阅读说明：本技术 巡夜无人机 (Night unmanned aerial vehicle ) 是由 刘瑜 于 2019-11-05 设计创作，主要内容包括：公开一种巡夜无人机,包括四旋翼飞行器,所述的四旋翼飞行器上设置进行集中控制的处理器,与所述的处理器连接的可见光摄像机和红外摄像机,与所述的处理器连接的存储模块,通讯模块,照明模块和声音模块,所述的处理器内部设置巡夜检测算法,当所述的处理器检测到异常情况,所述的处理器在所述的存储模块内存储所述的可见光摄像机和红外摄像机输出图像,并打开所述的照明模块和声音模块,通过所述的通讯模块发送信息给设定的终端,所述的巡夜检测算法包括红外图像采集,异常区域检测,移动判断,警示与报警,跟踪与现场记录。(The utility model discloses an unmanned aerial vehicle patrols night, includes four rotor crafts, four rotor crafts on set up the treater that carries out centralized control, with visible light camera and the infrared camera that the treater is connected, with the storage module that the treater is connected, communication module, lighting module and sound module, the inside night detection algorithm that patrols that sets up of treater, work as the treater detect abnormal conditions, the treater be in storage module in visible light camera and infrared camera output image, and open lighting module and sound module, through communication module send information for the terminal of settlement, night detection algorithm include infrared image acquisition, unusual regional detection, move and judge, warn and report to the police, trail and the field recording.)

1. Night unmanned aerial vehicle, including four rotor crafts, its characterized in that: the four-rotor aircraft on set up the treater that carries out centralized control, with visible light camera and the infrared camera that the treater is connected, with the storage module that the treater is connected, communication module, lighting module and sound module, the inside night detection algorithm that sets up of treater work as the treater detect abnormal conditions, the treater be in storage module store visible light camera and infrared camera output image, and open lighting module and sound module, through communication module send information for the terminal of setting for.

2. The flexible intelligent parking space lock of claim 1, which is characterized in that: the night patrol drone of claim 1, wherein: the night patrol detection algorithm comprises the following steps:

(1) the processing controls the four-rotor aircraft to fly, and an environment image f (x, y) is collected through the infrared camera, wherein f (x, y) is temperature-dependent thermal radiation intensity, and x and y are pixel coordinates;

(2) and detecting an abnormal region s (x) having a high temperature in f (x, y)₀,y₀) If no abnormal area exists, returning to the step (1);

(3) the processor controls the four-rotor aircraft to hover in the air, judges whether the abnormal area s (x, y) moves or not, and executes the step (4) if the abnormal area s (x, y) moves; otherwise, returning to the step (1);

(4) the processor opens the lighting module and the sound module and sends information to a set terminal through the communication module;

(5) the processor controls the quadrotor to track the abnormal region s (x)₀,y₀) And the images output by the visible light camera and the infrared camera are stored in the storage module.

3. The night patrol drone of claim 1, wherein: in step (2), the processor detects an abnormal region in f (x, y) by the following method: around a point (x) in f (x, y)₀,y₀) Calculating the heat radiation intensity R =in the range of 2k x 2k

4. The night patrol drone of claim 1, wherein: the terminal is set as a mobile phone.

5. The night patrol drone of claim 1, wherein: the terminal is set as a computer.

Technical Field

The patent relates to an unmanned aerial vehicle patrols night belongs to security protection and unmanned aerial vehicle technical field.

Background

In some special outdoor occasions, night patrol is needed to prevent theft and beast danger, such as orchards, camps, important field facilities and the like. In such cases, feeding dogs does not solve the problem because the dogs also need to be fed and cared for, are out of reach, and may present a hazard to pedestrians passing by occasionally. Generally speaking, dog feeding has not been able to meet current care and night visits. With the development of computer vision and monitoring technology and the popularization of the four-rotor aircraft, the two are combined together, and the problem of field night patrol in a terrain-crossing and dead-angle-free manner can be solved.

Disclosure of Invention

To above-mentioned problem, this patent is based on four rotor crafts and computer vision combine together, provides the scheme of patrolling unmanned aerial vehicle night, solves the problem of patrolling night in open-air important place.

The technical scheme adopted by the patent for solving the technical problem is as follows:

night-patrol unmanned aerial vehicle, including four rotor crafts, four rotor crafts on set up the treater that carries out centralized control, with visible light camera and infrared camera that the treater is connected, with the storage module that the treater is connected, communication module, lighting module and sound module, the inside night-patrol detection algorithm that sets up of treater work as the treater detect abnormal conditions, the treater be in storage module in visible light camera and infrared camera output image, and open lighting module and sound module, through communication module send information for the terminal of setting for.

