CN108989745A - A kind of unmanned plane automatic tour inspection system and method - Google Patents
A kind of unmanned plane automatic tour inspection system and method Download PDFInfo
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- CN108989745A CN108989745A CN201810700905.8A CN201810700905A CN108989745A CN 108989745 A CN108989745 A CN 108989745A CN 201810700905 A CN201810700905 A CN 201810700905A CN 108989745 A CN108989745 A CN 108989745A
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- unmanned plane
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- embeded processor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
A kind of unmanned plane automatic tour inspection system and method are related to air vehicle technique field, solve the problems, such as that existing unmanned plane automatic detecting manpower relies on big, eye recognition fatiguability and accuracy is unstable.The system includes: unmanned plane, the embeded processor and controller that are arranged on unmanned plane, unmanned plane is for shooting photo and the photo of shooting being sent to embeded processor and controller, embeded processor obtains calculated result using the weight model calculating photo being loaded into thereon, judges whether calculated result reaches setting value and obtain judging result, according to judging result transmission alarm signal to controller, and controller controls unmanned plane during flying shooting and sends photo, starts embeded processor, the alarm signal that reception embeded processor is sent.The present invention makes inspection reduce manpower dependence and judges more accurately by embeded processor.Corresponding method for inspecting is easy to operate and accuracy of judgement is stablized, and saves manpower, while judging unmanned plane photo quick.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of unmanned plane automatic tour inspection system and method.
Background technique
Industrial unmanned plane is in photovoltaic plant inspection, electric inspection process, the inspection of oil gas refinery, base station patrol checking, forest protection, mining
The fields such as engineering management, highway quick response gradually begin to use, and are in be gradually increasing trend.
When existing unmanned plane carries out inspection, the flight that professional operates unmanned plane is generally required, controls holder side
To the moment observes the picture of passback to judge abnormal conditions.There are manpowers to rely on big, eye recognition fatiguability, accuracy shakiness
The problems such as determining.
Summary of the invention
In order to solve, existing unmanned plane automatic detecting manpower relies on big, eye recognition fatiguability and accuracy is unstable asks
Topic, the present invention provide a kind of unmanned plane automatic tour inspection system and method.
Used technical solution is as follows in order to solve the technical problem by the present invention:
A kind of unmanned plane automatic tour inspection system, including unmanned plane, controller and the embedded processing being arranged on unmanned plane
Device, the unmanned plane are described embedded for shooting photo and the photo of shooting being sent to embeded processor and controller
Processor is used to receive the photo of unmanned plane transmission, photo is calculated using the weight model that is loaded into thereon obtain calculated result,
Judge calculated result whether reach setting value obtain judging result, according to judging result send alarm signal to controller, it is described
Controller for control unmanned plane during flying, control unmanned plane shooting, control unmanned plane send photo, starting embeded processor,
Receive the alarm signal and receive the photo that unmanned plane is sent that embeded processor is sent.
A kind of method for inspecting based on unmanned plane automatic tour inspection system, which comprises the steps of:
S1, embeded processor are loaded into weight model；
S2, controller control unmanned plane during flying to target area；
S3, controller start embeded processor；
S4, controller control unmanned plane shooting；
The photo of shooting is sent to embeded processor by S5, unmanned plane, and embeded processor receives what unmanned plane was sent
Photo；
S6, embeded processor calculate the received photo of institute using weight model and obtain calculated result, and judge to calculate knot
Whether fruit reaches setting value, if it is, embeded processor sends alarm signal to controller, carries out S7, otherwise return S4 or
Controller control unmanned plane flies away from the target area；
S7, controller receive alarm signal and control unmanned plane in target area orbit and shooting, and unmanned plane will be clapped
The photo taken the photograph is sent to controller, and controller receives the photo that unmanned plane is sent.
The beneficial effects of the present invention are:
1, a kind of unmanned plane automatic tour inspection system passes through the embedded processing that can be loaded into weight model and calculate judgement
Device makes inspection reduce manpower and relies on, and without human eye real-time judge, embeded processor judges more accuracy.
