TWI801818B - Scoring device for drone examination room - Google Patents

Abstract

A scoring device for an unmanned aerial vehicle examination room is provided for application in an unmanned aerial vehicle examination room, and the unmanned aerial vehicle examination room includes a flight route of the unmanned aerial vehicle. The unmanned aerial vehicle examination room scoring device includes several image capture modules, a lens deformation module, a database module, a processing module and a miniature sending location device. In this way, the present invention uses electronic photography image processing technology, image correction, and splicing algorithm to complete an objective scoring device under the scope of complying with the civil aviation law, which can reduce assessment disputes, and provide digital monitoring and evaluation information to effectively assist UAV examination supervision. The evaluators assess whether the subjects have good control ability to complete the monitoring and evaluation work, so as to use objective digital monitoring and evaluation information to build and improve the examination room scoring device to reduce the evaluation controversy, and enhance the credibility of the UAV operation certificate evaluation, and then smoothly promote the unmanned machine industry.

Description

UAV examination room scoring device

The present invention relates to a scoring device for a drone examination room, in particular to a scoring system for digital monitoring and evaluation, especially to one that can provide more credible evaluation results for drone operating certificates.

According to the Civil Aviation Law (special chapter on remote control drones), operating a drone requires obtaining a drone operating certificate and standardizing the subject and technical examination content. However, in the current technical test, the supervisors visually judge whether the candidate is proficient The operation of drones has reached various assessment standards, so there are some disputes.

In view of the fact that drone regulations have been implemented at the end of March 2020, it is necessary to develop a system that can effectively assist drone test supervisors to assess whether the testee has good control ability and establish a standard test evaluation standard.

The main purpose of the present invention is to overcome the above-mentioned problems encountered in the conventional technology and provide an objective digital monitoring and evaluation information to build a perfect examination room scoring device to reduce examination disputes.

Another object of the present invention is to provide a scoring device for drone examinations that can enhance the credibility of the examination of drone operating certificates and smoothly promote the drone 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 back of the examination room by mistake, the UAV will be directly judged to be disqualified; and a miniature position sending device is mounted on the UAV used for the test, and is used to send position 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 embodiments of the present invention, the calculation unit calculates the depth information based on the triangular ratio relationship between the image capture modules and the drone.

In the above-mentioned embodiment of the present invention, the correction board is provided with a checkerboard pattern of alternating black and white grids.

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, when the UAV is an unmanned helicopter or an unmanned multi-rotor aircraft, the flight missions are fixed-point take-off and landing and four-sided hovering, 8-shaped horizontal circle flight, side hovering and forward and backward, according to the test level. Rectangular flight, and mission flight.

In the above-mentioned embodiment of the present invention, if one of the flight missions of the fixed-point take-off and landing, hovering in all directions, the horizontal circle flight of figure 8, the side hovering and forward and backward flight, and the rectangular flight fails, the mission cannot be entered. flight.

In the above embodiments of the present invention, the mission flight includes instrument flight, route flight, and point-of-interest flight.

In the above-mentioned embodiments of the present invention, when the UAV is an unmanned aircraft, the flight missions are based on the test levels of normal route takeoff, figure-of-eight level flight, and mission mode flight.

In the above-mentioned embodiment of the present invention, the first image capture module and the second image capture module of the plurality of image capture modules are respectively arranged at opposite corners of the UAV examination room and on the flight path of the UAV Front and rear, the third image capture module and the fourth image capture module of the several image capture modules are respectively adjacently arranged on the side of the drone examination room and located on one side of the drone flight path .

In the above-mentioned embodiments of the present invention, an L-shaped marking line is respectively provided in the field of view captured by the first image capture module and the second image capture module, and the third image capture module and the Two concentric rectangular marking lines are set in the shared field of view captured by the fourth image capturing module.

In the above-mentioned embodiment of the present invention, the first image capture module, the second image capture module and the third image capture module of the plurality of image capture modules are respectively arranged on the side of the drone examination room And it is located on one side of the drone's flight path.

In the above-mentioned embodiments of the present invention, the field of view captured by the first image capture module and the third image capture module are each provided with a calibration line perpendicular to the flight path of the drone, and the second image capture module In the field of view captured by the module, there is a marking line perpendicular to the midline of the flight path of the UAV, and the midline marking line is used as a reference, and these marking lines are flight calibration lines.

