TW202236213A - Unmanned aerial vehicle examination field scoring device capable of using the electronic photographic image processing technologies, image corrections, and splicing algorithm to complete an objective scoring task so as to reduce examination disputes - Google Patents

Abstract

An unmanned aerial vehicle examination field scoring device is provided for application to an unmanned aerial vehicle examination field. The unmanned aerial vehicle examination field includes an unmanned aerial vehicle flight route. The unmanned aerial vehicle examination field scoring device comprises a plurality of image capturing modules, a lens deformation module, a database module, a processing module and a miniature position transmitting device. With the present invention, the electronic photographic image processing technologies, image corrections, and splicing algorithm can be used to complete an objective scoring device in compliance with civil aviation laws, so as to reduce examination disputes and provide digital monitoring and assessment information to effectively assist unmanned aerial vehicle examination supervisors to assess whether an examinee has a good control ability thereby completing the monitoring and assessment tasks. Accordingly, an objective digital monitoring and assessment information can be established to improve a scoring device on the unmanned aerial vehicle examination field, so as to reduce examination disputes and enhance the credibility of the operation of the unmanned aerial vehicle examination thereby facilitating developments of the unmanned aerial vehicle industry.

Description

UAV examination room scoring device

The present invention relates to a scoring device for an unmanned aerial vehicle examination room, in particular to a digital monitor A scoring system for the evaluation of UAVs, especially those that can provide more credible evaluation results for UAV operating certificates.

According to the Civil Aviation Law (special chapter on remote control drones), the operation of drones needs to obtain The UAV operation certificate also regulates the subject and technical examination content. However, in the current technical examination, the supervisors and evaluators visually and subjectively judge whether the examinee is proficient in operating drones and meets various assessment standards, so there is some controversy.

Given that drone regulations came into effect at the end of March 2020, it is important to develop an effective coordination It is necessary to help UAV test supervisors to assess whether the testee has good control ability, and to establish a standard test evaluation standard.

The main purpose of the present invention is to overcome the above-mentioned problems encountered in the prior art and provide An unmanned aerial vehicle examination room scoring device that provides an objective digital monitoring and evaluation information to build a perfect examination room scoring device to reduce assessment disputes.

Another object of the present invention is to provide a system that can improve the examination system of unmanned aerial vehicle operation certificate. Xinli successfully promoted the UAV test scoring device for the UAV industry.

In order to achieve the above purpose, the present invention is a scoring device for unmanned aerial vehicles examination room, which provides application In a UAV test room, the UAV test room includes a UAV flight path, and the UAV test room grading device includes: several image capture modules, which are set in different positions of the UAV test room to capture a field of view respectively An image of a drone in the range, and each image capture module has a calibration line corresponding to its field of view in the drone test room; a lens deformation module is provided for these image capture modules to capture a calibration plate Images from different angles to calculate a camera calibration parameter for each of the image capture modules, where the camera calibration parameters are an internal parameter of the image capture modules, a lens distortion parameter, and an external parameter of each image ; a database module, which stores several flight missions for the UAV to take the test according to different test levels; a processing module, which connects the several image capture modules, the lens deformation module and the database A module, the processing module has a coordinate conversion unit, a correction unit, and a computing unit, the processing module is to receive the UAV images transmitted by the image capture modules and the lens deformation module The transmitted camera correction parameters are converted into camera coordinates from the world coordinates of the UAV images by the coordinate conversion unit, and then the camera coordinates of the UAV images are converted into imaging plane coordinates. The correction unit A lens deformation model generated by the camera correction parameters is used to correct the positions of the imaging plane coordinates of the UAV images according to the lens deformation model, and the calculation unit calculates the UAV based on a binocular vision and triangulation algorithm. The depth information of the drone, using the depth information to mark the position and distance of the drone in the images of the drone, so as to detect whether the drone flies out of the calibration line, and if it flies out of the calibration line, a warning notice will be issued. It is provided to judge whether the UAV needs to be re-flyed or judged to be disqualified, and to decide whether to enter the next level of flight mission according to the judgment result, and in the last flight mission, it is judged by the position information sent from the satellite positioning. If the UAV flies to the rear of the examination room by mistake, the UAV will be directly judged to be disqualified; and a micro-sending location device is mounted on the UAV used for the examination, and is used to send location information to the processing module through satellite positioning, so that the The location of the drone is known to assist the calculation unit in scoring and judging.

