CN109714577A - Unmanned aerial vehicle control system, the video monitoring Skynet system based on recognition of face - Google Patents
Unmanned aerial vehicle control system, the video monitoring Skynet system based on recognition of face Download PDFInfo
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/30—Aircraft characterised by electric power plants
- B64D27/35—Arrangements for on-board electric energy production, distribution, recovery or storage
- B64D27/353—Arrangements for on-board electric energy production, distribution, recovery or storage using solar cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
- F21V33/0004—Personal or domestic articles
- F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/41—Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/53—Recognition of crowd images, e.g. recognition of crowd congestion
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- G—PHYSICS
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Abstract
Video monitoring Skynet system the present invention relates to a kind of unmanned aerial vehicle control system, based on recognition of face, comprising: airborne processor module, the airborne wireless communication module being connected with airborne processor module and video capture module；The video image that the unmanned aerial vehicle control system is suitable for shoot is communicated by airborne wireless communication module and lamppost wireless communication module, to be sent to cloud computing platform, video monitoring apparatus is suitable for judging whether have human body image in video image, human body image if it exists is then focused the face part in human body image.Realize it is anti-probably, anti-riot purpose, contain terrorist forces.
Description
Technical field
A kind of video monitoring Skynet system the present invention relates to unmanned aerial vehicle control system, based on recognition of face.
Background technique
" skynet monitoring system " (referred to as: Skynet system) is to utilize that largely taking the photograph for the ground such as streets and lanes, indoor and outdoor is arranged in
As head constitutes monitoring network, it is a Xiang Fabao of public security organ's strike crime in the street, is the strong backing of urban public security.
Video monitoring system at present, especially life outdoor videos monitoring system coverage rate are higher and higher, by video monitoring system
It is probably combined with anti-, the evidence of crime that investigation clue can be captured by means such as video images, looks into goods suspect can make to supervise
It controls video camera initiative recognition, forecast, exposure, confirm crime, become passive video recording as initiative alarming, investigator can be helped in magnanimity
Fast and accurately location hint information, shortening cracking of cases time promote cracking of cases efficiency, and can save and be used in video data
The police strength of video surveillance management about 80%.Actively prevent carrying out sabotage and make trouble for " vicious power ".To the maximum extent probably activity is held back cruelly
System is in budding state, and to ensure not meet accident, something terrible happens plays a significant role.
Summary of the invention
A kind of video monitoring intelligence day the object of the present invention is to provide unmanned aerial vehicle control system and based on recognition of face
Net system and its working method improve the distribution model of video monitoring to combine using the lamppost of LED street lamp with video monitoring
It encloses, eliminates monitoring dead angle as far as possible.
In order to solve the above-mentioned technical problems, the present invention provides a kind of Skynet systems, comprising: is distributed in the several of block
The lamppost of LED street lamp is separately installed with the video monitoring apparatus being connected with a control module and lamppost wireless telecommunications on each lamppost
Module；The video monitoring apparatus is suitable for that video image is sent to cloud computing platform by lamppost wireless communication module.It is described
Video monitoring apparatus is suitable for judging whether have human body image in the video image, if it exists human body image, then to the human body
Face part in image is focused.
Face identification system is equipped in cloud computing platform, by the people in the video image from the video monitoring apparatus
Body image carry out recognition of face, with obtained facial image, at the same record the facial image attribute (including obtain image when
Between, place, the position in the video image etc.)；Then the facial image and its attribute transfer recognition of face obtained is extremely
In the database of public security bureau.
Further, camera in warning device and the video monitoring apparatus is additionally provided on the lamppost to be suitable for passing through
Control module control holder makes its steering；The video image that the cloud computing platform is suitable for shooting each video monitoring apparatus carries out
Identification, if it is determined that it is abnormal, then its alarm is controlled by control module；The cloud computing platform is further adapted for setting corresponding video monitoring
Device video image collected mixes line and area-of-interest, when there is object entrance to mix line and area-of-interest, by taking the photograph
As head carries out carrying out track up to the object.
