plane, and first data packet is stored in local；
RGB photo is packed into the second data packet by unmanned plane, and second data packet is stored in local；
Unmanned plane measures the practical network speed value of the first exit passageway, the second exit passageway respectively；
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is big
In preset threshold, then unmanned plane adjusts point of the foreground image in the first data packet according to the practical network speed value of the first exit passageway
Resolution, and, unmanned plane adjusts the resolution of the RGB photo in the second data packet according to the practical network speed value of the second exit passageway
Rate；Also, unmanned plane passes through the first exit passageway and the second exit passageway respectively and sends the first data packet and second to server
Data packet.
A14. the method according to A13, further includes:
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is small
In preset threshold, then unmanned plane is sent the first data packet and the first Crypted password to server by the first exit passageway；If
Receiving the first verifying password that server returns, then unmanned plane verifies the first verifying password, if being verified, makes
It is encrypted with the first corresponding the second data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The second data packet by the second exit passageway to server send.
A15. the method according to A13, further includes:
If the practical network speed value of the second exit passageway is greater than preset threshold, and, the practical network speed value of the first exit passageway is small
In preset threshold, then unmanned plane is sent the second data packet and the second Crypted password to server by the second exit passageway；If
Receiving the second verifying password that server returns, then unmanned plane verifies the second verifying password, if being verified, makes
It is encrypted with the second corresponding the first data packet of encryption secret key pair of verifying password, and after being encrypted after the predetermined time
The first data packet by the first exit passageway to server send.
A16. the method according to A13, further includes:
If the practical network speed value of the first exit passageway is less than in preset threshold, and, the practical network speed value of the second exit passageway
Less than preset threshold, then the first data packet and the second data packet are maintained in local by unmanned plane, and pass through short range transmission chain
First data packet and the second data packet are saved place to nearest data and sent by road.
A17. the method according to A10, step unmanned plane is by foreground image and/or RGB photo upload to server
Include:
Foreground image/RGB photo is carried out fragmentation processing by unmanned plane, obtains first group of fragmentation data and second group broken
Piece data, and obtain data rule of combination；Herein, only first group of fragmentation data and second group of fragmentation data are according to number
After combining according to rule of combination, foreground image/RGB photo can be formed；
First group of fragmentation data is uploaded to first server by unmanned plane, and, second group of fragmentation data is uploaded
It is sent to second server, and by data rule of combination to scheduled user terminal.
A18. the method according to A10, unmanned plane include: main body rack, and multiple spirals on main body rack are arranged in
The support frame of main body rack lower part is arranged in paddle, and the processing module inside main body rack is arranged in, and support frame circumference is arranged in
Inflator, infrared camera and inflatable air cushion, and the balloon suspension portion on main body rack top is set；Processing module and inflator
It is electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
A19. the method according to A13, further includes:
Unmanned plane sends the first upload request to the first fragment server, with receive that the first fragment server is returned the
One verification information；
Unmanned plane sends the second upload request to the second fragment server, with receive that the second fragment server is returned the
Two verification informations；
Unmanned plane respectively verifies the first verification information and the second verification information；
If the first verification information and the second verification information are verified, unmanned plane carries out foreground image/RGB photo
Fragmentation processing, obtains first group of fragmentation data, second group of fragmentation data and data rule of combination；Only first group of fragment
After changing data and second group of fragmentation data according to the combination of data rule of combination, foreground image/RGB photo can be formed；
Unmanned plane is encrypted using first group of fragmentation data of encryption secret key pair corresponding to the first verification information, and
It is encrypted using second group of fragmentation data of encryption secret key pair corresponding to the second verification information；
Encrypted first group of fragmentation data is uploaded to first server by unmanned plane, and, by encrypted second
Group fragmentation data is uploaded to second server, and data rule of combination is sent to scheduled user terminal.
A20. the method according to A19, unmanned plane include: main body rack, and multiple spirals on main body rack are arranged in
The support frame of main body rack lower part is arranged in paddle, and the processing module inside main body rack is arranged in, and support frame circumference is arranged in
Inflator, infrared camera and inflatable air cushion, and the balloon suspension portion on main body rack top is set；Processing module and inflator
It is electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
A21. the method according to A20, balloon suspension portion include connector and balloon, the both ends of connector respectively with gas
Ball is connected with main body rack；Hydrogen or nitrogen or air are provided in balloon.