In the above-mentioned embodiments of the present invention, the computing unit is based on the image capture modules and the The triangular proportional relationship of the drone calculates the depth information.

In the above-mentioned embodiment of the present invention, the correction board is provided with black and white grids alternately A checkerboard graphic.

In the above embodiments of the present invention, the image capture modules are wide-angle cameras.

In the above-mentioned embodiments of the present invention, the UAV is an unmanned helicopter or an unmanned multi-rotor aircraft According to the test level, the flight tasks include fixed-point take-off and landing, four-sided hovering, figure-of-eight horizontal circle flight, side hovering and forward and backward flight, rectangular flight, and mission flight.

In the above-mentioned embodiments of the present invention, the fixed-point take-off and landing, hovering on all sides, and the figure-of-eight horizontal circle If one of the missions of flight, the side hovering and forward and backward flight, and the rectangular flight is disqualified, you cannot enter the mission flight.

In the above-mentioned embodiments of the present invention, the task flight includes instrument flight, airline flight, and point-of-interest flights.

In the above-mentioned embodiments of the present invention, when the UAV is an unmanned aircraft, the flight mission depends on According to the test level, it is normal route takeoff, 8-level flight, and mission mode flight.

In the above-mentioned embodiments of the present invention, the first image capture module of the plurality of image capture modules The first and second image capture modules are respectively arranged at the opposite corners of the UAV examination room and at the front and rear of the UAV flight path. The third image capture module and the fourth image capture module of the several image capture modules The capturing modules are arranged adjacently to the side of the UAV test room and on one side of the UAV flight path.

In the above embodiments of the present invention, the first image capture module and the second image capture An L-shaped calibration line is provided in each field of view captured by the modules, and two concentric rectangular calibration lines are provided in the common field of view captured by the third image capture module and the fourth image capture module.

In the above-mentioned embodiments of the present invention, the first image capture module of the plurality of image capture modules The group, the second image capture module and the third image capture module are respectively arranged on the side of the UAV examination room and on one side of the UAV flight route.

In the above embodiments of the present invention, the first image capture module and the third image capture A calibration line perpendicular to the flight path of the UAV is set in the field of view captured by the module, and a calibration line perpendicular to the midline of the flight path of the UAV is set in the field of view captured by the second image capture module , and take the centerline calibration line as a reference, and these calibration lines are flight calibration lines.

Please refer to "Fig. 1 to Fig. 7", which are respectively for the evaluation of the UAV examination room of the present invention. Schematic diagram of the block structure of the sub-device, photos taken by the test site of the unmanned helicopter and unmanned multi-rotor aircraft of the present invention Schematic diagram of camera setup and field of view, schematic diagram of camera setup and field of view for the test field of unmanned aircraft of the present invention, schematic diagram of captured images and scoring calibration lines of the camera of the test field of unmanned helicopter and unmanned multi-rotor aircraft of the present invention, and camera of the test field of unmanned aircraft of the present invention Schematic diagram of captured screen and scoring calibration line, schematic diagram of world coordinates and camera coordinates of the present invention, and schematic diagram of conversion of camera coordinates into imaging plane coordinates of the present invention. As shown in the figure: the present invention is a scoring device for a UAV examination room, which is provided and applied in a UAV examination room 6, and the UAV examination room 6 includes a UAV flight route 61 . The unmanned aerial vehicle examination room scoring device includes several image capture modules 1 , a lens deformation module 2 , a database module 3 , a processing module 4 and a miniature position sending device 5 .

The above-mentioned several image capture modules 1 are set up separately in the UAV examination room 6. The images of a UAV 7 in a field of view are respectively captured at the same position, and each image capture module 1 is provided with a calibration line corresponding to the field of view of the UAV test room 6 .