Further, it is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and nobody is installed on the unmanned plane
Machine control system；The unmanned aerial vehicle control system includes: airborne processor module, the airborne nothing being connected with airborne processor module
Line communication module and video capture module；The unmanned aerial vehicle control system is suitable for leading to the video image of shooting by airborne wireless
It interrogates module and lamppost wireless communication module communicates, to be sent to cloud computing platform；When the video monitoring apparatus quilt on a certain lamppost
It blocks or failure, or after losing target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.On the shutdown depressed place
Equipped with the energy sending device for wireless charging, the energy acceptance device for wireless charging, energy are installed on unmanned plane
The power input of sending device is connected with the battery, and energy acceptance device is for filling the on-board batteries on unmanned plane
Electricity.
Another optional scheme is that the shutdown depressed place is equipped with laser emitter, is equipped with photocell, nothing on unmanned plane
Man-machine when being parked on the shutdown depressed place, on laser transmitter projects laser to photocell, photocell is to the airborne electricity on unmanned plane
It charges in pond.
Multi-crystal silicon film solar battery and amorphous silicon thin-film solar cell etc. can be used in photocell, and preferably copper indium selenide is thin
Film battery (abbreviation CIS), polycrystal membrane battery, cadmium sulphide membrane battery, cadmium telluride polycrystalline hull cell, the organic film sun
One of energy battery etc..
The wireless charging device of use can be induction, magnetic field resonance type or radio waves type.Using radio
When waves wireless charging device, energy sending device is microwave launcher, and energy acceptance device is microwave receiving device.Using
Wireless charging standard there are four types of: Qi standard, Power Matters Alliance (PMA) standard, Alliance for
Wireless Power (A4WP) standard, iNPOFi technology.The work of airborne processor module control energy acceptance device.It is described
Middle and upper part, top or the bottom of lamppost are equipped with battery (side in or beyond lamppost can be set in battery)；The rectilinear magnetic suspension
Wind-driven generator and solar photovoltaic assembly by wind-light complementary system to battery (can be nickel-cadmium cell, nickel-metal hydride battery, lithium from
Sub- battery, lead storage battery, lithium iron battery, preferably energy-storage lithium battery, nickel-metal hydride battery) it charges.
Further, the video monitoring apparatus of lamppost takes a target at one, and the target is just far from the prison of the lamppost
When controlling area, the cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target；The unmanned plane
It is additionally provided with the path optimizing system and aircraft power system being connected with airborne processor module；The path optimizing system is suitable for obtaining
The real time data of wind between the building get Ge, and establish air duct net between the building of city；After unmanned plane obtains target position, the path optimization
System is suitable for being flown according to net selection unmanned plane in air duct between the building of city to the optimal path of the target position；The path optimizing system
It include: the map memory module, GPS module and the gyro for detecting unmanned plane during flying posture being connected with airborne processor module
Instrument；Wherein the aircraft power system includes: the horizontal power mechanism and Vertical Dynamic mechanism controlled by airborne processor module；
Wherein the horizontal engine structure is located at fuselage, and includes: flat spin paddle mechanism；The Vertical Dynamic mechanism includes: pair
Claim to be set to the vertical spin paddle mechanism at left and right wing；The vertical spin paddle mechanism includes an at least vertical spin paddle, is used for
Vertical spin paddle mechanism is hung on into the suspension arrangement below wing, the vertical spin paddle is suitable for driving by corresponding micromotor
Turn is dynamic；The suspension arrangement includes: the first angle fine tuning motor suitable for tilting forward or backward vertical spin paddle, and
Make vertical spin paddle inclined second angle fine tuning motor to the left or to the right；Wherein the first, second angle adjustment motor and
Micromotor is controlled by airborne processor module, to adjust inclination angle and the vertical spin paddle of vertical spin paddle according to flight attitude
Revolving speed；Also, the unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and wind speed sensing in flight course
Device, and the wind direction of crosswind suffered by current unmanned plane and air speed data are sent to airborne processor module；The airborne processor
Module is suitable for wind direction and air speed data according to crosswind, the inclination angle of adjusting vertical spin paddle and vertical, horizontal propeller revolving speed,
Video image acquisition is carried out to stablize current flight posture；If also, the wind direction and wind speed of crosswind help to fly, and reduce and hang down
The revolving speed of straight propeller and/or horizontal propeller.
Further, photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining each
Real-time lighting intensity and the path optimizing system between building is when selecting optimal path, if two or more road
The section of real-time lighting maximum intensity is then selected into optimal path by section with wind between the building of identical data；The path optimization
System is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids the section of overcast area；And
The video capture module is suitable for shooting building panorama, and the height of the building is identified by cloud computing platform；When nobody
Machine in rain and snow flight when, the path optimizing system is suitably selected for the leeward section of building as unmanned plane on optimal road
Path selection in diameter；And the flying height of unmanned plane is set to be lower than the height of the building, to block sleet.