2, embeded processor and unmanned plane are controlled by controller, realizes the intelligent operation of this system, reduce manpower
It operates and improves efficiency.
3, a kind of method for inspecting of unmanned plane automatic tour inspection system is easy to operate and accuracy of judgement is stablized, and saves manpower
Labour, while unmanned plane photo is judged quick.
Detailed description of the invention
Fig. 1 is the acquisition weight model flow chart based on a kind of unmanned plane automatic tour inspection system and method.
Fig. 2 is the acquisition unmanned plane real-time monitoring flow chart based on a kind of unmanned plane automatic tour inspection system and method.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
A kind of unmanned plane automatic tour inspection system, including controller, unmanned plane and embeded processor.Unmanned plane has shooting
Function is provided with embeded processor on unmanned plane, and the camera of unmanned plane connects embeded processor, the shooting of unmanned plane camera
Photo be sent to embeded processor and/or controller (photo of shooting can be sent embeded processor by unmanned function,
Controller can be sent to).Embeded processor is used to receive the photo of unmanned plane transmission, and embeded processor can be loaded into weight mould
Type, embeded processor are used to be calculated received photo using the weight model of loading and obtain calculated result, judge calculated result
Whether reach setting value to obtain judging result, send alarm signal according to judging result to controller.Embeded processor according to
Weight model processing photo can identify object or scene in real time, and processing includes calculating and judging.Controller signals connect unmanned plane
And embeded processor, controller are used to start embeded processor, receive alarm signal, reception that embeded processor is sent
The photo that photo, control unmanned plane during flying, the shooting of control unmanned plane and the reception unmanned plane that unmanned plane is sent are sent.Embedded place
The embedded mould group TX series of NVIDIA can be used in reason device.
A kind of unmanned plane automatic tour inspection system further includes the airplane parking area for parking unmanned plane.Airplane parking area can connect control
Device, controller control the cover folding of airplane parking area, the motor operating of airplane parking area and switch of charging unit etc..On airplane parking area
Equipped with the charging unit to charge for unmanned plane and for the more changing device of unmanned plane replacement battery.Airplane parking area can be used to stop automatically
Machine level ground, autostop level ground have for unmanned plane automatic charging and move certainly the function of unmanned plane battery.
A kind of unmanned plane automatic tour inspection system passes through the embeded processor that can be loaded into weight model and calculate judgement,
Make inspection reduce manpower to rely on, without human eye real-time judge, embeded processor judges more accuracy.It is controlled by controller
Embeded processor and unmanned plane realize the intelligent operation of this system, reduce manual operation and improve efficiency.
Based on a kind of method for inspecting of unmanned plane automatic tour inspection system, including obtain weight model and unmanned plane real-time monitoring
Two big steps.Unmanned plane real-time monitoring is based on known weight model, and the embeded processor of UAV flight can carry out depth
The automated reasoning for spending neural network can identify the object and scene on ground by being loaded into trained weight model in real time.It should
Method is easy to operate and accuracy of judgement is stablized, and saves manual labor, while judging unmanned plane photo quick.
One, obtain weight model process as shown in Figure 1, are as follows:
It determines the type of data set, for example to detect or monitor the water pollution in river, risk of forest fire, oil field leakage, exhaust gas
Discharge of wastewater, disaster search and rescue, pest and disease damage early warning etc., present embodiment is for detecting a certain region and whether have pest and disease damage.
Staff's manual control unmanned plane or other flight instruments with shooting function are gone to pest and disease damage region,
Pest and disease damage region is reference zone.
S0.1 obtains pictures: control flight instruments carry out under multi-angle, more times, more weather conditions water pollution region
Shooting, shooting obtain pictures.
S0.2 mark strengthens pictures and obtains data set: it is after flight instruments shooting that the picture of shooting is locally downloading, than
It such as downloads on computer, staff is manually labeled and strengthens to the region of water pollution in picture, after marking and strengthening
Obtain data set.The specific object of such as red spider, bollworm, longicorn, the maize leaves with red stain or scene are marked, is strengthened
Using the methods of such as image translation, rotation, mirror image, transformation, brightness change, plus noise.