A22. the method according to A21, unmanned plane further include the inflation gas tank being arranged in main body rack, inflate gas tank
It is internally provided with compression hydrogen or compressed nitrogen, the gas outlet for inflating gas tank is connected with the air inlet of balloon；Inflation calculates mould
Block and inflation gas tank are electrically connected；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters floating state and fills
Gas inside gas gas tank；
Computing module is inflated, is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters state of flight and fills
Gas inside gas gas tank；
Unmanned plane further includes power supply module, and power supply module electrically connects with inflation computing module, propeller, inflation gas tank respectively
It connects, and for powering to inflation computing module, propeller and inflation gas tank；
Computing module is inflated, is also used to detect the remaining capacity of power supply module, and works as remaining capacity and is lower than preset threshold, and
When the distance between unmanned plane and target location are greater than preset threshold, driving inflation gas tank is filled with inside inflation gas tank into balloon
Gas；
And inflation computing module, it is also used to be greater than preset threshold when remaining capacity, and normal acceleration is more than predetermined threshold
When value, driving inflation gas tank is filled with the gas inside inflation gas tank into balloon.
A23. the method according to A22, infrared camera include:
Fuselage in hollow columnar and the camera lens positioned at front fuselage；
The cross section of the roof of fuselage is in arc-shaped, and protrudes towards external fuselage；
The top of camera lens is provided with weather shield, and one end and the fuselage of weather shield are detachably connected, and the other end is directed away from machine
The direction of body extends；
Weather shield is telescopic curved form plate；
Fan is provided between weather shield and camera lens, fan is detachably connected with weather shield, the blowing direction court of fan
To camera lens；
Side of the camera lens far from fuselage is also vertically arranged with the protective net for being cross-woven and being formed by cable, and the diameter of cable is small
In 0.5 millimeter, the distance between equidirectional two adjacent cables are greater than 2 millimeters, and less than 8 millimeters.
A24. the method according to A23, camera lens top are provided with weather shield.
A25. the method according to A23,
Weather shield includes a side opening, and the first hollow plate, and is socketed in first by the opening of the first plate
The second plate, driving motor and automatic switch in plate；First plate and the second plate are in tabular；
First plate is detachably connected with fuselage；
Driving motor, for after receiving the issued driving signal of automatic switch, the second plate of driving to pass through opening
The first plate is stretched out, to be directed away from the direction movement of fuselage, or the second plate of driving passes through opening the first plate of income.
A26. the method according to A25, the first plate and the second plate are metal material.
A27. the method according to A25, automatic switch include be arranged in fuselage top wall outer surface vibrating sensor and
Vibrate comparator；Vibrating sensor, vibration comparator and driving motor sequence are electrically connected；
Comparator is vibrated, for comparing the big of the amplitude of vibrating sensor signal generated and the amplitude of standard signal
It is small, and when the amplitude of vibrating sensor signal generated is greater than the amplitude of standard signal, generate driving signal.
A28. the surface of the method according to A27, protective net is coated with corrosion-resistant coating.
A29. the method according to A28, protective net are aluminum alloy material.
Present invention also provides a kind of UAV system of B., including unmanned plane and earth station；Unmanned plane and earth station are long-range
Communication connection；Unmanned plane is used to execute corresponding movement according to the described in any item methods of such as A1-A29.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (30)
1. a kind of unmanned plane working method characterized by comprising
Unmanned plane during according to set flight line, take pictures to predetermined direction by infrared camera by unmanned plane,
To obtain the first infrared photograph；
Unmanned plane extracts the highlight regions in the first infrared photograph；
Unmanned plane calculates the area of each highlight regions in the first infrared photograph；
Unmanned plane calculates the quantity that area in the first infrared photograph is more than the highlight regions of predetermined threshold；
If it is big more than the quantity of the highlight regions of predetermined threshold that the area of at least one highlight regions is greater than preset threshold or area
In preset threshold, then unmanned plane detects the distance between unmanned plane and infrared target by infrared distance measuring device；
If the distance between unmanned plane and infrared target are more than preset threshold, alerted according to rudimentary alarm mode.
2. the method according to claim 1, wherein predetermined direction is the preceding line direction of unmanned plane.
3. the method according to claim 1, wherein if the distance between step unmanned plane and infrared target are more than
Preset threshold, then carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, flash lamp operation is driven.
4. the method according to claim 1, wherein if the distance between step unmanned plane and infrared target are more than
Preset threshold, then carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, treble audio is played.