Further, the airborne processor module is also connected with the charge and discharge control module in unmanned plane, and the charge and discharge
Electric control module is suitable for for on-board batteries electricity being sent to airborne processor module, and when on-board batteries electricity is lower than a setting value
When, the airborne processor module control unmanned plane stops the region high to an intensity of illumination, to pass through the photovoltaic cell to machine
Battery is carried to charge；Or the airborne processor module control unmanned plane stops to the biggish region of a wind-force, to pass through wind
Dynamic horizontal propeller and/or vertical spin paddle are produced electricl energy and are charged to on-board batteries；Wherein the vertical spin paddle is suitable for
Pass through the first, second angle adjustment motor adjustable inclination.
Another aspect, the present invention also provides the working methods of the Skynet system described in one kind, pass through cloud computing platform pair
Target in the video image of each video monitoring apparatus is tracked.
Further, it before being tracked by cloud computing platform to the target in the video image of each video monitoring apparatus, needs
Target is identified, and recognition methods includes:
The cloud computing platform, which is suitable for identifying in video image by property data base of having a fist fight, occurs fighting incident；It is described have a fist fight spy
Levying database includes: the motion frequency characteristic value of human body trick, direction of motion clutter characteristic value；If human body in video image
The motion frequency and direction of motion clutter of trick match with individual features value in property data base, then determine the video figure
Have a fist fight behavior as in；The cloud computing platform is further adapted for detecting crowd massing exception, i.e., the described cloud computing platform is suitable for mentioning
Crowd's area in image and the number in crowd are taken out, to calculate Per capita area, if Per capita area is lower than preset value, is sentenced
It is crowded to determine this；The cloud computing platform be further adapted for set corresponding video monitoring device video image collected mix line and
Area-of-interest is carried out by camera to object progress track up when having object into when mixing line and area-of-interest；
The cloud computing platform is further adapted for calculating the motion profile in video pictures, to determine whether occur reverse row in video pictures
Into；The cloud computing platform is further adapted for recording each feature in stationary video image, when occurring other features in the video image,
Features described above is identified.
Further, it is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and nobody is installed on the unmanned plane
Machine control system；The unmanned aerial vehicle control system includes: airborne processor module, the airborne nothing being connected with airborne processor module
Line communication module and video capture module；The unmanned aerial vehicle control system is suitable for leading to the video image of shooting by airborne wireless
It interrogates module and lamppost wireless communication module communicates, to be sent to cloud computing platform；When the video monitoring apparatus quilt on a certain lamppost
It blocks or failure, or after losing target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
Further, the video monitoring apparatus of lamppost takes a target at one, and the target is just far from the prison of the lamppost
When controlling area, the cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target；Unmanned plane passes through
Path optimizing system flies to several paths of the target position to select to unmanned plane, to obtain optimal path.
The invention has the advantages that this Skynet system and its working method make full use of LED street lamp lamppost, biography has been expanded
The function of system lamppost, video monitoring is combined with lamppost, and the video image of each lamppost shooting is sent to the cloud meter positioned at cloud
Platform is calculated to be analyzed and handled, realize it is anti-probably, anti-riot purpose, thus to the maximum extent probably activity is contained in rudiment shape cruelly
State, containment terrorist forces play a significant role.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of Skynet system of the invention；
Fig. 2 is the structural schematic diagram of LED street lamp lamppost of the present invention；
Fig. 3 is unmanned aerial vehicle (UAV) control functional block diagram of the invention；
Fig. 4 is the structural schematic diagram of unmanned plane of the invention；
Fig. 5 is the unmanned plane during flying track schematic diagram that path optimizing system of the invention is planned.
In figure: video monitoring apparatus 1 shuts down depressed place 2, is unmanned plane 3, horizontal power mechanism 31, horizontal propeller 311, vertical
Power mechanism 32, vertical spin paddle 321, micromotor 322, wing 33, suspension arrangement 34, first angle fine tuning motor 341, the
Two angle adjustment motors 342, fuselage 35, photovoltaic cell 36.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of Skynet system of the invention, comprising: be distributed in the lamppost of several LED street lamps of block, respectively
Video monitoring apparatus 1 is separately installed on lamppost；And lamppost wireless communication module is additionally provided on lamppost；The video monitoring dress
It sets, lamppost wireless communication module is connected with a control module；The video monitoring apparatus is suitable for passing through lamppost wireless communication module
Video image is sent to cloud computing platform.
