CN105235912A - Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof - Google Patents
Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof Download PDFInfo
- Publication number
- CN105235912A CN105235912A CN201510721258.5A CN201510721258A CN105235912A CN 105235912 A CN105235912 A CN 105235912A CN 201510721258 A CN201510721258 A CN 201510721258A CN 105235912 A CN105235912 A CN 105235912A
- Authority
- CN
- China
- Prior art keywords
- plane
- unmanned plane
- force arm
- taking photo
- photo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Alarm Systems (AREA)
- Studio Devices (AREA)
Abstract
The invention provides an aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and a control method thereof. The unmanned aerial vehicle comprises four groups of propeller actuating arm components, a square frame component, a camera component, a battery box and a support plate component. The four groups of propeller actuating arm components are fixed to the four ends of the square frame component. The battery box is fixed to the square frame component which is fixed to one side of the support plate component. The camera component is fixed to the other side of the support plate component. A battery in the battery box is electrically connected with the camera component. Through wireless communication connection, a control terminal controls the propeller actuating arm components to provide ascending power and drive the square frame component, the camera component, the battery box and the support plate component to leave the ground and ascend to appointed places for shooting recording of the camera. The unmanned aerial vehicle has the advantages of excellent maneuvering property, low demand for take-off and landing conditions and great cruising ability and is suitable for demanding flight missions in the process of law enforcement of police fire protection.
Description
Technical field
The present invention relates to the technical field of unmanned plane of taking photo by plane, particularly relate to the law enforcement of a kind of public security fire-fighting and gather unmanned plane and control method thereof with taking photo by plane.
Background technology
Unmanned plane, i.e. robot airplane, its english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Can be divided into from technical standpoint definition: this several large class of depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol.Military unmanned air vehicle and civilian unmanned plane can be divided into from the classification of purposes aspect.Military aspect, can be used for battle reconnaissance and supervision, positioning school are penetrated, injured assessment, electronic warfare, and civilian aspect, can be used for border patrol, nuclear radiation detection, aerial photography, mineral exploration aviation, the condition of a disaster supervision, traffic patrolling and security monitoring.
Current, various countries' police law execution and fire department are all faced with day by day complicated fire fighting and rescue and social helping situation, to all kinds of scene of a crime, earthquake rescue, flood-fighting, lofty mountains relief and the situation such as large span or high-rise fire, the limitation of conventional on-site investigation highlights day by day, and it exists, and control surface is narrow, monitoring is not real-time and cannot overcome the defect of haze weather impact.How effectively implement fire-fighting early warning and on-the-spot detecting, and rapidly, Obtaining Accurate field condition seems particularly important.The maturation of unmanned plane application engineering and system scheme is used, and makes scounting aeroplane platform in conjunction with video, monitoring and the transmission apparatus such as infrared, to be patrolled and field rescue commander becomes the new selection of fire department by aerial to setting inspection region.
Summary of the invention
For the weak point existed in above-mentioned technology, the public security fire-fighting law enforcement that the invention provides a kind of structure simple, easy to carry gathers unmanned plane and control method thereof with taking photo by plane.
In order to achieve the above object, a kind of public security fire-fighting law enforcement of the present invention, with collection unmanned plane of taking photo by plane, comprises four groups of propeller force arm components, cubic frame component, photomoduel, battery case and blade assemblies, described four groups of propeller force arm components are separately fixed at four ends of cubic frame component, described battery case is fixed on cubic frame component, described cubic frame component is fixed on the one side of blade assemblies, described photomoduel is fixed on the another side of blade assemblies, in described battery case, battery is electrically connected with photomoduel, control terminal controls propeller force arm component by wireless telecommunications connection mode and provides lifting power, and drive cubic frame component, photomoduel, battery case and blade assemblies depart from ground and go up the shooting writing task of specifying ground to carry out camera, propeller force arm component is in folded state before unmanned plane starts, deployed condition is in after unmanned plane starts.
Wherein, described cubic frame component presss from both sides under comprising on four groups of carbon fiber pipes, pipe fitting folder and pipe fitting, on described pipe fitting, folder and folder under pipe fitting enclose the cast cavity forming accommodating vertical carbon fiber pipe mutually, four groups of carbon fiber pipes are end to end, access in turn after in four groups of tubular cavity, form the square rack structure of corner balance.