5. the method according to claim 1, wherein if the distance between step unmanned plane and infrared target are more than
Preset threshold, then carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, current time is obtained；If current time is located at mesh
It marks in the period, then drives flash lamp operation；If current time is not located in target time section, treble audio is played.
6. the method according to claim 1, wherein if the distance between step unmanned plane and infrared target are more than
Preset threshold, then carrying out alarm according to rudimentary alarm mode includes:
If the distance between unmanned plane and infrared target are more than preset threshold, the brightness of unmanned plane current environment is obtained；
If the brightness of unmanned plane current environment is less than preset threshold value, flash lamp operation is driven；If unmanned plane is presently in ring
The brightness in border is greater than preset threshold value, then plays treble audio.
7. the method according to claim 1, wherein step unmanned plane detects unmanned plane by infrared distance measuring device
The distance between infrared target includes:
According to relative position of the highlight regions in the first infrared photograph, rotational angle is calculated；
The measurement angle of infrared distance measuring device is adjusted according to rotational angle；
The distance between unmanned plane and infrared target are detected by infrared distance measuring device.
8. the method according to claim 1, wherein after step is alerted according to rudimentary alarm mode,
Further include:
Unmanned plane again takes pictures to predetermined direction by infrared camera, to obtain the second infrared photograph；
Unmanned plane extracts the highlight regions in the second infrared photograph；
Unmanned plane judge the highlight regions in the first infrared photograph shape whether the shape with the highlight regions of the second infrared photograph
Shape is identical；If they are the same, then it is alerted using advanced alarm mode.
9. according to the method described in claim 8, it is characterized in that, judging the highlight bar of the second infrared photograph if not identical
Whether the area in domain is less than preset threshold value, if being less than, terminates alarm.
10. according to the method described in claim 8, it is characterized in that, further including following steps:
During according to set flight line, unmanned plane passes through digital camera in real time and claps predetermined direction unmanned plane
According to obtain RGB photo；
Unmanned plane extracts the foreground image in RGB photo；
Unmanned plane calculates the shape feature of foreground image and the area of unmanned plane calculating foreground image；
If the shape feature of foreground image meets preset requirement, and the area of foreground image is more than scheduled threshold value, then nobody
Machine is alarmed；
If the shape feature of foreground image does not meet preset requirement, and the area of foreground image is more than scheduled threshold value, then without
It is man-machine by foreground image and/or RGB photo upload to server.
11. according to the method described in claim 10, it is characterized by further comprising: extract foreground image profile, and will extract
To profile compared with nominal contour, if the similarity of the profile extracted and some nominal contour is more than scheduled
The shape feature of threshold value then foreground image meets preset requirement.
12. according to the method described in claim 10, it is characterized by further comprising:
The profile extracted is carried out with nominal contour it is be overlapped, with the overlapping region of profile and nominal contour extracted and
Non-overlapping Domain；
The overlapping region ratio of Non-overlapping Domain and overlapping region is calculated, if overlapping region ratio is less than predetermined threshold, before
The shape feature of scape image meets preset requirement.
13. according to the method described in claim 10, it is characterized in that, step unmanned plane is by foreground image and/or RGB photo
Being uploaded to server includes:
The practical network speed value of unmanned machine testing current video transmission channel；
If the practical network speed value in transmission of video channel is more than preset threshold, unmanned plane shoots current environment, to obtain
Ambient video, and ambient video is sent by transmission of video channel to server；
If the practical network speed value in transmission of video channel is less than preset threshold, it is logical that unmanned plane and server establish the first safety respectively
Road, the second exit passageway；
Foreground image is packed into the first data packet by unmanned plane, and first data packet is stored in local；
RGB photo is packed into the second data packet by unmanned plane, and second data packet is stored in local；
Unmanned plane measures the practical network speed value of the first exit passageway, the second exit passageway respectively；
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is greater than pre-
If threshold value, then unmanned plane adjusts the resolution of the foreground image in the first data packet according to the practical network speed value of the first exit passageway
Rate, and, unmanned plane adjusts the resolution ratio of the RGB photo in the second data packet according to the practical network speed value of the second exit passageway；
Also, unmanned plane passes through the first exit passageway and the second exit passageway respectively and sends the first data packet and the second data to server
Packet.
14. according to the method for claim 13, which is characterized in that further include:
If the practical network speed value of the first exit passageway is greater than preset threshold, and, the practical network speed value of the second exit passageway is less than pre-
If threshold value, then unmanned plane is sent the first data packet and the first Crypted password to server by the first exit passageway；If receiving
To server return first verifying password then unmanned plane to first verifying password verify, if being verified, use with
First corresponding the second data packet of encryption secret key pair of verifying password is encrypted, and will be after the predetermined time by encrypted the
Two data packets are sent by the second exit passageway to server.