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: Correction unit

43: Operation unit

5: Miniature transmitter position device

6: Drone examination room

61: UAV flight route

7: Drone

C: L type calibration line

D: Concentric rectangular calibration line

E: calibration line

F: midline calibration line

x _c , y _c , z _c : camera coordinates

x _w , y _w , z _w : world coordinates

x _r , y _r : plane coordinates

p(x _w , y _w , z _w ): the world coordinates of point P

p(x _c , y _c , z _c ): camera coordinates of point P

P _r (x _r , y _r ): plane coordinates of point P

f: focal length

[R｜T]: camera external parameters

Figure 1 is a schematic diagram of the block structure of the drone examination room scoring device of the present invention.

Fig. 2 is a schematic diagram of the camera setup and field of view of the unmanned helicopter and the unmanned multi-rotor technique department test site of the present invention.

Fig. 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 captured images and scoring calibration lines of the unmanned helicopter and the unmanned multi-rotor maneuvering department test field camera of the present invention.

Fig. 5 is a schematic diagram of the camera capture picture and the scoring calibration line of the unmanned aircraft 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.

Please refer to "Figures 1 to 7", which are schematic diagrams of the block structure of the scoring device for the UAV examination room of the present invention, and photographs of the test site for the unmanned helicopter and the 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 an unmanned aerial vehicle examination room, which is provided and applied in an unmanned aerial vehicle examination room 6, which includes an unmanned aerial vehicle flight path 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 sending location device 5 .

The above-mentioned several image capture modules 1 are respectively arranged in different positions of the drone examination room 6 to capture images of a drone 7 in a field of view respectively, and each of the image capture modules 1 is located in the drone examination room 6. The UAV test room 6 has a calibration line corresponding to its field of view.

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

The database module 3 stores several flight missions for the UAV 7 to take the test according to different test levels.

The processing module 4 is connected to the several 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 transmitted by the image capture modules 1 and the camera correction parameters transmitted by the lens deformation module 2, and converts the UAV images through the coordinate conversion unit 41 After one of the world coordinates of the image is converted into a camera coordinate, these UAVs The camera coordinates of the image are converted into coordinates of an imaging plane, and the correction unit 42 corrects the imaging plane of the UAV images according to a lens deformation model (Brown-Conrady model) generated by the camera correction parameters. The position of the coordinates, the calculation unit 43 calculates the depth information of the UAV 7 according to a binocular vision and triangulation algorithm, and uses the depth information to mark the position and distance of the UAV 7 in the UAV images, In this way, it is detected whether the drone 7 flies out of the calibration line, and if it flies out of the calibration line, a warning notice is issued, and it is provided to judge whether the drone 7 needs to be re-flyed or disqualified, and decide whether to enter the next level according to the judgment result. In the last flight mission, the judgment is made based on the position information sent from the satellite positioning. When it is determined that the UAV 7 flies to the back of the examination room by mistake, the UAV 7 is directly judged to be disqualified.

The miniature location sending device 5 is mounted on the UAV used for examination, and is used to send location information to the processing module 4 through satellite positioning, so that the location of the UAV is known to assist the calculation unit 43 in scoring and judging . If so, a brand-new unmanned aerial vehicle examination room scoring device is formed by the structure disclosed above.

The grading device for the UAV examination room proposed by the present invention mainly focuses on evaluating the basic operation ability of the subject. 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 unmanned aerial vehicle is an unmanned helicopter or an unmanned multi-rotor aircraft, the first image acquisition module 11 and the second image acquisition module 12 of the several image acquisition modules 1 are respectively arranged on the examination room 6 of the unmanned aerial vehicle. The third image capture module 13 and the fourth image capture module 14 of the several image capture modules 1 are arranged adjacent to each other in the test room of the drone. 6 and is positioned at one side of the flight route 61 of the drone, as shown in Figure 2. And, the first image capture module 11 and the second image capture module 12 are respectively provided with an L-shaped calibration line C in the field of view captured, as shown in Fig. 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 13 of the plurality of image capture modules 1 are respectively arranged on the drone The side of the examination room 6 is located on one side of the flight route 61 of the drone, as shown in Figure 3. Moreover, a calibration line E perpendicular to the flight path 61 of the UAV is respectively provided 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 based on the midline marking line F, these marking lines E are flight calibration lines, as shown in Fig. 5 shown.