The lens deformation module 2 provides the image capture modules 1 to capture a calibration plate 21 images from different angles to calculate a camera correction parameter of each image capture module 1, the camera correction parameters are an internal parameter of the image capture modules 1, a lens deformation parameter, and each image an external parameter.

The database module 3 series stores several drones 7 based on different exams level to perform the flight tasks for which the test is to be conducted.

The processing module 4 is connected to the plurality of image capture modules 1, the lens deformation module 2 and The database module 3. The processing module 4 has a coordinate conversion unit 41 , a correction unit 42 and a calculation unit 43 . The processing module 4 receives the UAV images sent by the image capture module 1 and the camera correction parameters sent by the lens deformation module 2, and transforms the UAV images through the coordinate conversion unit 41 After converting one of the world coordinates of the image into a camera coordinate, the camera coordinates of these UAV images are converted into an imaging plane coordinate, and the correction unit 42 generates a lens deformation model (Brown- Conrady model), correct the position of the imaging plane coordinates of the UAV images according to the lens deformation model, the computing unit 43 calculates the depth information of the UAV 7 based on a binocular vision and triangulation algorithm, and uses the depth information Mark the position and distance of the UAV 7 in the images of these UAVs, so as to detect whether the UAV 7 flies out of the calibration line. It is necessary to re-fly or judge disqualification, and decide whether to enter the next level of flight missions according to the judgment results, and in the last flight mission, make judgments based on the location information sent from satellite positioning, when it is determined that the UAV 7 has flown by mistake The rear of the examination room directly judged that the drone was 7 disqualified.

The 5th series of micro-transmitting position equipment is loaded on the unmanned aerial vehicle used for the test, and is used to pass through the satellite The satellite positioning sends location information to the processing module 4, so that the location of the drone is known to assist the calculation unit 43 in scoring and judgment. If so, a brand-new unmanned aerial vehicle examination room scoring device is formed by the structure disclosed above.

The scoring device for the unmanned aerial vehicle examination room proposed by the present invention is to evaluate the basic operation ability of the subject Mainly. According to the types of UAVs, the UAV test rooms 6 have corresponding and applicable UAV test sites. Therefore, the setup and field of view of the above-mentioned image capture modules 1 are shown in Figures 2 and 3, and the capture screens Schematic diagrams of calibration lines and ratings are shown in Figures 4 and 5. When the drone is an unmanned helicopter or an unmanned multi-rotor aircraft, the first image capture module 11 and the second image capture module 12 of the plurality of image capture modules 1 are respectively arranged in the test room 6 of the drone. The third image capture module 13 and the fourth image capture module 14 of the plurality of image capture modules 1 are arranged adjacent to each other in the test room of the drone. 6 and is located on one side of the flight route 61 of the UAV, as shown in Figure 2. Moreover, the first image capture module 11 and the second image capture module 12 is provided with an L-shaped calibration line C in the captured field of view, as shown in Figure 4 (a); the third image capture module 13 and the fourth image capture module 14 capture There are two concentric rectangular marking lines D in the common field of view, as shown in Figure 4 (b). When the drone is an unmanned aircraft, the first image capture module 11, the second image capture module 12 and the third image capture module of the plurality of image capture modules 1 13 are respectively arranged on the side of the UAV test room 6 and on one side of the UAV flight route 61, as shown in Figure 3. Moreover, a calibration line E perpendicular to the flight route 61 of the UAV is respectively set in the field of view captured by the first image capture module 11 and the third image capture module 13, and the second image capture module In the field of view captured by group 12, there is a midline marking line F perpendicular to the flight path 61 of the UAV, and the midline marking line F is used as a reference. These marking lines E are flight calibration lines, as shown in Figure 5 shown.