The night patrol detection algorithm comprises the following steps:

(1) the processing controls the four-rotor aircraft to fly, and an environment image f (x, y) is collected through the infrared camera, wherein f (x, y) is temperature-dependent thermal radiation intensity, and x and y are pixel coordinates;

(2) and detecting an abnormal region s (x) having a high temperature in f (x, y)₀,y₀) If no abnormal area exists, returning to the step (1);

(3) the processor controls the four-rotor aircraft to hover in the air, judges whether the abnormal area s (x, y) moves or not, and executes the step (4) if the abnormal area s (x, y) moves; otherwise, returning to the step (1);

(4) the processor opens the lighting module and the sound module and sends information to a set terminal through the communication module;

(5) the processor controls the quadrotor to track the abnormal region s (x)₀,y₀) And the images output by the visible light camera and the infrared camera are stored in the storage module.

In step (2), the processor detects an abnormal region in f (x, y) and adoptsBy the following method: around a point (x) in f (x, y)₀,y₀) Calculating the heat radiation intensity R =in the range of 2k x 2k

When R is>R_TWhen, the point (x) can be judged₀,y₀) The region belongs to abnormal region, and outputs s (x)₀,y₀) Where k is the size parameter of the detection window, R_TIs the decision threshold.

The terminal is set as a mobile phone.

The terminal is set as a computer.

The beneficial effect of this patent mainly shows: 1. the computer vision is combined with a four-rotor aircraft, so that the field night patrol with terrain striding and no dead angle is realized; 2. the maintenance cost is low, and no accompanying person is needed.

Drawings

FIG. 1 is a flow chart of a night patrol detection algorithm; .

Detailed Description

The invention is further described below with reference to the accompanying drawings:

referring to fig. 1, in order to solve the night patrol problem of the special field occasions, a night patrol unmanned aerial vehicle is provided. Night-patrol unmanned aerial vehicle includes four rotor crafts, four rotor crafts on set up the treater that carries out centralized control, with visible light camera and the infrared camera that the treater is connected, with the storage module that the treater is connected, communication module, lighting module and sound module. The infrared camera can shoot thermal radiation images related to temperature and can be used for judging whether people and animals enter the device or not, and the visible light camera is used for shooting images under a visible spectrum and can be used for field recording.

The inside night patrol detection algorithm that sets up of treater, work as the treater detect abnormal conditions, the treater be in storage module store visible light camera and infrared camera output image, as the field record, and open lighting module and sound module for warn, can also pass through communication module send information for the terminal of setting for, the information including predetermineeing text message, and the field image that visible light camera and infrared camera shot.

The night patrol detection algorithm comprises the following steps:

(1) the processing controls the four-rotor aircraft to fly, and an environment image f (x, y) is collected through the infrared camera, wherein f (x, y) is temperature-dependent thermal radiation intensity, and x and y are pixel coordinates;

step (1) is a normal night patrol process.

(2) And detecting an abnormal region s (x) having a high temperature in f (x, y)₀,y₀) If no abnormal area exists, returning to the step (1);

in step (2), the processor detects an abnormal region in f (x, y), and calculates all pixel points by the following method: around a point (x) in f (x, y)₀,y₀) Calculating the heat radiation intensity R =in the range of 2k x 2k

When R is>R_TWhen, the point (x) can be judged₀,y₀) The region belongs to abnormal region, and outputs s (x)₀,y₀) Where k is the size parameter of the detection window, R_TIs the decision threshold.

(3) The processor controls the four-rotor aircraft to hover in the air, judges whether the abnormal area s (x, y) moves or not, and executes the step (4) if the abnormal area s (x, y) moves; otherwise, returning to the step (1);

step (3) is to find the abnormal area s (x)₀,y₀) Subsequently, said quadrotor aircraft hovers in the air to identify the abnormal region s (x)₀,y₀) And whether to move or not, so as to remove fixed high-temperature objects, such as street lamps and the like.

(4) The processor opens the lighting module and the sound module and sends information to a set terminal through the communication module;

when the abnormal region s (x)₀,y₀) When the mobile phone is in a mobile state, the mobile phone can judge that an animal or a person intrudes into the mobile phone, the processor opens the lighting module and the sound module and sends information to a set terminal through the communication module, and the information comprises preset character information and field images shot by the visible light camera and the infrared camera. The terminal is set as a mobile phone or a computer, and the implementation of the patent is not influenced.

(5) The processor controls the quadrotor to track the abnormal region s (x)₀,y₀) And the images output by the visible light camera and the infrared camera are stored in the storage module.

Step (5) is a process of tracking the record.