The scoring criterion of the present invention is aimed at the unmanned helicopter and unmanned multi-rotor aircraft skill test, when performing the basic skill test action, first use the images taken by the third image capture module 13 and the fourth image capture module 14 to determine Calculate the distance (image depth) of the UAV, and use the depth information to detect whether the UAV flies out of the calibration line D. If it flies out of the calibration line D, it is judged as a flight error. When carrying out 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 is aimed at the unmanned aerial vehicle technical test, and is based on the principles of the civil aviation bureau's unmanned aerial vehicle technical test, and the scoring device is set in different modes according to the test 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 captured 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, it is necessary to perform lens deformation correction and simulate the camera imaging situation to establish a lens deformation model. It works as follows:

[Convert world coordinates to camera coordinates]

The position of an object is represented by world coordinates, and the world coordinates and camera coordinates may be different. It can be converted from world coordinates to camera coordinates, and completed by rotation and translation. 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. Assume that the required displacement is (t ₁ , t ₂ , t ₃ ), and expressed in the form of a transformation matrix is as in equation (1), where x _c , y _c , and z _c are Camera coordinates, x _w , y _w , z _w are world coordinates; 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 by homogeneous Equation (3) is obtained, where [R|T] is the extrinsic parameter of the camera.

[Camera coordinates converted to imaging plane coordinates]

，即可表示成方程(6)之齊次方程式。 The point P of the target object is converted from the world coordinates p(x _w , y _w , z _w ) to the camera coordinates p(x _c , y _c , z _c ), and according to the pinhole imaging principle of the camera, the transmission projection method is used to The coordinates are converted to the image plane, where the focal length f (focal length) and the object depth coordinates are z _c , using the proportional properties of similar triangles, equations (4) and equations (5) can be obtained, and the present invention can calculate the target according to this Object P point its imaging plane coordinates P _r (x _r , y _r ), and then add the scale parameter

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

[lens distortion]

The wide-angle lens of the camera will cause non-linear lens distortion (Lens Distortion) in the image, mainly including radial distortion and tangent distortion. Radial distortion is due to the different thickness of the lens center and surrounding Due to the characteristics of the lens, the part of the light at the edge of the lens is bent more when it passes through, and the light that is closer to the center of the lens is bent less. The barrel distortion (Barrel distortion) caused by the radial deformation in the photos taken is very obvious, and when using the telephoto end of the zoom lens, it may produce pincushion distortion due to the radial deformation; while the tangential deformation is due to the assembly of the camera module Caused by the error, for example, the lens is not parallel to the sensor, and then the imaging produces a trapezoidal deformation.

Lens Distortion Model:

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。 The radial deformation model is as equation (7): x = x _r (1+ k ₁ r ² + k ₂ r ⁴ + k ₃ r ⁶ ) y = y _r (1+ k ₁ r ² + k ₂ r ⁴ + k ₃ r ⁶ ) (7) The tangential deformation model is shown in equation (8):

By integrating Equation (7) and Equation (8), Equation (9) can be obtained, which can be rewritten into Homogeneous Equation (10) in order to match the above steps, where Γ is the nonlinear lens distortion conversion.

[Calculate lens deformation model parameters]

Finally, the equation (6) in the barrel deformation is added to the correction of the pixel aspect ratio s _x and s _y (pixel aspect ratio) of the sensing element, and the unit is also converted into a pixel (pixel), and in order to make The image center (principal point) falls on the optical axis (principal axis), and displacement (c _x , c _y ) may be required to adjust the image center. Finally, equation (6) is adjusted to the following equation (11), where A is The intrinsic parameters of the camera.

至此整合上述方程(3)、(10)、(11)即可得鏡頭形變模型方程(12)。

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

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 , camera correction parameters such as internal parameters, lens distortion parameters k ₁ , k ₂ , p ₁ , p ₂ , k ₃ , and external parameters of each image can be obtained after calculations are performed based on the grid point information. The image can be corrected by using such a lens deformation model.

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:

Use the depth Z to mark the position of the drone in the image. When the position deviates from the calibration line, it will remind the supervisor to judge whether to ask the subject to re-fly or judge that the test has failed.

