CN117553755B - Unmanned aerial vehicle detection system and control method - Google Patents
Unmanned aerial vehicle detection system and control method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to an unmanned aerial vehicle detection system and a control method, which belong to the technical field of electric digital data processing, and the abnormal conditions of different severity degrees of unexpected falling of impurities at the top of an unmanned aerial vehicle visual detection device can be comprehensively overcome by designing orderly actions among a first weight detection device, a second weight detection device, a rotation adjustment closing device, a turnover control device, a weight abnormality judgment device, an automatic foreign matter removal device and an image recognition detection device; according to the detection results of the first weight detection device and the second weight detection device, the rotating assembly is protected through the rotating adjustment closing device, and sundries which are not clamped at the top of the unmanned aerial vehicle vision detection device are removed through the overturning control device; according to the detection result of the weight abnormality judgment device, impurities and the like which are at the top of the visual detection device of the unmanned aerial vehicle and are blocked (namely, cannot automatically fall off after overturning) are removed through the foreign matter automatic removal device.
Description
Technical Field
The invention belongs to the technical field of electric digital data processing, and particularly relates to an unmanned aerial vehicle detection system and a control method.
Background
Unmanned aerial vehicle vision detects and is seen in current unmanned aerial vehicle that takes photo by plane, and unmanned aerial vehicle that takes photo by plane is mostly detected ground, and in special equipment, singly to ground vision detection far away not enough, still need to carry out vision detection to the week side airspace that unmanned aerial vehicle is located, ground personnel just can enough know the aerial condition. The existing unmanned aerial vehicle vision detection device comprises an unmanned aerial vehicle, an angle adjusting bracket, ground vision detection equipment, a rotating adjusting bracket and air vision detection equipment; the ground vision detection equipment is arranged at the bottom of the unmanned aerial vehicle body through the angle adjustment bracket and is used for performing vision detection on the ground, and the angle of the ground vision detection equipment facing the ground can be adjusted through the angle adjustment bracket; the aerial vision detection equipment is arranged at the top of the unmanned aerial vehicle body through the rotary adjusting bracket and used for performing vision detection on a peripheral side airspace where the unmanned aerial vehicle is located, and the aerial vision detection equipment can drive the rotary adjusting bracket to rotate and adjust the direction facing the airspace. This kind of unmanned aerial vehicle vision detection device can carry out 360 all-round vision to unmanned aerial vehicle week side airspace and detect when carrying out the vision to ground and detect, and the vision is detected comparatively comprehensively.
However, in the process of executing the detection task, the top (on the middle frame and the driving gear) of the unmanned aerial vehicle vision detection device may accidentally fall into sundries (such as fall into leaves and branches when passing through a tree forest, fall into waste when flying through a residential building, etc.) to cause damage faults of related rotating components in the rotation driving process, and an abnormality monitoring scheme for the situations is not designed at the present stage.
Therefore, an unmanned aerial vehicle detection system, a control method and a storage medium are needed to be designed at present to solve the problems.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle detection system, a control method and a storage medium, which are used for solving the technical problems in the prior art, wherein in the process of executing a detection task, the top (on a middle frame and a driving gear) of an unmanned aerial vehicle visual detection device can accidentally fall into sundries (such as leaves and branches when passing through a forest, and related rotating components are damaged in the process of rotating and driving when flying through a residential building, and the like), and an abnormality monitoring scheme aiming at the situation is not designed at the present stage.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
An unmanned aerial vehicle detection system comprises a first weight detection device, a second weight detection device, a rotation adjustment closing device, a turnover control device, a weight abnormality judgment device, an automatic foreign matter removal device, an image recognition detection device and a main control device;
The main control device is respectively connected with the first weight detection device, the second weight detection device, the rotation adjustment closing device, the turnover control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device;
The first weight detection device is used for detecting whether the top of the middle frame is abnormally bearing;
the second weight detection device is used for detecting whether the top of the driving gear is abnormally loaded or not;
The rotary adjusting and closing device is used for forcibly closing the rotary drive of the aerial vision detection equipment;
the overturning control device is used for controlling the unmanned aerial vehicle vision detection device to overturn;
the weight abnormality judging device is used for judging whether abnormal bearing exists at the top of the middle frame or the top of the driving gear;
The automatic foreign matter removing device is used for automatically removing foreign matters through the bearing information of the top of the middle frame and the top of the driving gear;
The image recognition detection device is used for judging whether foreign matters exist at the top of the middle frame and the top of the driving gear through image recognition;
the main control device controls the first weight detection device, the second weight detection device, the rotation adjustment closing device, the turnover control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device to be opened and closed.