The scoring criteria of the present invention are aimed at the test of unmanned helicopter and unmanned multi-rotor aircraft, When performing basic skill test actions, the distance (image depth) of the drone is calculated using the images captured by the third image capture module 13 and the fourth image capture module 14, and the depth information is used to detect the drone. Whether it flies out of the calibration line D, if it flies out of the calibration line D, it is judged as a flight error. When performing follow-up flight tasks, it will switch to the first image capture module 11 and the second image capture module 12, if the drone flies out of the first image capture module 11 and the second image capture module 12 calibration line C, it is judged as a flight error.

The scoring criteria of the present invention are based on the Civil Aviation Administration's unmanned test for unmanned aircraft. The principles of mechanics are standardized and the scoring device is set in different modes according to the examination level. It is mainly based on the centerline calibration line F, and the other two calibration lines are flight calibration lines. If the rules do not allow unmanned aircraft to cross the centerline calibration line F or cross the calibration line E before taking off, the device will use the extracted The image judgment quickly provides a warning notice, thereby assisting the supervisors and evaluators to judge whether the subject needs to re-fly or be disqualified.

However, since the proposed image capture module 1 is a wide-angle camera, mirroring is required. Head deformation correction, simulating the camera imaging situation to establish a lens deformation model. It works as follows:

，而以變換矩陣方式表示即如方程(1)，其中

、

、

為相機座標，

、

、

為世界座標；為化簡方程(1)，如方程(2)可將三個旋轉動作合併為一個旋轉矩陣R，再以齊次（homogeneous）表示可得方程(3)，而其中

即為相機外部參數（extrinsic parameter）。

(1)

(2)

(3) [Conversion from world coordinates to camera coordinates] Objects use world coordinates to represent their positions, and world coordinates and camera coordinates may be different. You can convert world coordinates to camera coordinates and use rotation and translation to complete. As shown in Figure 6, the coordinates are first rotated in the three directions of X-axis, Y-axis, and Z-axis to correspond to the camera coordinates. Here, it is assumed that they are the rotation angles θ, ϕ, and ω respectively, and then the origin of the world coordinates It can be completed by translating to the origin of the camera coordinates, assuming that the required displacement is

, and expressed in the form of a transformation matrix as in Equation (1), where

,

,

are the camera coordinates,

,

,

is the world coordinate; in order to simplify Equation (1), such as Equation (2), the three rotation actions can be combined into one rotation matrix R, and then expressed in a homogeneous manner to obtain Equation (3), where

It is the extrinsic parameter of the camera.

(1)

(2)

(3)

轉換成相機座標

，而依據相機的針孔成像原理，再以透射投影的方法將座標轉換至影像平面，其中為焦距f（focal length）、物體深度座標為

，利用相似三角形的比例性質，可得方程(4)及方程(5)，而本發明可依此推算出目標物其成像平面座標

，再加入比例參數

，即可表示成方程(6)之齊次方程式。

，即

(4)

，即

(5)

(6) [Camera coordinates converted to imaging plane coordinates] The target object is converted from the world coordinates

Convert to camera coordinates

, and according to the pinhole imaging principle of the camera, the coordinates are converted to the image plane by the method of transmission projection, where is the focal length f (focal length), and the object depth coordinates are

, using the proportional properties of similar triangles, equations (4) and equations (5) can be obtained, and the present invention can calculate the imaging plane coordinates of the target object accordingly

, then add the scale parameter

, which can be expressed as the homogeneous equation of equation (6).

,Right now

(4)

,Right now

(5)

(6)

(7) 切向形變模型如方程(8)：

(8) 而將方程(7)、方程(8)加以整合可得方程(9)，並為了與以上步驟搭配可改寫成齊次方程式(10)，其中Γ就是非線性的鏡片扭曲轉換。

(9)

(10) [Lens Distortion] The wide-angle lens of the camera will cause non-linear lens distortion (Lens Distortion) in the image, mainly including radial distortion (radial distortion) and tangential distortion (tangent distortion). Radial distortion is caused by the lens center and surrounding Due to the characteristics of different thicknesses, the light at the edge of the lens is bent more when it passes through, and the light near the center of the lens is bent less. For example, in order to obtain a larger field of view, a wide-angle lens or a fisheye lens is often used. When shooting, the barrel distortion (Barrel distortion) produced by the radial deformation of the captured photos is very obvious, and when using the telephoto end of the zoom lens, it may produce pincushion deformation due to the radial deformation; while the tangential deformation is due to It is caused by the assembly error of the camera module, for example, the lens is not parallel to the sensor, which causes the image to be deformed like a trapezoid. Lens deformation model: Radial deformation model such as equation (7):