Wherein, often organize propeller force arm component and comprise the first rotational structure, described cubic frame component is provided with second rotational structure suitable with the first rotational structure, is rotatably connected by bearing after described first rotational structure aligns with the second rotational structure.
Wherein, often organize propeller force arm component and also comprise extension rod and spiral fan, described extension rod one end is connected with the first rotational structure, the extension rod other end is connected with spiral fan, when described extension rod rotates to parallel with the carbon fiber pipe on cubic frame component, propeller force arm component is in folded state; When described extension rod rotates to the diagonal being in cubic frame component, propeller force arm component is in deployed condition.
Wherein, this collection unmanned plane of taking photo by plane also comprises U-shaped fixed support, described square support assembly is provided with the fixed orifice suitable with U-shaped fixed support exit, described blade assemblies is provided with the cell body trepanning suitable with U-shaped fixed support cell body, described square support assembly is fixedly connected with by two symmetrically arranged described U-shaped fixed supports with between blade assemblies.
Wherein, this collection unmanned plane of taking photo by plane also comprises twin mast assembly, and described foot rest assembly is inverted T-shaped foot rest shape, and in described blade assemblies, symmetry stretches out two chucking lugs, described foot rest assembly is fixed on two chucking lugs by screw structural symmetry, and foot rest assembly tilts to be fixed in blade assemblies.
Wherein, described photomoduel comprises photography structure, GPS location structure and master controller, in described photography structure, GPS location structure and battery case, battery is all connected with master controller, photo is also sent in master controller by described shooting structure captured in real-time photo, described GPS location structure and position location satellite wireless connections, and the real time position of this collection unmanned plane of taking photo by plane is sent to master controller, described master controller is sent in control terminal by the field condition of radio connection by real-time on-site.
Wherein, described photomoduel also comprises haze treatment facilities image being carried out sharpening process, described haze treatment facilities comprises haze concentration detection module, processes pixel module and sharpening figure acquisition module, described haze concentration detection module detects to take photo by plane and gathers the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
The invention also discloses a kind of public security fire-fighting law enforcement control method gathering unmanned plane of taking photo by plane, its concrete steps comprise:
S1, take off before, this is taken photo by plane and gathers unmanned plane by foot rest modular support uprightly on the ground, launch propeller force arm component, make the extension rod on propeller force arm component be in the diagonal positions of square support assembly, check that in battery compartment, whether battery electric quantity is sufficient simultaneously;
S2, when taking off, the motor on four groups of propeller force arm components produces the required lift that takes off vertically simultaneously, and four groups of spiral fans drive this to take photo by plane to gather unmanned plane vertically to be stablized liftoff;
S3, in the process of cruising, this camera gathered on unmanned plane of taking photo by plane receives the instruction of master controller, takes at any time, and the motor on four groups of propeller force arm components needs according to height and angle of inclination the adjustment carrying out power size;
When S4, landing, motor on four groups of propeller force arm components carries out the adjustment of power size according to master controller instruction, all parastate is in landing ground to make square support assembly and blade assemblies, motor afterwards on four groups of propeller force arm components reduces lift gradually, vertically declines under the effect of collection unmanned plane self gravitation of taking photo by plane.
Wherein, the method also comprises this haze purification method gathered in the position control method of unmanned plane and shooting process of taking photo by plane; Position control method is in photomoduel, install GPS location structure, described GPS location structure and position location satellite wireless connections, and sends the real time position of this collection unmanned plane of taking photo by plane to master controller; Haze purification method detects to take photo by plane by haze concentration detection module to gather the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
The invention has the beneficial effects as follows:
Compared with prior art, public security fire-fighting law enforcement collection unmanned plane of taking photo by plane of the present invention, by battery case, photomoduel is independent, direct use square support assembly and blade assemblies support, and substantially reduce quality and the floor area of unmanned plane, also facilitate individual installation and removal simultaneously, four groups of propeller force arm components are set in the end of cubic frame component simultaneously, increase horsepower per liter, make unmanned plane during flying speed faster, also make the trimmed flight of unmanned plane more easily adjust.Of the present invention take photo by plane gather unmanned plane can vertical takeoff and landing, hovering, inverted flight, pivot turn, maneuvering performance is good and lower to landing conditional request; Flying power is strong, is applicable to require higher aerial mission in public security fire-fighting enforcing law; Stability is better, is applicable to carrying photomoduel, obtains the real-time condition of ad-hoc location whenever and wherever possible.