Further, the main control device controls the first weight detection device and the second weight detection device to be in a normally open state, and controls the rotation adjustment closing device, the overturning control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device to be in a normally closed state;
when the first weight detection device detects abnormal bearing of the top of the middle frame or the second weight detection device detects abnormal bearing of the top of the driving gear, the main control device controls the rotation adjusting closing device and the overturning control device to be opened;
When the overturning control device controls the unmanned aerial vehicle vision detection device to overturn for a set duration, the unmanned aerial vehicle vision detection device is controlled to recover, and the main control device controls the weight abnormality judgment device to be started;
When the weight abnormality judging device judges that abnormal bearing still exists at the top of the middle frame or the top of the driving gear, the main control device controls the turning control device and the automatic foreign matter removing device to be turned on;
after the automatic foreign matter removing device completes the action of automatically removing the foreign matters through the bearing information of the top of the middle frame and the top of the driving gear, the main control device controls the weight abnormality judging device to be started;
And if the weight abnormality judging device judges that the top of the middle frame or the top of the driving gear still has abnormal bearing, the main control device controls the image recognition detecting device to be started.
Further, the first weight detecting device and the second weight detecting device both adopt a pressure sensor matrix;
The pressure sensor matrix is fixedly paved on the top of the middle frame and the top of the driving gear.
Further, the image recognition and detection device comprises a miniature camera, a brightness sensor, an auxiliary lighting lamp, a memory and a processor;
The processor is respectively connected with the miniature camera, the brightness sensor, the auxiliary illuminating lamp, the memory and the main control device;
the miniature camera is a vertically lifting type camera and is used for acquiring image data of the top of the middle frame and the top of the driving gear;
the brightness sensor is used for detecting the real-time brightness of the environment where the miniature camera is located;
the auxiliary illuminating lamp is used for carrying out auxiliary illumination on the environment where the miniature camera is located;
The memory is used for storing preset brightness of the environment where the miniature camera is located.
Further, when the main control device controls the image recognition detection device to be started, the processor controls the brightness sensor to be started;
When the processor judges that the real-time brightness meets the preset brightness, the processor controls the micro camera to be started;
and when the processor judges that the real-time brightness does not meet the preset brightness, the processor controls the miniature camera and the auxiliary illuminating lamp to be turned on.
Further, the system also comprises an abnormality warning device and a wireless communication device, wherein the main control device is respectively connected with the abnormality warning device and the wireless communication device.
The unmanned aerial vehicle detection control method adopts the unmanned aerial vehicle detection system to carry out unmanned aerial vehicle detection control.
A storage medium having a computer program stored thereon, which when executed performs a drone detection control method as described above.