Camera in warning device and the video monitoring apparatus is additionally provided on the lamppost to be suitable for passing through control module
Control holder makes its steering；The cloud computing platform is suitable for the video image that shoots to each video monitoring apparatus and identifies, if
Determine exception, its alarm can be controlled by control module, if such as, but not limited to cloud computing platform passes through video image identification
After judging that camera is maliciously blocked, warning device is controlled by control module and is alarmed；The cloud computing platform is further adapted for
Setting corresponding video monitoring device video image collected mixes line and area-of-interest, and when having, line is mixed in object entrance and sense is emerging
When interesting region, carry out carrying out track up to the object by camera.
It is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and unmanned aerial vehicle (UAV) control system is installed on the unmanned plane
System；The unmanned aerial vehicle control system includes: airborne processor module, the airborne wireless communication mould being connected with airborne processor module
Block and video capture module；The unmanned aerial vehicle control system be suitable for the video image that will shoot by airborne wireless communication module and
Lamppost wireless communication module communication, to be sent to cloud computing platform；When the video monitoring apparatus on a certain lamppost is blocked, or therefore
After barrier, or loss target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
The upper cover for shutting down depressed place can be opened in unmanned plane VTOL；Specifically, being shut down if unmanned plane flies back
The upper cover in depressed place is opened, and after unmanned plane shutdown, upper cover is reclosed；One end of the upper cover is equipped with shaft, and the shaft is by a driving
Motor drives rotation, and the driving motor is controlled by control module, described after cloud computing platform issues unmanned plane during flying instruction
Control module control control driving motor opens upper cover.The control module such as, but not limited to use embeded processor and
Motor-drive circuit is constituted.
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost,
The cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target；The unmanned plane is additionally provided with
The path optimizing system and aircraft power system being connected with airborne processor module；The path optimizing system is suitable for obtaining each building
Between wind real time data, and establish air duct net between the building of city；After unmanned plane obtains target position, the path optimizing system is suitable
Fly according to net selection unmanned plane in air duct between the building of city to the optimal path of the target position.The cloud computing platform obtains target
The specific location that the method for position is such as, but not limited to pass through the lamppost of the installation video monitoring apparatus of the photographic subjects carries out greatly
Body positioning, and according to the angle of video monitoring apparatus shooting or apart from being further accurately positioned.
Do not need each lamppost in practice and be equipped with unmanned plane, can one region of setting configure a frame nobody
Machine, the unmanned plane are suitable for target captured by tracking one's respective area video monitoring apparatus.
Passage path optimization system obtains unmanned plane and flies to the optimal path of target position, makes full use of between each building in air duct
The wind direction of wind, improves flying speed between building, reduces flight energy consumption.
Specifically, the real time data of wind is such as, but not limited to acquire by the air duct data being distributed between each high building between each building
Node obtains, and the air duct data acquisition node includes: the wind speed sensing for detecting wind wind speed between building between being installed on building
The wind transducer of wind wind direction between the building Qi He, and the modal processor and nothing being connected with the air velocity transducer and wind transducer
Wind speed, wind direction data are wirelessly sent to unmanned plane by wire module, carry out data point with passage path optimization system
Analysis, and then establish air duct between the building of city.
Unmanned plane is after obtaining airbound target position, air duct between the corresponding building in analysis flight path city experienced, and advises
Mark most reasonable flight path, as optimal path.
Specifically, the intersection point in air duct is node between the building air duct Wang Yige between the building of city, and according between adjacent two nodes
Building between the wind speed in air duct, wind direction data carry out Path selection, i.e. wind between the corresponding building that matches to flight path of selection wind direction
Selection section of the road as optimal path, makes unmanned plane reach target position in the case where with the wind as far as possible, is mentioned with reaching
High flying speed reduces the purpose of fuel consumption；Though selecting the section that against the wind but wind speed is small, distance is short.Can specifically it lead to
It crosses and sets corresponding limit value, such as when contrary wind state, specific wind speed rank is digitized, such as 1 grade, 2 grades, distance
It can be set 10 meters, 20 meters or 30 meters etc., such as set section alternative condition as no more than 2 grades of wind speed, distance is no more than 20 meters
When, it can choose the section, then during optimum path planning, if certain a road section meets above-mentioned condition, can choose this
Section is added to optimal path.