S0.3 obtains validation data set: data set a part is extracted, as validation data set, data set remaining
Part is used as training dataset, such as in data set 20% data as validation data set.
S0.4 obtains weight model by training: computer carries out depth mind to training dataset using high-performance server
Training through network, obtains weight model.Such as with the MobileNet model or Darknet under TensorFlow frame
Yolo model under frame is trained work, the server that this area video card can be used to accelerate for training, or uses cloud service.
S0.5 verifies weight model: after training, the weight model obtained with validation data set detection verifying, if full
If foot requirement (it is required that can reach a certain degree for convergent), then this weight model is qualified, can be applicable to actual scene
In；If being unsatisfactory for requiring, such as not converged or over-fitting, then there are two types of methods, and one is the ginsengs of percentage regulation neural network
It counts (such as adjustment learning rate learning rate and batch size batches of sizes), the deep neural network pair after adjusting parameter
Training dataset is trained work and obtains weight model, i.e., executes S0.4 with the deep neural network after adjusting parameter, then hold
Row S0.5.Another kind is that flight instruments shoot more pictures again and add in pictures, executes S0.2 with the pictures after supplementing
It to S0.5, i.e., is labeled and strengthens as " pictures " in S0.2 using the pictures after supplementing, such as first progress S0.1
When shoot 1000 pictures as pictures, be unsatisfactory for requiring after S0.5 verifying, 200 pictures can be shot again, by 200
Picture and 1000 pictures are put together, this 1200 picture is the pictures after supplement, carry out S0.2 with 1200 pictures.
The weight model met the requirements that S0.5 is obtained is applied in unmanned plane real-time monitoring, is pest and disease damage obtained in present embodiment
Weight model.
Two, unmanned plane real-time monitoring process as shown in Fig. 2, are as follows:
Unmanned plane is standby on airplane parking area.It needs to ensure that unmanned plane electricity is sufficient before the taking off of unmanned plane real-time monitoring.
S1: it is loaded into weight model (i.e. the weight model met the requirements obtained in S0.5) on embeded processor, such as
It is loaded into the weight model of pest and disease damage." the embeded processor loading weight model " of corresponding diagram 2.
S2: controller sends instruction control unmanned plane and takes off, flight to target area --- and it is to be measured whether to have pest and disease damage
Region." unmanned plane during flying to target area " of corresponding diagram 2.
S3: controller starts embeded processor." the starting embeded processor " of corresponding diagram 2.
S4: unmanned plane arrives at target area, and controller transmission shooting instruction controls unmanned plane to unmanned plane and starts to shoot,
Unmanned plane receives and starts the photo in photographic subjects region." the unmanned plane shooting " of corresponding diagram 2.
S5: the photo of shooting is sent to embeded processor by unmanned plane, and embeded processor receives what unmanned plane was sent
Photo." the embeded processor reception photo " of corresponding diagram 2.
S6: the weight model that embeded processor is loaded by it calculates received photo, obtains calculated result, according to meter
It calculates result to judge whether to reach setting value again, according to whether reaching known to setting value whether there is pest and disease damage.Corresponding diagram 2 it is " embedding
Enter formula processor and calculate judgement ".
If calculated result reaches setting value, i.e. judgement finds that specific object or scene are such as found to have the jade of red stain
Meter Ye, then embeded processor sends alarm signal to controller rapidly, carries out S7.
If calculated result does not reach setting value, returns to S4 (such as Fig. 2) or controller control unmanned plane flies away from the target
(this kind of situation is not embodied in Fig. 2) in region.
S7: controller receive alarm signal and control unmanned plane the target area orbit with from multi-angled shooting mesh
Object or target scene are marked, and photo is returned into controller in real time, controller receives the photo that unmanned plane is sent.Corresponding diagram 2
" unmanned plane spiral shooting ".
S8: unmanned plane waits controller to send and instructs in next step.Such as controller control unmanned plane makes a return voyage or flies under
One target area controls unmanned plane and flies away from the target area, terminates the detection of the target area.