The public security fire-fighting of the present invention law enforcement control method gathering unmanned plane of taking photo by plane, realizing taking photo by plane by four groups of propeller force arm components gathers the VTOL function of unmanned plane, and propeller force arm component of the present invention can folding and expanding, and what facilitate unmanned plane carries control.Collection unmanned aerial vehicle (UAV) control method of taking photo by plane of the present invention is easy to realize, and can avoid taking photo by plane gathers the impaction lesion of unmanned plane in flight course or shutdown process as far as possible.
Accompanying drawing explanation
Fig. 1 is the public security fire-fighting of the present invention law enforcement exploded view gathering unmanned plane of taking photo by plane;
Fig. 2 is public security fire-fighting of the present invention law enforcement the first constructional drawing gathering unmanned plane of taking photo by plane;
Fig. 3 is public security fire-fighting of the present invention law enforcement the second constructional drawing gathering unmanned plane of taking photo by plane;
Fig. 4 is the exploded view of square support assembly of the present invention;
Fig. 5 is the public security fire-fighting of the present invention law enforcement control method diagram of circuit gathering unmanned plane of taking photo by plane.
Main element nomenclature is as follows:
10, battery case 11, square support assembly
12, propeller force arm component 13, photomoduel
14, blade assemblies 15, U-shaped fixed support
16, foot rest assembly
111, carbon fiber pipe 112, pipe fitting press from both sides
113, the 114, second rotational structure is pressed from both sides under pipe fitting
121, the first rotational structure 122, spiral fan
123, extension rod.
Detailed description of the invention
In order to more clearly state the present invention, below in conjunction with accompanying drawing, the present invention is further described.
Consult Fig. 1-3, a kind of public security fire-fighting law enforcement of the present invention, with collection unmanned plane of taking photo by plane, comprises four groups of propeller force arm components 12, cubic frame component, photomoduel 13, battery case 10 and blade assemblies 14, four groups of propeller force arm components 12 are separately fixed at four ends of cubic frame component, battery case 10 is fixed on cubic frame component, four directions frame component is fixed on the one side of blade assemblies 14, photomoduel 13 is fixed on the another side of blade assemblies 14, in battery case 10, battery is electrically connected with photomoduel 13, control terminal controls propeller force arm component 12 by wireless telecommunications connection mode and provides lifting power, and drive cubic frame component, photomoduel 13, battery case 10 and blade assemblies 14 depart from ground and go up the shooting writing task of specifying ground to carry out camera, propeller force arm component 12 is in folded state before unmanned plane starts, deployed condition is in after unmanned plane starts.
Compared to prior art, public security fire-fighting law enforcement collection unmanned plane of taking photo by plane of the present invention, by battery case 10, photomoduel 13 is independent, direct use square support assembly 11 supports with blade assemblies 14, substantially reduce quality and the floor area of unmanned plane, also facilitate individual installation and removal simultaneously, four groups of propeller force arm components 12 are set in the end of cubic frame component simultaneously, increase horsepower per liter, make unmanned plane during flying speed faster, also make the trimmed flight of unmanned plane more easily adjust.Of the present invention take photo by plane gather unmanned plane can vertical takeoff and landing, hovering, inverted flight, pivot turn, maneuvering performance is good and lower to landing conditional request; Flying power is strong, is applicable to require higher aerial mission in public security fire-fighting enforcing law; Stability is better, is applicable to carrying photomoduel 13, obtains the real-time condition of ad-hoc location whenever and wherever possible.