Compared with the prior art, the invention has the following beneficial effects:
One of the beneficial effects of this scheme lies in, through first weight detection device, second weight detection device, rotatory regulation closing means, upset controlling means, weight anomaly judgement device, foreign matter automatic clearing device, image recognition detection device, the cooperation scheme between the main control device, can carry out unmanned aerial vehicle vision and detect the unusual condition that device top accident falls into debris and carry out comprehensive monitoring and automatic clearance. The abnormal conditions of different severity degrees of unexpected falling of the top of the unmanned aerial vehicle visual detection device into sundries can be comprehensively overcome by designing orderly actions among the first weight detection device, the second weight detection device, the rotation adjustment closing device, the overturning control device, the weight abnormality judging device, the foreign matter automatic clearing device and the image recognition detection device; according to the detection results of the first weight detection device and the second weight detection device, the rotating assembly is protected through the rotating adjustment closing device, and sundries which are not clamped at the top of the unmanned aerial vehicle vision detection device are removed through the overturning control device; according to the detection result of the weight abnormality judging device, removing sundries which are blocked (namely, cannot automatically fall after being overturned) at the top of the visual detection device of the unmanned aerial vehicle by the foreign matter automatic removing device; finally, under the condition that the overturning control device and the automatic foreign matter removing device are invalid, the image recognition of abnormal conditions is carried out through the image recognition detecting device, so that the emergency measures can be conveniently taken by related management personnel.
Drawings
Fig. 1 is a schematic system configuration diagram of the embodiment.
Fig. 2 is a schematic diagram of the system operation principle of the embodiment.
Detailed Description
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
As shown in fig. 1, an unmanned aerial vehicle detection system is provided, which comprises a first weight detection device, a second weight detection device, a rotation adjustment closing device, a turnover control device, a weight abnormality judgment device, an automatic foreign matter removal device, an image recognition detection device and a main control device;
The main control device is respectively connected with the first weight detection device, the second weight detection device, the rotation adjustment closing device, the turnover control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device;
The first weight detection device is used for detecting whether the top of the middle frame is abnormally bearing;
the second weight detection device is used for detecting whether the top of the driving gear is abnormally loaded or not;
The rotary adjusting and closing device is used for forcibly closing the rotary drive of the aerial vision detection equipment;
the overturning control device is used for controlling the unmanned aerial vehicle vision detection device to overturn;
the weight abnormality judging device is used for judging whether abnormal bearing exists at the top of the middle frame or the top of the driving gear;
The automatic foreign matter removing device is used for automatically removing foreign matters through the bearing information of the top of the middle frame and the top of the driving gear;
The image recognition detection device is used for judging whether foreign matters exist at the top of the middle frame and the top of the driving gear through image recognition;
the main control device controls the first weight detection device, the second weight detection device, the rotation adjustment closing device, the turnover control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device to be opened and closed.
In the above scheme, considering that the unmanned aerial vehicle vision detection device may accidentally drop into sundries (such as falling into leaves and branches when passing through a tree forest, falling into wastes when flying through a residential building, etc.) in the process of executing a detection task, the related rotating assembly damage fault in the rotation driving process is caused, and the abnormality monitoring scheme for the situation is not designed at the present stage. Therefore, through the cooperation scheme between first weight detection device, second weight detection device, rotatory regulation closing device, upset controlling means, weight anomaly judgement device, foreign matter automatic clearing device, image recognition detection device, the main control device, can carry out unmanned aerial vehicle vision and detect the unusual condition that the device top accident falls into the debris and carry out comprehensive monitoring and automatic clearance.
Further, as shown in fig. 2, the main control device controls the first weight detecting device and the second weight detecting device to be in a normally open state, and controls the rotation adjusting closing device, the turnover control device, the weight abnormality judging device, the foreign matter automatic removing device and the image recognition detecting device to be in a normally closed state;
when the first weight detection device detects abnormal bearing of the top of the middle frame or the second weight detection device detects abnormal bearing of the top of the driving gear, the main control device controls the rotation adjusting closing device and the overturning control device to be opened;
When the overturning control device controls the unmanned aerial vehicle vision detection device to overturn for a set duration, the unmanned aerial vehicle vision detection device is controlled to recover, and the main control device controls the weight abnormality judgment device to be started;
When the weight abnormality judging device judges that abnormal bearing still exists at the top of the middle frame or the top of the driving gear, the main control device controls the overturning control device (the unmanned aerial vehicle vision detecting device is required to overturn, and the removed foreign matters cannot fall onto the unmanned aerial vehicle rotor wing and other parts) and the foreign matter automatic removing device is started;
after the automatic foreign matter removing device completes the action of automatically removing the foreign matters through the bearing information of the top of the middle frame and the top of the driving gear, the main control device controls the weight abnormality judging device to be started;
And if the weight abnormality judging device judges that the top of the middle frame or the top of the driving gear still has abnormal bearing, the main control device controls the image recognition detecting device to be started.