15. according to the method for claim 13, which is characterized in that further include:
If the practical network speed value of the second exit passageway is greater than preset threshold, and, the practical network speed value of the first exit passageway is less than pre-
If threshold value, then unmanned plane is sent the second data packet and the second Crypted password to server by the second exit passageway；If receiving
To server return second verifying password then unmanned plane to second verifying password verify, if being verified, use with
Second corresponding the first data packet of encryption secret key pair of verifying password is encrypted, and will be after the predetermined time by encrypted the
One data packet is sent by the first exit passageway to server.
16. according to the method for claim 13, which is characterized in that further include:
If the practical network speed value of the first exit passageway is less than in preset threshold, and, the practical network speed value of the second exit passageway is less than
Preset threshold, then the first data packet and the second data packet are maintained in local by unmanned plane, and passing through short range transmission link will
First data packet and the second data packet save place to nearest data and send.
17. according to the method described in claim 10, it is characterized in that, step unmanned plane is by foreground image and/or RGB photo
Being uploaded to server includes:
Foreground image/RGB photo is carried out fragmentation processing by unmanned plane, obtains first group of fragmentation data and second group of fragmentation
Data, and obtain data rule of combination；Herein, only first group of fragmentation data and second group of fragmentation data are according to data group
After normally combining, foreground image/RGB photo can be formed；
First group of fragmentation data is uploaded to first server by unmanned plane, and, second group of fragmentation data is uploaded to
Two servers, and data rule of combination is sent to scheduled user terminal.
18. according to the method described in claim 10, setting is in main body rack it is characterized in that, unmanned plane includes: main body rack
On multiple propellers, the support frame of main body rack lower part is set, the processing module inside main body rack is set, setting exists
Inflator, infrared camera and the inflatable air cushion of support frame circumference, and the balloon suspension portion on main body rack top is set；Processing
Module and inflator are electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
Computing module is inflated, for when normal acceleration is more than predetermined threshold, driving inflator to be inflated inflatable air cushion.
19. according to the method for claim 13, which is characterized in that further include:
Unmanned plane sends the first upload request to the first fragment server, and first returned with receiving the first fragment server is tested
Demonstrate,prove information；
Unmanned plane sends the second upload request to the second fragment server, and second returned with receiving the second fragment server is tested
Demonstrate,prove information；
Unmanned plane respectively verifies the first verification information and the second verification information；
If the first verification information and the second verification information are verified, foreground image/RGB photo is carried out fragment by unmanned plane
Change processing, obtains first group of fragmentation data, second group of fragmentation data and data rule of combination；Only first group of fragmentation number
After combining with second group of fragmentation data according to data rule of combination, foreground image/RGB photo can be formed；
Unmanned plane is encrypted using first group of fragmentation data of encryption secret key pair corresponding to the first verification information, and is used
Second group of fragmentation data of encryption secret key pair corresponding to second verification information is encrypted；
Encrypted first group of fragmentation data is uploaded to first server by unmanned plane, and, it is broken by encrypted second group
Piece data are uploaded to second server, and data rule of combination is sent to scheduled user terminal.
20. according to the method for claim 19, which is characterized in that unmanned plane includes: main body rack, is arranged in main body rack
On multiple propellers, the support frame of main body rack lower part is set, the processing module inside main body rack is set, setting exists
Inflator, infrared camera and the inflatable air cushion of support frame circumference, and the balloon suspension portion on main body rack top is set；Processing
Module and inflator are electrically connected；
Processing module includes three-axis gyroscope and inflation computing module；
Three-axis gyroscope, for detecting the normal acceleration of main body rack by three-axis gyroscope；
The inflation computing module, for when normal acceleration is more than predetermined threshold, driving inflator to carry out inflatable air cushion
Inflation.
21. according to the method for claim 20, which is characterized in that balloon suspension portion includes connector and balloon, connector
Both ends be connected respectively with balloon and main body rack；Hydrogen or nitrogen or air are provided in balloon.