As shown in figure 3, obtaining unmanned plane from initial position A to the mulitpath of target position E, and according to each path institute phase
The wind direction in air duct screens path between the building of pass, and unmanned plane is made to fly in air duct between building with the wind as far as possible, such as A to B,
B to C, C to D, D to E, and each hollow arrow respectively indicates the wind direction in air duct between corresponding building.
Preferably, the path optimizing system includes: the map memory module being connected with airborne processor module, GPS mould
Block and gyroscope for detecting unmanned plane during flying posture；Specifically, the airborne processor module in the unmanned plane is also connected with
There is map memory module, airborne processor module is suitable for matching received optimal path with cartographic information, so that unmanned plane
It flies according to optimal path, flight path, flight attitude is repaired by GPS module and gyroscope in flight course
Just, to improve the stability that control is shot.
Wherein the aircraft power system includes: the horizontal power mechanism 31 controlled by airborne processor module and vertically moves
Force mechanisms 32；Wherein the horizontal engine structure 31 is located at fuselage 35, and includes: flat spin paddle mechanism；It is described vertical dynamic
Force mechanisms 32 include: 321 mechanism of vertical spin paddle being symmetrically set at left and right wing 33；The 321 mechanism packet of vertical spin paddle
An at least vertical spin paddle 321 is included, for 321 mechanism of vertical spin paddle to be hung on to the suspension arrangement 34 of 33 lower section of wing, institute
Vertical spin paddle 321 is stated to be suitable for through the driving rotation of corresponding micromotor 322；The suspension arrangement 34 includes: to be suitable for making vertically
The direction F1 in first angle fine tuning the motor 341(such as Fig. 5 that propeller 321 tilts forward or backward), and make vertical spin paddle
The direction F2 in 321 leftward or rightward inclined second angle fine tuning motor 342(such as Fig. 5)；Wherein first, second angle is micro-
Motor and micromotor 322 is adjusted to be controlled by airborne processor module, to adjust inclining for vertical spin paddle 321 according to flight attitude
The revolving speed at angle and vertical spin paddle 321 is suitble to high-altitude hovering or corresponding flight attitude is kept to control, and then improves image taking
Clarity.
A vertical spin paddle 321 includes two vertical spin paddles 321 in Fig. 5, and front and back is symmetrical arranged, therefore, similarly
Motor 342 is finely tuned including two second angles, which is suitable for by the control of airborne processor module
It rotates synchronously.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, institute
It states wind transducer and air velocity transducer is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne place
Manage device module；The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts inclining for vertical spin paddle 321
Angle and vertical, horizontal propeller revolving speed, to stablize current flight posture, and then obtain stable video image.
If unmanned plane flies between building in city, crosswind belongs to one kind of wind between building.
Specifically, the wind transducer and air velocity transducer are for measuring what unmanned plane actually obtained in flight course
The wind direction and air speed data of crosswind, and then pass through the inclination angle of vertical spin paddle 321, i.e., front or rear, left or right is adjusted, and is combined and hung down
Directly, the revolving speed of horizontal propeller, to play the effect of stabilized flight posture, and if crosswind be conducive to fly, can also fit
When the revolving speed for reducing horizontal propeller, to save electric energy.
Such as unmanned plane westerly flies from east, if encountering the crosswind of southwestward, airborne processor module is suitable for adjusting
The inclination angle of vertical spin paddle 321, i.e., southwester direction tilts, to offset shadow of the crosswind to unmanned plane during flying route of southwestward
It rings；Also, according to wind speed size, change the revolving speed of vertical spin paddle 321.Unmanned plane keeps stable hovering posture, with low coverage
From close to high level, realizing to unmanned plane collision probability can be reduced with the monitoring of floor.
Wherein, the airborne processor module is such as, but not limited to the processing using the Duo-Core Architecture with DSP and ARM
Device, can also be in such a way that dsp processor and arm processor cooperate.
Preferably, photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining each
Real-time lighting intensity and the path optimizing system between building is when selecting optimal path, if two or more road
The section of real-time lighting maximum intensity is then selected into optimal path by section with wind between the building of identical data.