Consult Fig. 4 further, in the present embodiment, four directions frame component comprise on four groups of carbon fiber pipes 111, pipe fitting press from both sides 112 and pipe fitting under folder 113, pipe fitting presss from both sides 112 and enclose with folder 113 under pipe fitting the cast cavity forming accommodating vertical carbon fiber pipe 111 mutually, four groups of carbon fiber pipes 111 are end to end, access in turn after in four groups of tubular cavity, form the square rack structure of corner balance.By folder 113 under folder 112, pipe fitting on detouchable pipe fitting and carbon fiber pipe 111 mounting means, be conducive to the making of gauge member on the one hand, to increase work efficiency, on the other hand, the carbon fiber pipe 111 can selecting different length according to different situations is installed, to adapt to different propeller force arm components 12 and the collocation of battery case 10.
In the present embodiment, often organize propeller force arm component 12 and comprise the first rotational structure 121, four directions frame component is provided with after the second rotational structure 114, first rotational structure 121 suitable with the first rotational structure 121 aligns with the second rotational structure 114 and is rotatably connected by bearing.Propeller force arm component 12 also comprises extension rod 123 and spiral fan 122, extension rod 123 one end is connected with the first rotational structure 121, extension rod 123 other end is connected with spiral fan 122, when extension rod 123 rotates to parallel with the carbon fiber pipe 111 on cubic frame component, propeller force arm component 12 is in folded state, when extension rod 123 rotates to the diagonal being in cubic frame component, propeller force arm component 12 is in deployed condition.The setting of the first rotational structure 121 and the second rotational structure 114, make propeller force arm component 12 collapsible, deployable, the transport facilitating this unmanned plane picks and places,
In the present embodiment, this collection unmanned plane of taking photo by plane also comprises U-shaped fixed support 15, square support assembly 11 is provided with the fixed orifice suitable with U-shaped fixed support 15 exit, blade assemblies 14 is provided with the cell body trepanning suitable with U-shaped fixed support 15 cell body, is fixedly connected with by two symmetrically arranged U-shaped fixed supports 15 between square support assembly 11 with blade assemblies 14.This collection unmanned plane of taking photo by plane also comprises twin mast assembly 16, foot rest assembly 16 is in inverted T-shaped foot rest shape, in blade assemblies 14, symmetry stretches out two chucking lugs, and foot rest assembly 16 is fixed on two chucking lugs by screw structural symmetry, and foot rest assembly 16 tilts to be fixed in blade assemblies 14.U-shaped fixed support 15 and foot rest assembly 16 all serve supporting role, and the two, while guarantee stable support, decreases consumptive material as far as possible, so both saved material, alleviate again the weight of unmanned plane.
In the present embodiment, photomoduel 13 comprises photography structure, GPS location structure and master controller, in photography structure, GPS location structure and battery case 10, battery is all connected with master controller, photo is also sent in master controller by shooting structure captured in real-time photo, GPS location structure and position location satellite wireless connections, and the real time position of this collection unmanned plane of taking photo by plane is sent to master controller, master controller is sent in control terminal by the field condition of radio connection by real-time on-site.Photography structure and GPS location structure act on simultaneously, make the real-time on-site of taking pictures more accurately, for public security fire-fighting personnel information acquisition advantageously.