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 aircraft take off, the following steps are performed according to the different test levels:

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 lateral hovering and forward and backward (use the third and fourth image capture modules to start the interpretation, the flight distance of the drone is insufficient or out of range, and 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: Carry out mission flight, including instrument flight, route flight, and point-of-interest flight (at this time, the device switches to use the micro-transmission location device for judgment. If the UAV 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, you cannot enter the mission flight of step 5. The micro position sending device sends position information to the processing module to assist scoring without affecting the control of the drone.

The scoring process of the present invention is aimed at the unmanned aircraft technical test, and according to the different test levels, the following steps are carried out respectively:

Step 1: Take off on a normal 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 micro-transmitting location device to send location information to the processing module to assist in scoring without affecting the control of the drone.

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

Therefore, this device is a scoring system involving digital monitoring and evaluation, which can provide more credible evaluation results for UAV operation certificates, 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.

To sum up, the present invention is a scoring device for drone examinations, which can effectively improve various disadvantages commonly used, effectively assist drone test supervisors to assess whether the testee has good control ability, and establish standard test evaluation standards , so that the production of the present invention can be more advanced, more practical, and more in line with the needs of users, and it has indeed met the requirements of the invention patent application, and the patent application is filed in accordance with the law.

But what is described above is only a preferred embodiment of the present invention, and should not limit the scope of the present invention with this; Any single equivalent change and modification shall still fall within the scope covered by the patent of 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 includes a drone flight route, and the unmanned aerial vehicle examination room scoring device includes: several image capture modules, which are separately installed in the unmanned aerial vehicle examination room Different positions are used to capture images of a UAV in a field of view, and each image capture module has a calibration line corresponding to its field of view in the UAV test room; a lens deformation module provides these images The capture module captures images from different angles of a calibration board to calculate a camera calibration parameter for each of the image capture modules. The camera calibration parameters are an internal parameter and a lens distortion of the image capture modules. parameters, and an external parameter of each image; a database module, which stores several flight tasks that provide 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 module, the processing module has a coordinate conversion unit, a correction unit, and a computing unit, the processing module is to receive the unmanned images sent by the image capture modules UAV images and the camera correction parameters transmitted by the lens deformation module, after the coordinate conversion unit converts the world coordinates of these UAV images into a camera coordinate, and then converts the camera coordinates of these UAV images is an imaging plane coordinate, the correction unit uses a lens deformation model generated by the camera correction parameters, and corrects the positions of the imaging plane coordinates of the UAV images according to the lens deformation model, and the calculation unit is based on a binocular vision Calculate the depth information of the drone with the triangulation algorithm, use 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, if it flies If it goes out of the calibration line, a warning notice will be issued to judge whether the UAV needs to be re-flyed or judged to be disqualified, and decide whether to enter the next level of flight mission according to the judgment result. Judging by the position information of the drone, when it is determined that the drone has mistakenly flown to the back of the examination room, then directly judge that the UAV is disqualified; and a micro-transmitting location device is mounted on the UAV used for the test, and is used to send location information to the processing module through satellite positioning, so that the location of the UAV can be known. Assist the calculation unit in scoring and judging. According to the drone examination room 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 UAV 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 scoring device described in item 1 of the scope of the patent application, the image capture modules are wide-angle cameras. According to the drone test scoring device described in Item 1 of the scope of the patent application, when the drone is an unmanned helicopter or an unmanned multi-rotor aircraft, the flight tasks are based on the test level of fixed-point take-off and landing, four-sided hovering, and a figure-eight horizontal circle. 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, hovering in all directions, the figure-of-eight horizontal circle 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 drone test 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 examination room scoring device described in Item 1 of the scope of the patent application, when the UAV is an unmanned aircraft, the flight missions are based on the examination level of normal route takeoff, figure 8 level flight, and task mode flight. According to the unmanned aerial vehicle examination room grading device described in item 1 of the scope of patent application, wherein, the first image capture module and the second image capture module of the several image capture modules are respectively set in the unmanned The third image capture module and the fourth image capture module of the several image capture modules are respectively adjacently arranged in the test room of the drone. sideways and on one side of the flight path of the UAV. According to the UAV examination room grading device described in item 9 of the scope of the patent application, an L-shaped marking 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 unmanned aerial vehicle examination room grading device described in item 1 of the scope of patent application, wherein, 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, wherein, 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