(7) The tangential deformation model is as equation (8):

(8) Equation (7) and equation (8) can be integrated to obtain equation (9), which can be rewritten into homogeneous equation (10) in order to match the above steps, where Γ is the nonlinear lens distortion transformation.

(9)

(10)

（pixel aspect ratio）的修正，並也在此使單位轉換為像素（pixel），而為了使影像的中心（principal point）落在光軸（principal axis）上，可能須要位移

來調整影像中心，最終將方程(6)調整成如下方程(11)，其中A即為相機的內部參數（intrinsic parameter）。

(11) 至此整合上述方程(3)、(10)、(11)即可得鏡頭形變模型方程(12)。

(12) [Calculation of lens deformation model parameters] Finally, the equation (6) in the barrel deformation is added to the pixel aspect ratio of the sensing element

(pixel aspect ratio) correction, and also convert the unit to pixels (pixel), and in order to make the center of the image (principal point) fall on the optical axis (principal axis), displacement may be required

to adjust the image center, and finally adjust the equation (6) to the following equation (11), where A is the intrinsic parameter of the camera.

(11) Up to now, the lens deformation model equation (12) can be obtained by integrating the above equations (3), (10), and (11).

(12)

,

,

,

,

、各影像的外部參數等這些相機校正參數。而利用這樣的鏡頭形變模型即可對影像進行校正。 In order to obtain the parameters required in the lens deformation model, a checkerboard-like calibration plate with black and white grids alternated with each other can be used, and several images of the calibration plate at different angles can be taken by the image capture device, and after detecting the grid points of each image , the internal parameters and lens deformation parameters can be obtained after calculation based on these grid point information

,

,

,

,

, the extrinsic parameters of each image and other camera correction parameters. The image can be corrected by using such a lens deformation model.

(13)

(14) The present invention uses the binocular vision and the triangulation algorithm to calculate the distance and depth, as shown in the following formulas (13) and (14). Among them, _CL and _CR are the left and right camera lenses; f is the focal length of the camera; _PL and _PR are the projection points after the target point is projected on the imaging plane. X _L and X _R are the distances from the projection points of _PL and _PR to the center of the imaging plane; B is the horizontal distance between the two camera lenses. According to the principle of equal proportions of triangles, the following formulas (13) and (14) can be derived to find out the depth:

(13)

(14)

Use the depth Z to mark the position of the drone in the image. When the position deviates from the calibration line, That is to remind the inspectors to judge whether to require the subject to fly again or to judge that the test has not passed.

The scoring process of the present invention is aimed at the test of unmanned helicopter and unmanned multi-rotor aircraft, After the unmanned helicopter and unmanned multi-rotor take off, according to the different test levels, the following steps are carried out respectively: Step 1: Carry out fixed-point take-off and landing and four-sided hovering. Step 2: Fly in a figure-of-eight horizontal circle (switch to the first and second image capture modules for interpretation, if the range is exceeded and it is too late to correct it, you must fly again or be disqualified). Step 3: Carry out side hovering and forward and backward (start the interpretation with the third and fourth image capture modules, if the flight distance of the drone is insufficient or out of range, it is too late to correct it, and it must be re-flyed or disqualified). Step 4: Carry out rectangular flight (according to the interpretation of the third and fourth image capture modules, the flight distance of the drone is insufficient or out of range, causing it to be too late to correct and must be re-flyed or disqualified). Step 5: Perform mission flight, including instrument flight, route flight, and point-of-interest flight (at this time, the device is switched to use the micro-transmission location device for judgment. If the drone is mistakenly flown to the rear of the examination room, it will be disqualified).