In the present embodiment, photomoduel 13 also comprises haze treatment facilities image being carried out sharpening process, haze treatment facilities comprises haze concentration detection module, processes pixel module and sharpening figure acquisition module, haze concentration detection module detects to take photo by plane and gathers the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Haze concentration detection module, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and haze removes intensity value between 0 to 1, processes pixel module, first digital photo capture apparatus is connected to receive beat image, gray processing process is carried out to obtain gray processing area image to beat image, the pixel identification of gray value in gray processing area image on high between upper limit gray threshold and sky lower limit gray threshold is formed gray processing sky sub pattern, gray processing sky sub pattern is partitioned into obtain the non-sky subimage of gray processing from gray processing area image, the colour non-sky subimage corresponding with gray processing non-sky subimage is obtained based on the correspondence position of gray processing non-sky subimage in beat image, then, for each pixel in the non-sky subimage of colour, its R is calculated, G, B tri-Color Channel pixel value, the R of all pixels in colour non-sky subimage, G, B tri-extracts the Color Channel at the minimum Color Channel pixel value place of numerical value in Color Channel pixel value as black channel, presetted pixel value of reentrying threshold value, obtain subset with Region dividing subset and black channel to be connected respectively to obtain beat image and black channel, multiple pixels that black channel pixel value in beat image is more than or equal to presetted pixel value threshold value are formed set of pixels to be tested, the gray value air light value as a whole of the pixel of maximum gradation value will be had in set of pixels to be tested, again to each pixel of beat image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF (edge-preservinggaussianfilter) at edge to carry out filtering process to obtain filtered target pixel value to target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove a reference value to obtain haze, haze is removed intensity and be multiplied by haze removal a reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maxim in comparison reference and 0 as each pixel, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain by next step, deducts except value is to obtain the medium transmission rate of each pixel by 1, sharpening image collection module, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, first difference is multiplied by overall air light value to obtain product value, the pixel value of each pixel in beat image is deducted product value to obtain the second difference, by the second difference divided by the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in beat image, the pixel value of each pixel comprises the R of each pixel in beat image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Consult Fig. 5 further, the invention also discloses a kind of public security fire-fighting law enforcement control method gathering unmanned plane of taking photo by plane, its concrete steps comprise:
S1, take off before, this is taken photo by plane and gathers unmanned plane by foot rest assembly 16 supports upright on the ground, launch propeller force arm component 12, make the extension rod 123 on propeller force arm component 12 be in the diagonal positions of square support assembly 11, check that in battery compartment, whether battery electric quantity is sufficient simultaneously;
S2, when taking off, the motor on four groups of propeller force arm components 12 produces the required lift that takes off vertically simultaneously, and four groups of spiral fans 122 drive this to take photo by plane to gather unmanned plane vertically to be stablized liftoff;
S3, in the process of cruising, this camera gathered on unmanned plane of taking photo by plane receives the instruction of master controller, takes at any time, and the motor on four groups of propeller force arm components 12 needs according to height and angle of inclination the adjustment carrying out power size;
When S4, landing, motor on four groups of propeller force arm components 12 carries out the adjustment of power size according to master controller instruction, all parastate is in landing ground to make square support assembly 11 and blade assemblies 14, motor afterwards on four groups of propeller force arm components 12 reduces lift gradually, vertically declines under the effect of collection unmanned plane self gravitation of taking photo by plane.
In the present embodiment, the method also comprises this haze purification method gathered in the position control method of unmanned plane and shooting process of taking photo by plane; Position control method installs GPS location structure in photomoduel 13, GPS location structure and position location satellite wireless connections, and send the real time position of this collection unmanned plane of taking photo by plane to master controller; Haze purification method detects to take photo by plane by haze concentration detection module to gather the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Compared to prior art, the public security fire-fighting law enforcement control method gathering unmanned plane of taking photo by plane of the present invention, realize taking photo by plane by four groups of propeller force arm components 12 and gather the VTOL function of unmanned plane, and propeller force arm component 12 of the present invention can folding and expanding, what facilitate unmanned plane carries control.Collection unmanned aerial vehicle (UAV) control method of taking photo by plane of the present invention is easy to realize, and can avoid taking photo by plane gathers the impaction lesion of unmanned plane in flight course or shutdown process as far as possible.
Be only several specific embodiment of the present invention above, but the present invention is not limited thereto, the changes that any person skilled in the art can think of all should fall into protection scope of the present invention.
Claims (10)
1. public security fire-fighting law enforcement is with a collection unmanned plane of taking photo by plane, and it is characterized in that, comprises four groups of propeller force arm components, cubic frame component, photomoduel, battery case and blade assemblies, described four groups of propeller force arm components are separately fixed at four ends of cubic frame component, described battery case is fixed on cubic frame component, described cubic frame component is fixed on the one side of blade assemblies, described photomoduel is fixed on the another side of blade assemblies, in described battery case, battery is electrically connected with photomoduel, control terminal controls propeller force arm component by wireless telecommunications connection mode and provides lifting power, and drive cubic frame component, photomoduel, battery case and blade assemblies depart from ground and go up the shooting writing task of specifying ground to carry out camera, propeller force arm component is in folded state before unmanned plane starts, deployed condition is in after unmanned plane starts.
2. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterized in that, described cubic frame component presss from both sides under comprising on four groups of carbon fiber pipes, pipe fitting folder and pipe fitting, on described pipe fitting, folder and folder under pipe fitting enclose the cast cavity forming accommodating vertical carbon fiber pipe mutually, four groups of carbon fiber pipes are end to end, access in turn after in four groups of tubular cavity, form the square rack structure of corner balance.
3. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 2, it is characterized in that, often organize propeller force arm component and include the first rotational structure, described cubic frame component is provided with second rotational structure suitable with the first rotational structure, is rotatably connected by bearing after described first rotational structure aligns with the second rotational structure.
4. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 3, it is characterized in that, described propeller force arm component of often organizing also comprises extension rod and spiral fan, described extension rod one end is connected with the first rotational structure, the extension rod other end is connected with spiral fan, when described extension rod rotates to parallel with the carbon fiber pipe on cubic frame component, propeller force arm component is in folded state; When described extension rod rotates to the diagonal being in cubic frame component, propeller force arm component is in deployed condition.
5. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterized in that, this collection unmanned plane of taking photo by plane also comprises U-shaped fixed support, described square support assembly is provided with the fixed orifice suitable with U-shaped fixed support exit, described blade assemblies is provided with the cell body trepanning suitable with U-shaped fixed support cell body, described square support assembly is fixedly connected with by two symmetrically arranged described U-shaped fixed supports with between blade assemblies.
6. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterized in that, this collection unmanned plane of taking photo by plane also comprises twin mast assembly, described foot rest assembly is inverted T-shaped foot rest shape, in described blade assemblies, symmetry stretches out two chucking lugs, described foot rest assembly is fixed on two chucking lugs by screw structural symmetry, and foot rest assembly tilts to be fixed in blade assemblies.
7. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterized in that, described photomoduel comprises photography structure, GPS location structure and master controller, described photography structure, in GPS location structure and battery case, battery is all connected with master controller, photo is also sent in master controller by described shooting structure captured in real-time photo, described GPS location structure and position location satellite wireless connections, and the real time position of this collection unmanned plane of taking photo by plane is sent to master controller, described master controller is sent in control terminal by the field condition of radio connection by real-time on-site.
8. public security fire-fighting law enforcement collection unmanned plane of taking photo by plane according to claim 1, it is characterized in that, described photomoduel also comprises haze treatment facilities image being carried out sharpening process, described haze treatment facilities comprises haze concentration detection module, processes pixel module and sharpening figure acquisition module, described haze concentration detection module detects to take photo by plane and gathers the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
9. the public security fire-fighting law enforcement control method gathering unmanned plane of taking photo by plane according to the claims 1-8, its concrete steps comprise:
S1, take off before, this is taken photo by plane and gathers unmanned plane by foot rest modular support uprightly on the ground, launch propeller force arm component, make the extension rod on propeller force arm component be in the diagonal positions of square support assembly, check that in battery compartment, whether battery electric quantity is sufficient simultaneously;
S2, when taking off, the motor on four groups of propeller force arm components produces the required lift that takes off vertically simultaneously, and four groups of spiral fans drive this to take photo by plane to gather unmanned plane vertically to be stablized liftoff;
S3, in the process of cruising, this camera gathered on unmanned plane of taking photo by plane receives the instruction of master controller, takes at any time, and the motor on four groups of propeller force arm components needs according to height and angle of inclination the adjustment carrying out power size;
When S4, landing, motor on four groups of propeller force arm components carries out the adjustment of power size according to master controller instruction, all parastate is in landing ground to make square support assembly and blade assemblies, motor afterwards on four groups of propeller force arm components reduces lift gradually, vertically declines under the effect of collection unmanned plane self gravitation of taking photo by plane.