Further, the path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and in selection optimal path
When, avoid the section of overcast area；And the video capture module is suitable for shooting building panorama, and flat by cloud computing
Platform identifies the height of the building；When unmanned plane flight in rain and snow, the path optimizing system is suitably selected for building
Path selection of the leeward section as unmanned plane in optimal path；And make the flying height of unmanned plane lower than the building
Height, to block sleet.
Preferably, the airborne processor module is also connected with the charge and discharge control module in unmanned plane, and the charge and discharge
Electric control module is suitable for for on-board batteries electricity being sent to airborne processor module, and when on-board batteries electricity is lower than a setting value
When, the airborne processor module control unmanned plane stops the region high to an intensity of illumination, to pass through the photovoltaic cell to machine
Battery is carried to charge；Or the airborne processor module control unmanned plane stops to the biggish region of a wind-force, to pass through wind
Dynamic horizontal propeller and/or vertical spin paddle are produced electricl energy and are charged to on-board batteries；Wherein the vertical spin paddle is suitable for
Wind power generation efficiency is improved by the first, second angle adjustment motor adjustable inclination to obtain maximum wind power.Specifically, described
Charge and discharge control module is suitable for charging to on-board batteries after electric energy produced by wind-force and solar energy is carried out complementation, described to fill
Control of discharge module can be realized by the corresponding wind light mutual complementing module of the prior art.
Embodiment 2
On that basis of example 1, the present invention also provides a kind of working methods of Skynet system, i.e., by cloud computing platform to each
Target in the video image of video monitoring apparatus is tracked.
Before being tracked by cloud computing platform to the target in the video image of each video monitoring apparatus, need to target into
Row identification, the method for carrying out image recognition to target can be realized by the prior art about image procossing.Preferably, right
A kind of preferred recognition methods is additionally provided in identification, the present embodiment, i.e.,
The cloud computing platform, which is suitable for identifying in video image by property data base of having a fist fight, occurs fighting incident；
It is described have a fist fight property data base include: the motion frequency characteristic value of human body trick, direction of motion clutter characteristic value；
If the motion frequency of human body trick and direction of motion clutter and individual features value in property data base in video image
Match, then determines behavior of having a fist fight in the video image；
Specifically, identifying the trick of the people in video image by video identification technology in the prior art, motion frequency is special
Value indicative is specially the motion frequency of trick, such as one minute number of oscillations；Direction of motion clutter characteristic value is specially trick
The track of swing and amplitude, such as track are bigger than normal without regular and amplitude, then judge behavior of having a fist fight.
Preferably, can also be identified by video identification technology in the prior art people in video image face,
Chest and leg, and judge whether there is behavior according to the collision occurrence rate of trick and face, chest and leg.
The cloud computing platform is further adapted for detecting crowd massing exception, i.e., the described cloud computing platform is suitable for extracting in image
Crowd's area and crowd in number, to calculate Per capita area, if Per capita area be lower than preset value, determine that the crowd gathers around
It squeezes.
The cloud computing platform be further adapted for set corresponding video monitoring device video image collected mix line and feel it is emerging
Interesting region is carried out by camera to object progress track up when having object into when mixing line and area-of-interest.
The cloud computing platform is further adapted for calculating the motion profile in video pictures, to determine whether occur in video pictures
It is reverse to advance；Specifically, cloud computing platform judges whether the people in video pictures drives in the wrong direction according to the instruction of the arrow of road, Huo Zhegen
It keeps to the right according to traffic rules and judges the normally travel direction in the section, then the driving trace judgement for passing through the people in video pictures
Whether people drives in the wrong direction.
The cloud computing platform is further adapted for recording each feature in stationary video image, special when occurring other in the video image
When sign, features described above is identified；Specifically, each feature is specially in video image picture in record stationary video image
Object, placement position etc., if other objects are entered in video pictures, cloud computing platform is quickly captured, it is carried out identification and
Calibration, reminder alarm issue alarm when necessary.
It is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and unmanned aerial vehicle (UAV) control system is installed on the unmanned plane
System；The unmanned aerial vehicle control system includes: airborne processor module, the airborne wireless communication mould being connected with airborne processor module
Block and video capture module；The unmanned aerial vehicle control system be suitable for the video image that will shoot by airborne wireless communication module and
Lamppost wireless communication module communication, to be sent to cloud computing platform；When the video monitoring apparatus on a certain lamppost is blocked, or therefore
After barrier, or loss target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost,
The cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target；Unmanned plane passage path is excellent
Change system flies to several paths of the target position to select to unmanned plane, to obtain optimal path.