Such as occur the maize leaves with red stain in a certain photograph frame, then passing through embeded processor weight model
Calculated result is calculated, judges further according to calculated result, judging result is to reach setting value, and embeded processor sends alarm
Signal is to controller, if it is judged that without specific object or scene, then continuing to shine not reach setting value
The processes such as piece, calculating and judgement or the detection for terminating the region.If it is judged that can be to pass through not reach setting value
The regular hour is set, the still not sent alarm signal of embeded processor, controller do not receive alarm signal after a certain period of time,
Then terminate the detection in the region；The number for the photo that can be received and judge for setting embeded processor, embeded processor
The case where judging result is reaches setting value is still not present when receiving and processing the photo for reaching and setting number or controller does not have still
Alarm signal is received, then terminates the detection in the region；It may be staff's real-time control.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of unmanned plane automatic tour inspection system, including unmanned plane, which is characterized in that further include controller and setting in unmanned plane
On embeded processor, the unmanned plane is for shooting photo and the photo of shooting is sent to embeded processor and control
Device, the embeded processor are used to receive the photo of unmanned plane transmission, calculate photo using the weight model being loaded into thereon
It obtains calculated result, judge whether calculated result reaches setting value and obtain judging result, send alarm signal according to judging result
To controller, the controller is for controlling unmanned plane during flying, the shooting of control unmanned plane, control unmanned plane transmission photo, starting
Embeded processor receives alarm signal and receive the photo that unmanned plane is sent that embeded processor is sent.
2. a kind of unmanned plane automatic tour inspection system as described in claim 1, which is characterized in that further include for parking unmanned plane
Airplane parking area.
3. a kind of unmanned plane automatic tour inspection system as claimed in claim 2, which is characterized in that the airplane parking area is equipped with and is used for
The charging unit of unmanned plane charging and the more changing device that battery is replaced for unmanned plane.
4. based on a kind of method for inspecting of unmanned plane automatic tour inspection system described in any one of claims 1 to 3, feature
It is, includes the following steps:
S1, embeded processor are loaded into weight model；
S2, controller control unmanned plane during flying to target area；
S3, controller start embeded processor；
S4, controller control unmanned plane shooting；
The photo of shooting is sent to embeded processor by S5, unmanned plane, and embeded processor receives the photo that unmanned plane is sent；
S6, embeded processor calculate the received photo of institute using weight model and obtain calculated result, and judge that calculated result is
It is no to reach setting value, if it is, embeded processor sends alarm signal to controller, S7 is carried out, S4 or control are otherwise returned
Device control unmanned plane flies away from the target area；
S7, controller receive alarm signal and simultaneously control unmanned plane in target area orbit and shooting, and unmanned plane is by shooting
Photo is sent to controller, and controller receives the photo that unmanned plane is sent.
5. a kind of method for inspecting of unmanned plane automatic tour inspection system as claimed in claim 4, which is characterized in that after progress S7
Further include the steps that controller control unmanned plane flies away from the target area.
6. a kind of method for inspecting of unmanned plane automatic tour inspection system as claimed in claim 5, which is characterized in that after progress S7
The step of specially controller control unmanned plane make a return voyage or fly to next target area, terminate the detection of the target area.
7. a kind of method for inspecting of unmanned plane automatic tour inspection system as claimed in claim 4, which is characterized in that carry out the S1
Before further include following steps:
Pictures under S0.1, acquisition reference zone multi-angle, more times, more weather conditions；
S0.2, artificial mark pictures and reinforcing pictures, obtain data set；
S0.3, a part of data set is extracted as validation data set；
S0.4, the training for carrying out deep neural network to the data set of rest part obtain weight model；
S0.5, whether met the requirements using validation data set verifying weight model, if it is, carrying out S1, otherwise, carry out S0.6；
The parameter of S0.6, percentage regulation neural network execute S0.4 to S0.5 with the deep neural network after adjusting parameter,
Or obtain the picture of reference zone again and add in pictures, S0.2 to S0.5 is executed with the pictures after supplementing.
8. a kind of method for inspecting of unmanned plane automatic tour inspection system as claimed in claim 7, which is characterized in that described in S0.1
Picture and pictures, which are shot by flight instruments, to be obtained.
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