When one of the above-mentioned steps 1 to 4 is disqualified, it is impossible to enter the step Step five mission flight. And the miniature sending position device is carried out under the premise of not affecting the control of the UAV. Send location information to the processing module to assist scoring.

The grading process of the present invention is aimed at the unmanned aircraft technical test, according to the different levels of the test Similarly, perform the following steps: Step 1: Take off on a normal flight route (use the first and third image capture modules to determine whether the takeoff and the takeoff angle must not exceed the regulations). Step 2: Carry out figure-of-eight level flight. Step 3: Fly in mission mode. Step 4: End the flight mission (if the second image capture module has not landed, it will be disqualified).

Use the miniature sending position device to carry out the sending position without affecting the control of the UAV. Place information into the processing module to assist scoring.

In this way, the present invention uses electronic photography image processing under the scope of complying with the civil aviation law Technology, image correction, and splicing algorithms complete the objective scoring device, which can reduce assessment disputes, and provide digital monitoring and evaluation information to assist the monitoring and evaluating personnel to complete the monitoring and evaluation work.

Therefore, this device is a scoring system involving digital monitoring and evaluation, which can be operated by drones Evidence provides more credible assessment results, including: 1. Can provide objective digital monitoring and evaluation information, build and improve the examination room scoring device to reduce examination disputes. 2. It can enhance the credibility of the UAV operation certificate examination and smoothly promote the UAV industry.

In summary, the present invention is a scoring device for unmanned aerial vehicles examination room, which can effectively improve the With various shortcomings, it effectively assists the UAV test supervisors to assess whether the subject has good control ability, and establishes a standard test evaluation standard, so that the production of the present invention can be more advanced, more practical, and more in line with the needs of users. If the requirements are met and the requirements for a patent application for an invention are met, the patent application shall be filed according to law.

However, what is described above is only a preferred embodiment of the present invention, and should not be limited thereto. The scope of implementation of the present invention; therefore, all simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the description of the invention should still fall within the scope covered by the patent of the present invention.

1: Image capture module 11: The first image capture module 12: The second image capture module 13: The third image capture module 14: The fourth image capture module 2: Lens deformation module ２１: Calibration board 3: Database module 4: Processing Module 41: Coordinate conversion unit 42: Calibration unit 43: Arithmetic unit 5: Miniature transmitter location device 6: Drone examination room 61: UAV flight route 7: UAV C: L-shaped calibration line D: Concentric rectangular calibration line E: calibration line F: midline calibration line

Figure 1 is a schematic diagram of the block structure of the drone examination room scoring device of the present invention. Figure 2 is a schematic diagram of the camera setup and field of view of the unmanned helicopter and unmanned multi-rotor maneuvering department test site of the present invention. Figure 3 is a schematic diagram of camera setup and field of view of the unmanned aircraft surgery test site of the present invention. Fig. 4 is a schematic diagram of the camera capture screen and scoring calibration line of the unmanned helicopter and unmanned multi-rotor maneuvering department test field of the present invention. Fig. 5 is a schematic diagram of the camera capture picture and the scoring calibration line of the unmanned aerial vehicle surgery test site of the present invention. Figure 6 is a schematic diagram of the world coordinates and camera coordinates of the present invention. Fig. 7 is a schematic diagram of the transformation of camera coordinates into imaging plane coordinates according to the present invention.

1: Image capture module

2: Lens deformation module

21: Calibration board

3: Database module

4: Processing module

41: Coordinate conversion unit

42: Correction unit

43: Operation unit

5: Miniature transmitter position device

7: Drone

Claims (12)