22. according to the method for claim 21, which is characterized in that unmanned plane further includes the inflation being arranged in main body rack
Gas tank, inflation gas tank are internally provided with compression hydrogen or compressed nitrogen, and the gas outlet for inflating gas tank is connected with the air inlet of balloon
It is logical；The inflation computing module and inflation gas tank are electrically connected；
The inflation computing module is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters floating state and fills
Gas inside gas gas tank；
The inflation computing module is also used to that inflation gas tank is driven to be filled with into balloon when unmanned plane enters state of flight and fills
Gas inside gas gas tank；
Unmanned plane further includes power supply module, and power supply module electrically connects with the inflation computing module, propeller, inflation gas tank respectively
It connects, and for powering to the inflation computing module, propeller and inflation gas tank；
The inflation computing module is also used to detect the remaining capacity of power supply module, and works as remaining capacity and be lower than preset threshold, and
When the distance between unmanned plane and target location are greater than preset threshold, driving inflation gas tank is filled with inside inflation gas tank into balloon
Gas；
And the inflation computing module, it is also used to be greater than preset threshold when remaining capacity, and normal acceleration is more than predetermined threshold
When value, driving inflation gas tank is filled with the gas inside inflation gas tank into balloon.
23. according to the method for claim 22, which is characterized in that infrared camera includes:
Fuselage in hollow columnar and the camera lens positioned at front fuselage；
The cross section of the roof of fuselage is in arc-shaped, and protrudes towards external fuselage；
The top of camera lens is provided with weather shield, and one end and the fuselage of weather shield are detachably connected, and the other end is directed away from fuselage
Direction extends；
Weather shield is telescopic curved form plate；
Fan is provided between weather shield and camera lens, fan is detachably connected with weather shield, and the blowing direction of fan is towards mirror
Head；
Side of the camera lens far from fuselage is also vertically arranged with the protective net for being cross-woven and being formed by cable, and the diameter of cable is less than
0.5 millimeter, the distance between equidirectional two adjacent cables are greater than 2 millimeters, and less than 8 millimeters.
24. according to the method for claim 23, which is characterized in that camera lens top is provided with weather shield.
25. according to the method for claim 23, which is characterized in that weather shield includes a side opening, and the first hollow plate
Material, and the second plate, driving motor and automatic switch in the first plate are socketed in by the opening of the first plate；First plate
Material and the second plate are in tabular；
First plate is detachably connected with fuselage；
Driving motor, for after receiving the issued driving signal of automatic switch, the second plate of driving to be stretched out by opening
First plate, to be directed away from the direction movement of fuselage, or the second plate of driving passes through opening the first plate of income.
26. according to the method for claim 25, which is characterized in that the first plate and the second plate are metal material.
27. according to the method for claim 25, which is characterized in that automatic switch includes that fuselage top wall outer surface is arranged in
Vibrating sensor and vibration comparator；Vibrating sensor, vibration comparator and driving motor sequence are electrically connected；
Comparator is vibrated, for comparing the size of the amplitude of vibrating sensor signal generated and the amplitude of standard signal, and
When the amplitude of vibrating sensor signal generated is greater than the amplitude of standard signal, driving signal is generated.
28. according to the method for claim 27, which is characterized in that the surface of protective net is coated with corrosion-resistant coating.
29. according to the method for claim 28, which is characterized in that protective net is aluminum alloy material.
30. a kind of UAV system, which is characterized in that including unmanned plane and earth station；Unmanned plane and earth station's telecommunication connect
It connects；Unmanned plane is used to execute corresponding movement according to the described in any item methods of such as claim 1-29.
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| CN110647048B (en) * | 2019-09-30 | 2022-12-06 | 青岛海尔科技有限公司 | Alarm execution operation method and device based on intelligent home operation system |
| CN113361326B (en) * | 2021-04-30 | 2022-08-05 | 国能浙江宁海发电有限公司 | Wisdom power plant management and control system based on computer vision target detection |
| CN113920444B (en) * | 2021-09-30 | 2022-12-20 | 泰州蝶金软件有限公司 | Block chain management system for action triggering |
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| WO2015196098A1 (en) * | 2014-06-20 | 2015-12-23 | Lockheed Martin Corporation | Inflatable radar signal device |
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| WO2015196098A1 (en) * | 2014-06-20 | 2015-12-23 | Lockheed Martin Corporation | Inflatable radar signal device |
| CN105807786A (en) * | 2016-03-04 | 2016-07-27 | 深圳市道通智能航空技术有限公司 | UAV automatic obstacle avoidance method and system |
| CN106054930A (en) * | 2016-07-11 | 2016-10-26 | 佛山杰致信息科技有限公司 | Unmanned plane having anaesthesia function and remote tracking system |
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