10. the public security fire-fighting according to claim 9 law enforcement control method gathering unmanned plane of taking photo by plane, the method also comprise to this take photo by plane gather unmanned plane position control method and shooting process in haze purification method; Position control method is in photomoduel, install GPS location structure, described GPS location structure and position location satellite wireless connections, and sends the real time position of this collection unmanned plane of taking photo by plane to master controller; Haze purification method detects to take photo by plane by haze concentration detection module to gather the haze concentration of unmanned plane region, and confirm that intensity removed by haze according to haze concentration, the pixel value that gray processing and colorize obtain picture is carried out again by processes pixel module, the final R being obtained each pixel by the computing of sharpening figure acquisition module, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510721258.5A CN105235912B (en) | 2015-10-30 | 2015-10-30 | Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510721258.5A CN105235912B (en) | 2015-10-30 | 2015-10-30 | Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235912A true CN105235912A (en) | 2016-01-13 |
| CN105235912B CN105235912B (en) | 2017-11-28 |
Family
ID=55033826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510721258.5A Expired - Fee Related CN105235912B (en) | 2015-10-30 | 2015-10-30 | Public security fire-fighting law enforcement collection unmanned plane and its control method of taking photo by plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105235912B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799918A (en) * | 2016-03-18 | 2016-07-27 | 夏士桀 | Novel Internet-of-Things-based unmanned plane for search and rescue |
| CN105857589A (en) * | 2016-04-22 | 2016-08-17 | 平玉兰 | Multi-rotor-wing unmanned aerial vehicle |
| CN105928493A (en) * | 2016-04-05 | 2016-09-07 | 王建立 | Binocular vision three-dimensional mapping system and method based on UAV |
| CN106882359A (en) * | 2017-02-27 | 2017-06-23 | 东莞产权交易中心 | A kind of foldable unmanned plane of four axles |
| WO2017132796A1 (en) * | 2016-02-01 | 2017-08-10 | Autel Robotics Co., Ltd | A multirotor aircraft and a method for controlling the multirotor aircraft |
| CN108557100A (en) * | 2018-03-12 | 2018-09-21 | 芜湖翼讯飞行智能装备有限公司 | One kind is taken photo by plane unmanned plane |
| CN108780329A (en) * | 2016-02-29 | 2018-11-09 | 微软技术许可有限责任公司 | Delivery vehicle track for stablizing the captured video of delivery vehicle determines |
| CN115619922A (en) * | 2022-10-11 | 2023-01-17 | 江苏中源城乡规划设计有限公司 | Industrial enterprise land survey method based on three-dimensional live-action modeling technology |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
| CN203975216U (en) * | 2014-06-13 | 2014-12-03 | 芜湖特源鑫复合材料科技有限公司 | A kind of quadrotor |
| CN204250368U (en) * | 2014-11-14 | 2015-04-08 | 北华航天工业学院 | A kind of mini quadrotor of Intelligent aerial photography |
| CN104648664A (en) * | 2014-12-18 | 2015-05-27 | 合肥工业大学 | Retractable folding quad rotor |
| CN204452931U (en) * | 2015-02-14 | 2015-07-08 | 广东澄星航模科技股份有限公司 | One follows four-axle aircraft |
| CN204701770U (en) * | 2015-06-03 | 2015-10-14 | 江苏数字鹰科技发展有限公司 | Exempt from stable four autogiros of taking photo by plane of The Cloud Terrace |
-
2015
- 2015-10-30 CN CN201510721258.5A patent/CN105235912B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
| CN203975216U (en) * | 2014-06-13 | 2014-12-03 | 芜湖特源鑫复合材料科技有限公司 | A kind of quadrotor |
| CN204250368U (en) * | 2014-11-14 | 2015-04-08 | 北华航天工业学院 | A kind of mini quadrotor of Intelligent aerial photography |
| CN104648664A (en) * | 2014-12-18 | 2015-05-27 | 合肥工业大学 | Retractable folding quad rotor |
| CN204452931U (en) * | 2015-02-14 | 2015-07-08 | 广东澄星航模科技股份有限公司 | One follows four-axle aircraft |
| CN204701770U (en) * | 2015-06-03 | 2015-10-14 | 江苏数字鹰科技发展有限公司 | Exempt from stable four autogiros of taking photo by plane of The Cloud Terrace |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10710717B2 (en) | 2016-02-01 | 2020-07-14 | Autel Robotics Co., Ltd. | Multirotor aircraft and a method for controlling the multirotor aircraft |