Further, unmanned plane passage path optimization system flies to several paths of target position to select to unmanned plane,
Include: in the method for obtaining optimal path
The real time data of wind between each building is obtained, and establishes air duct net between the building of city；After unmanned plane obtains target position, unmanned plane
Interior airborne processor module passage path optimization system is suitable for being flown according to net selection unmanned plane in air duct between the building of city to the target
The optimal path of position.
Photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining the reality between each building
When intensity of illumination；The path optimizing system is when selecting optimal path, if two or more section has identical number
According to building between wind, then the section of real-time lighting maximum intensity is selected into optimal path.Wherein real-time lighting data can pass through
Photosensitive sensor is placed in the data acquisition node of air duct, to obtain the real-time lighting intensity between building.
The path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids
The section of overcast area；Wherein, the cloud layer data are suitable for obtaining by meteorological satellite, or pass through local multiple meteorological sights
The whistle is examined to obtain in real time.
The airborne processor module is suitable for identifying the height of the building according to building panorama；When unmanned plane is in sleet
When weather flight, the path optimizing system is suitably selected for road of the leeward section of building as unmanned plane in optimal path
Diameter selection；And make unmanned plane flying height be lower than the building height, to block sleet, can be improved shooting effect and
Image stabilization is imaged.
The working method further include: the inclination angle of vertical spin paddle 321 and the method packet of revolving speed are adjusted according to flight attitude
Include: the airborne processor module is suitable for control first angle fine tuning motor 341 and vertical spin paddle 321 is driven to turn forward, together
When control horizontal propeller mechanism in horizontal propeller work, with shorten unmanned plane reach setting cruising altitude time, and
In unmanned plane while reaching Cruising Altitude, meet its cruising speed.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, institute
It states wind transducer and air velocity transducer is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne place
Manage device module；The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts inclining for vertical spin paddle 321
Angle and vertical, horizontal propeller revolving speed carry out video image acquisition to stablize current flight posture.
Specifically, the airborne processor module is suitable for wind direction and air speed data according to crosswind, vertical spin paddle is adjusted
321 inclination angle and vertical, horizontal propeller revolving speed, to stablize the method packet that current flight posture carries out video image acquisition
Include: if unmanned plane hovers in the sky, horizontal propeller stops working, and vertical spin paddle 321 works, the airborne processor
Module is suitable for wind direction and air speed data according to crosswind, changes inclination angle and the revolving speed of vertical spin paddle 321, with steadily hovering appearance
State；If unmanned plane cruises, the airborne processor module is suitable for wind direction and air speed data according to crosswind, changes vertical spin paddle
321 inclination angle and revolving speed, to keep cruising altitude.
Specific implementation process: if unmanned plane hovers in control, if encountering the crosswind from east westerly, vertical spin paddle 321
Inclination angle correspond to cross-wind direction, to offset influence of the crosswind to unmanned plane during flying posture, and adjusted and hung down according to the wind speed of crosswind
The revolving speed of straight propeller 321.
The airborne processor module is suitable for judging whether the wind direction of crosswind and wind speed facilitate to fly, if helping to fly
Row then reduces the revolving speed of vertical spin paddle 321 and/or horizontal propeller 311, saves electric energy, improves the cruise mileage of unmanned plane.
Embodiment 3
On the basis of embodiment 1 or 2, there are following modifications for the Skynet system of the present embodiment:
Lamp cap (preferably high-power, ultra-bright LED lamp) on street lamp or traffic lights is connected on lamppost, lamp cap by a connecting rod
And/or connecting rod is suitable for rotation；The video monitoring apparatus is suitable for judging whether have human body image in the video image, if depositing
In human body image, then the face part in human body image is focused, while controlling the lamp cap and/or connecting rod rotation,
So that the lamp cap is towards the human body direction in human body image, to increase the face brightness of the human body.On video monitoring apparatus
Equipped with flash lamp, to open flash lamp when video monitoring apparatus is completed to focus face and face brightness is lower than preset value.