An unmanned aerial vehicle examination room scoring device is provided for application in an unmanned aerial vehicle examination room, the unmanned aerial vehicle examination room contains a drone flight route, and the unmanned aerial vehicle examination room scoring device includes: Several image capture modules are installed in different positions of the drone test room to capture images of a drone in a field of view, and each image capture module corresponds to its field of view in the drone test room There is a calibration line; A lens deformation module is provided for these image capture modules to capture images of different angles of a correction plate to calculate a camera correction parameter of each of the image capture modules, and these camera correction parameters are the images captured by these image capture modules Get an internal parameter of the module, a lens deformation parameter, and an external parameter of each image; A database module, which stores several flight tasks for the UAV to take the test according to different test levels; A processing module, connected to the several image capture modules, the lens deformation module and the database module, the processing module has a coordinate conversion unit, a correction unit, and a computing unit, the processing module It is to receive the UAV images sent by the image capture modules and the camera correction parameters sent by the lens deformation module, and convert the world coordinates of the UAV images into a After the camera coordinates, the camera coordinates of these UAV images are converted into an imaging plane coordinates, and the correction unit uses a lens deformation model generated by the camera correction parameters to correct the UAV images according to the lens deformation model The position of the coordinates of the imaging plane, the calculation unit calculates the depth information of the UAV based on a binocular vision and triangulation algorithm, and uses the depth information to mark the position and distance of the UAV in the UAV images, In order to detect whether the drone flies out of the calibration line, if it flies out of the calibration line, a warning notice will be issued to provide a judgment on whether the drone needs to be re-flyed or judged to be disqualified, and decide whether to enter the next level of flight tasks according to the judgment result , and at the last flight mission, Judging by the location information sent from satellite positioning, when it is determined that the drone has mistakenly flown to the back of the examination room, then Disqualify the drone directly; and A miniature location sending device is mounted on the drone used for the test, and is used to send location information to the processing module through satellite positioning, so that the location of the drone can be known to assist the calculation unit in scoring and judging. According to the drone test scoring device described in item 1 of the scope of the patent application, the calculation unit calculates the depth information based on the triangular ratio relationship between the image capture modules and the drone. According to the unmanned aerial vehicle examination room grading device described in item 1 of the scope of the patent application, the correction board is provided with a checkerboard pattern of alternating black and white grids. According to the unmanned aerial vehicle examination room grading device described in item 1 of the scope of the patent application, the image capture modules are wide-angle cameras. According to the UAV test scoring device described in Item 1 of the scope of the patent application, when the UAV is an unmanned helicopter or an unmanned multi-rotor aircraft, the flight tasks are fixed-point take-off and landing, four-sided hovering, and 8-shaped horizontal circle according to the examination level. Fly, side hover and forward and reverse, rectangular flight, and mission flight. According to the UAV examination room scoring device described in item 5 of the scope of the patent application, one of the fixed-point take-off and landing and hovering in all directions, the figure-eight horizontal circular flight, the side hovering and forward and backward, and the rectangular flight If you are disqualified for a flight mission, you cannot enter the mission to fly. According to the UAV examination room scoring device described in item 5 of the scope of the patent application, the mission flight includes instrument flight, route flight, and point-of-interest flight. According to the UAV test scoring device described in Item 1 of the scope of the patent application, when the UAV is an unmanned aircraft, the flight tasks are based on the test level of normal route takeoff, figure 8 level flight, and task mode flight. According to the drone examination room scoring device described in item 1 of the scope of the patent application, the first image capture module and the second image capture module of the several image capture modules are respectively installed in the drone test room The third image capture module and the fourth image capture module of the several image capture modules are adjacently arranged on the side of the drone examination room Located on one side of the drone's flight path. According to the UAV examination room grading device described in item 9 of the scope of the patent application, an L-shaped calibration line is respectively set in the field of view captured by the first image capture module and the second image capture module, Two concentric rectangular marking lines are set in the common field of view captured by the third image capture module and the fourth image capture module. According to the drone examination room grading device described in item 1 of the scope of patent application, the first image capture module, the second image capture module and the third image capture module of the several image capture modules They are respectively set on the side of the UAV test room and on one side of the UAV flight route. According to the UAV examination room grading device described in item 11 of the scope of the patent application, in which, each of the field of view captured by the first image capture module and the third image capture module is provided with a vertical The calibration line of the route, the field of view captured by the second image capture module is provided with a calibration line perpendicular to the midline of the flight path of the UAV, and based on the midline calibration line, these calibration lines are the flight path calibration line.

Images