In the scheme, the abnormal conditions of different severity degrees of unexpected falling of the top of the unmanned aerial vehicle visual detection device into sundries can be comprehensively overcome by designing the orderly actions among the first weight detection device, the second weight detection device, the rotation adjustment closing device, the overturning control device, the weight abnormality judgment device, the foreign matter automatic clearing device and the image recognition detection device; according to the detection results of the first weight detection device and the second weight detection device, the rotating assembly is protected through the rotating adjustment closing device, and sundries which are not clamped at the top of the unmanned aerial vehicle vision detection device are removed through the overturning control device; according to the detection result of the weight abnormality judging device, removing sundries which are blocked (namely, cannot automatically fall after being overturned) at the top of the visual detection device of the unmanned aerial vehicle by the foreign matter automatic removing device; finally, under the condition that the overturning control device and the automatic foreign matter removing device are invalid, the image recognition of abnormal conditions is carried out through the image recognition detecting device, so that the emergency measures can be conveniently taken by related management personnel.
Further, the first weight detecting device and the second weight detecting device both adopt a pressure sensor matrix;
The pressure sensor matrix is fixedly paved on the top of the middle frame and the top of the driving gear.
Further, the image recognition and detection device comprises a miniature camera, a brightness sensor, an auxiliary lighting lamp, a memory and a processor;
The processor is respectively connected with the miniature camera, the brightness sensor, the auxiliary illuminating lamp, the memory and the main control device;
the miniature camera is a vertically lifting type camera and is used for acquiring image data of the top of the middle frame and the top of the driving gear;
the brightness sensor is used for detecting the real-time brightness of the environment where the miniature camera is located;
the auxiliary illuminating lamp is used for carrying out auxiliary illumination on the environment where the miniature camera is located;
The memory is used for storing preset brightness of the environment where the miniature camera is located.
Further, when the main control device controls the image recognition detection device to be started, the processor controls the brightness sensor to be started;
When the processor judges that the real-time brightness meets the preset brightness, the processor controls the micro camera to be started;
and when the processor judges that the real-time brightness does not meet the preset brightness, the processor controls the miniature camera and the auxiliary illuminating lamp to be turned on.
In the scheme, the miniature camera belongs to a low-cost instrument, and if the brightness of the environment where the miniature camera is positioned is darker, the acquired image data cannot be successfully identified; therefore, the matching scheme among the miniature camera, the brightness sensor and the auxiliary illuminating lamp is designed to overcome the defects.
Further, the system also comprises an abnormality warning device and a wireless communication device, wherein the main control device is respectively connected with the abnormality warning device and the wireless communication device;
The abnormality warning device is used for carrying out abnormality warning according to the detection results of the first weight detection device and the second weight detection device;
the main control device realizes remote data interaction through the wireless communication device.
The unmanned aerial vehicle detection control method adopts the unmanned aerial vehicle detection system to carry out unmanned aerial vehicle detection control.
A storage medium having a computer program stored thereon, which when executed performs a drone detection control method as described above.
The above is a preferred embodiment of the present invention, and all changes made according to the technical solution of the present invention belong to the protection scope of the present invention when the generated functional effects do not exceed the scope of the technical solution of the present invention.