Face identification system is equipped in cloud computing platform, by the people in the video image from the video monitoring apparatus
Body image carry out recognition of face, with obtained facial image, at the same record the facial image attribute (including obtain image when
Between, place, the position in the video image etc.)；Then the facial image and its attribute transfer recognition of face obtained is extremely
In the database of public security bureau.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (4)
1. a kind of unmanned aerial vehicle control system characterized by comprising airborne processor module is connected with airborne processor module
Airborne wireless communication module and video capture module；
The video image that the unmanned aerial vehicle control system is suitable for shoot passes through airborne wireless communication module and lamppost wireless telecommunications
Module communication, to be sent to cloud computing platform.
2. unmanned aerial vehicle control system according to claim 1, which is characterized in that it is characterized in that,
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost, described
Cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target；
The unmanned plane is additionally provided with the path optimizing system and aircraft power system being connected with airborne processor module；
The path optimizing system is suitable for obtaining the real time data of wind between each building, and establishes air duct net between the building of city；Work as unmanned plane
After obtaining target position, the path optimizing system is suitable for being flown according to net selection unmanned plane in air duct between the building of city to the target position
Optimal path.
3. unmanned aerial vehicle control system according to claim 2, which is characterized in that be covered with light on the wing of the unmanned plane
Battery is lied prostrate, the path optimizing system is further adapted for obtaining the real-time lighting intensity between each building；
The path optimizing system is when selecting optimal path, if two or more section is between the building of identical data
The section of real-time lighting maximum intensity is then selected into optimal path by wind；
The path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids cloud layer
The section of the area of coverage；And
The video capture module is suitable for shooting building panorama, and the height of the building is identified by cloud computing platform；
When unmanned plane flight in rain and snow, the path optimizing system is suitably selected for the leeward section of building as nobody
Path selection of the machine in optimal path, and make the flying height of unmanned plane lower than the height of the building, to block sleet.
4. a kind of Skynet system, which is characterized in that including unmanned aerial vehicle control system as described in claim 1.
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| CN201610835599.XA CN106412502B (en) | 2016-09-20 | 2016-09-20 | Video monitoring intelligence Skynet system and its working method based on recognition of face |
| CN201910135406.3A CN109714577A (en) | 2016-09-20 | 2016-09-20 | Unmanned aerial vehicle control system, the video monitoring Skynet system based on recognition of face |
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| CN201610835599.XA Active CN106412502B (en) | 2016-09-20 | 2016-09-20 | Video monitoring intelligence Skynet system and its working method based on recognition of face |
| CN201910135406.3A Withdrawn CN109714577A (en) | 2016-09-20 | 2016-09-20 | Unmanned aerial vehicle control system, the video monitoring Skynet system based on recognition of face |
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| CN107062108A (en) * | 2017-04-20 | 2017-08-18 | 江西中天景观有限公司 | A kind of city management intelligent road-lamp |
| CN107420844B (en) * | 2017-06-06 | 2019-03-15 | 余姚市恒正金属制品有限公司 | Bulb type warning lamp based on face detection |
| CN107396051A (en) * | 2017-08-09 | 2017-11-24 | 广州云从信息科技有限公司 | A kind of method that recognition of face monitoring is carried out using unmanned plane |
| CN109915776A (en) * | 2017-12-12 | 2019-06-21 | 天津华彩信和电子科技集团股份有限公司 | The detection system and detection method of a kind of pavement of road average brightness and average illumination |
| CN108082478B (en) * | 2017-12-16 | 2021-11-16 | 深圳市翼飞鸿天无人机科技有限公司 | Early warning type unmanned aerial vehicle monitoring and investigation system |
| CN108516092B (en) * | 2018-03-27 | 2021-01-01 | 含山县丰华供销合作社有限公司 | Agricultural unmanned aerial vehicle's medicine system that spouts |
| CN110045731B (en) * | 2019-03-26 | 2022-04-12 | 深圳市中科晟达互联智能科技有限公司 | Path planning method, electronic device and computer readable storage medium |
| CN110113581B (en) * | 2019-06-13 | 2020-11-06 | 重庆人为本科技发展有限公司 | Smart city monitoring system and method |
| CN111343419B (en) * | 2020-01-04 | 2021-07-27 | 中山市乐式物联科技有限公司 | City security system based on social surface surveillance camera |
| CN112135038A (en) * | 2020-08-11 | 2020-12-25 | 浙江登凯建设有限公司 | Vehicle tracking method and system based on traffic monitoring and storage medium thereof |
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| CN106412502A (en) | 2017-02-15 |
| CN109788257A (en) | 2019-05-21 |
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