| WO2017132796A1 (en) * | 2016-02-01 | 2017-08-10 | Autel Robotics Co., Ltd | A multirotor aircraft and a method for controlling the multirotor aircraft |
| CN108780329A (en) * | 2016-02-29 | 2018-11-09 | 微软技术许可有限责任公司 | Delivery vehicle track for stablizing the captured video of delivery vehicle determines |
| CN108780329B (en) * | 2016-02-29 | 2021-12-31 | 微软技术许可有限责任公司 | Vehicle trajectory determination for stabilizing video captured by a vehicle |
| CN105799918B (en) * | 2016-03-18 | 2018-02-09 | 汕头市杰泰电子科技有限公司 | A kind of new unmanned plane for being used to search and rescue based on Internet of Things |
| CN105799918A (en) * | 2016-03-18 | 2016-07-27 | 夏士桀 | Novel Internet-of-Things-based unmanned plane for search and rescue |
| CN105928493A (en) * | 2016-04-05 | 2016-09-07 | 王建立 | Binocular vision three-dimensional mapping system and method based on UAV |
| CN105857589B (en) * | 2016-04-22 | 2018-05-11 | 安徽天鹰兄弟无人机科技创新有限公司 | A kind of multi-rotor unmanned aerial vehicle |
| CN105857589A (en) * | 2016-04-22 | 2016-08-17 | 平玉兰 | Multi-rotor-wing unmanned aerial vehicle |
| CN106882359A (en) * | 2017-02-27 | 2017-06-23 | 东莞产权交易中心 | A kind of foldable unmanned plane of four axles |
| CN108557100A (en) * | 2018-03-12 | 2018-09-21 | 芜湖翼讯飞行智能装备有限公司 | One kind is taken photo by plane unmanned plane |
| CN115619922A (en) * | 2022-10-11 | 2023-01-17 | 江苏中源城乡规划设计有限公司 | Industrial enterprise land survey method based on three-dimensional live-action modeling technology |
| CN115619922B (en) * | 2022-10-11 | 2023-11-21 | 江苏中源城乡规划设计有限公司 | Industrial enterprise land investigation method based on three-dimensional live-action modeling technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105235912B (en) | 2017-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105235912A (en) | Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof | |
| US11205311B2 (en) | System and method for data recording and analysis | |
| US11254229B2 (en) | Survey migration system for vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) | |
| CN103029834B (en) | Small electric unmanned helicopter aerial photography system based on front-end triaxial-type pan-tilt | |
| WO2016130711A1 (en) | Pod operating system for a vertical take-off and landing (vtol) unmanned aerial vehicle (uav) | |
| GB2455374A (en) | Unmanned aerial vehicle comprising a triangular array of rotors | |
| CN105303748A (en) | Fire alarm system based on aerial photography | |
| CN206012982U (en) | A kind of small-sized electric fixed-wing unmanned plane for oblique photograph | |
| CN104715556A (en) | Fire alarm method based on aerial photography | |
| CN205854525U (en) | Rotating lens and unmanned plane | |
| CN106043673A (en) | Unmanned plane landing in random terrain | |
| WO2020114432A1 (en) | Water detection method and apparatus, and unmanned aerial vehicle | |
| CN104787335A (en) | 3D printed solar unmanned aerial vehicle | |
| CN205293107U (en) | Unmanned aerial vehicle is gathered in policeman fire control law enforcement with taking photo by plane | |
| CN202953178U (en) | Minitype electric unmanned helicopter aerial photo system based on proposed triple axel type cloud platform | |
| CN204368434U (en) | A kind of unmanned plane of band Dual Action camera of upper laying solar panel | |
| CN207748034U (en) | A kind of aerial photography aircraft convenient for rising and falling | |
| CN107187585A (en) | A kind of unmanned plane | |
| CN108016601A (en) | A kind of dismountable unmanned plane of horn | |
| CN211452323U (en) | Hyperspectral data and three-dimensional modeling data acquisition system based on unmanned aerial vehicle | |
| CN103438867A (en) | Onboard multi-vision three-dimensional aviation remote sensing system of small-size light unmanned plane | |
| CN202267872U (en) | Sensitive unmanned helicopter system | |
| CN214690168U (en) | Police practice combat type tilting fixed wing unmanned aerial vehicle with modular design | |
| CN206871363U (en) | A kind of fixed-wing aerial survey flying platform | |
| CN205971882U (en) | Many rotor unmanned aerial vehicle electric power patrols special cloud platform of line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20201030 |