Claims (7)
1. The unmanned aerial vehicle detecting system is characterized by comprising a first weight detecting device, a second weight detecting device, a rotation adjusting closing device, a turnover control device, a weight abnormality judging device, an automatic foreign matter removing device, an image recognition detecting device and a main control device;
The main control device is respectively connected with the first weight detection device, the second weight detection device, the rotation adjustment closing device, the turnover control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device;
The first weight detection device is used for detecting whether the top of the middle frame is abnormally bearing;
the second weight detection device is used for detecting whether the top of the driving gear is abnormally loaded or not;
The rotary adjusting and closing device is used for forcibly closing the rotary drive of the aerial vision detection equipment;
the overturning control device is used for controlling the unmanned aerial vehicle vision detection device to overturn;
the weight abnormality judging device is used for judging whether abnormal bearing exists at the top of the middle frame or the top of the driving gear;
The automatic foreign matter removing device is used for automatically removing foreign matters through the bearing information of the top of the middle frame and the top of the driving gear;
The image recognition detection device is used for judging whether foreign matters exist at the top of the middle frame and the top of the driving gear through image recognition;
The main control device controls the first weight detection device and the second weight detection device to be in a normally open state, and controls the rotation adjustment closing device, the overturning control device, the weight abnormality judgment device, the foreign matter automatic removal device and the image recognition detection device to be in a normally closed state;
When the first weight detection device detects abnormal bearing of the top of the middle frame or the second weight detection device detects abnormal bearing of the top of the driving gear, the main control device controls the rotation adjusting closing device and the overturning control device to be opened;
When the overturning control device controls the unmanned aerial vehicle vision detection device to overturn for a set duration, the unmanned aerial vehicle vision detection device is controlled to recover, and the main control device controls the weight abnormality judgment device to be started;
When the weight abnormality judging device judges that abnormal bearing still exists at the top of the middle frame or the top of the driving gear, the main control device controls the turning control device and the automatic foreign matter removing device to be turned on;
after the automatic foreign matter removing device completes the action of automatically removing the foreign matters through the bearing information of the top of the middle frame and the top of the driving gear, the main control device controls the weight abnormality judging device to be started;
And if the weight abnormality judging device judges that the top of the middle frame or the top of the driving gear still has abnormal bearing, the main control device controls the image recognition detecting device to be started.
2. The unmanned aerial vehicle detection system of claim 1, wherein the first weight detection device and the second weight detection device each employ a matrix of pressure sensors;
The pressure sensor matrix is fixedly paved on the top of the middle frame and the top of the driving gear.
3. The unmanned aerial vehicle detection system of claim 2, wherein the image recognition detection device comprises a miniature camera, a brightness sensor, an auxiliary lighting lamp, a memory, and a processor;
The processor is respectively connected with the miniature camera, the brightness sensor, the auxiliary illuminating lamp, the memory and the main control device;
the miniature camera is a vertically lifting type camera and is used for acquiring image data of the top of the middle frame and the top of the driving gear;
the brightness sensor is used for detecting the real-time brightness of the environment where the miniature camera is located;
the auxiliary illuminating lamp is used for carrying out auxiliary illumination on the environment where the miniature camera is located;
The memory is used for storing preset brightness of the environment where the miniature camera is located.
4. A drone detection system according to claim 3 wherein the processor controls the brightness sensor to be on when the master control device controls the image recognition detection device to be on;
When the processor judges that the real-time brightness meets the preset brightness, the processor controls the micro camera to be started;
and when the processor judges that the real-time brightness does not meet the preset brightness, the processor controls the miniature camera and the auxiliary illuminating lamp to be turned on.
5. The unmanned aerial vehicle detection system of claim 1, further comprising an anomaly alert device and a wireless communication device, wherein the master control device is respectively connected with the anomaly alert device and the wireless communication device.
6. A method for controlling unmanned aerial vehicle detection, characterized in that an unmanned aerial vehicle detection system according to any one of claims 1 to 5 is used for unmanned aerial vehicle detection control.
7. A storage medium having a computer program stored thereon, which when executed performs a drone detection control method as claimed in claim 6.
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