技术领域technical field
本发明属于交通信息领域，具体涉及一种通过飞行器及辅助地面指示标靶对车辆进行违章检测的技术。The invention belongs to the field of traffic information, and in particular relates to a technology for detecting vehicle violations through an aircraft and an auxiliary ground indicating target.
背景技术Background technique
目前国内对于交通违规的检测处理手段有很多，近年来，随着高清摄像头的普及与视频监控的发展，传统的地下感应线圈等检测方式正逐步向基于图像或视频的监控系统过渡。但此类检测器成本高、安装复杂、在维修时会极大的影响道路交通。随着飞行器技术的成熟，将飞行器运用到交通违章检测中，结合图像分析处理技术将在一定程度上加强对车辆违章行为监管力度，减少车辆违章行为和交通事故的发生。At present, there are many detection and processing methods for traffic violations in China. In recent years, with the popularization of high-definition cameras and the development of video surveillance, traditional detection methods such as underground induction coils are gradually transitioning to image or video-based monitoring systems. However, such detectors are costly, complicated to install, and will greatly affect road traffic during maintenance. With the maturity of aircraft technology, the application of aircraft to traffic violation detection, combined with image analysis and processing technology, will strengthen the supervision of vehicle violations to a certain extent, and reduce the occurrence of vehicle violations and traffic accidents.
飞行器导航技术是按照要求的精度，沿着预定的航线在指定的时间内正确地引导飞行器至目的地。目前在飞行器上采用的导航技术主要包括惯性导航、卫星导航、视觉导航及地磁导航等。在飞行器导航中，根据飞行器担负的不同任务来选择合适的导航技术至关重要。交通违章检测技术是通过检测车辆的速度及位置信息来确定车辆是否有违章行为。目前常用的交通违章检测手段主要包括视频检测，超声波检测，线圈检测等。Aircraft navigation technology is to correctly guide the aircraft to the destination along the predetermined route within the specified time according to the required accuracy. At present, the navigation technologies used in aircraft mainly include inertial navigation, satellite navigation, visual navigation and geomagnetic navigation. In aircraft navigation, it is very important to choose the appropriate navigation technology according to the different tasks the aircraft undertakes. The traffic violation detection technology is to determine whether the vehicle has violated the rules by detecting the speed and position information of the vehicle. At present, the commonly used traffic violation detection methods mainly include video detection, ultrasonic detection, coil detection and so on.
现有技术不足：Insufficient existing technology:
1、对于车辆超速，违停等违章行为主要由电子警察检测。而目前电子警察在检测此类行为方面存在检测覆盖范围小、安装成本高、安置过程复杂且不便于检修维护等缺点，很难满足交通管理的需求。1. Violations such as speeding and parking violations are mainly detected by electronic police. At present, the electronic police has shortcomings such as small detection coverage, high installation cost, complicated installation process and inconvenient maintenance in detecting such behaviors, and it is difficult to meet the needs of traffic management.
2、对于车辆在应急车道，公交专用道的违章行为检测精度较低，实时性差。对类似这种行为方便，快捷的检测手段，由此会使车辆驾驶人员出现侥幸心理，导致交通事故发生，危害公众安全。2. For vehicles in emergency lanes and bus lanes, the detection accuracy of violations is low, and the real-time performance is poor. The convenient and fast detection means for similar behaviors will cause the drivers of the vehicles to have a fluke mentality, cause traffic accidents, and endanger public safety.
3、对于飞行器导航技术，目前依赖定位信息导航精度受GPS本身精度限制存在一定的偏差，对于精准对位到一条车道上的导航则单纯依赖定位信息无法满足。3. For aircraft navigation technology, the current navigation accuracy that relies on positioning information is limited by the accuracy of GPS itself, and there is a certain deviation. For navigation that is accurately aligned to a lane, it cannot be satisfied simply by relying on positioning information.
发明内容Contents of the invention
针对现有技术的不足，本发明设计了基于空地协同的警用智能飞行器检测方法及装置。该方法根据将飞行器的高机动性应用于交通违章检测领域，兼具固定式和移动式的检测手段，解决了传统交通违章检测范围小，实时性差的问题。本发明具体采用如下技术方案，该方法包括如下步骤：Aiming at the deficiencies of the prior art, the present invention designs a police intelligent aircraft detection method and device based on air-ground coordination. Based on applying the high maneuverability of aircraft to the field of traffic violation detection, this method has both fixed and mobile detection methods, and solves the problems of small detection range and poor real-time performance of traditional traffic violation detection. The present invention specifically adopts following technical scheme, and this method comprises the steps:
(1)飞行器接受指令沿设定轨迹路线开始巡查工作，飞行器到达指定的位置及高度后，进行匀速定高飞行，待车辆进入检测区后，飞行器开始对进入检测区的车辆进行车牌信息收集；(1) The aircraft accepts instructions and starts patrolling along the set trajectory. After the aircraft reaches the designated position and altitude, it flies at a constant speed and at a fixed altitude. After the vehicle enters the detection area, the aircraft starts to collect the license plate information of the vehicles entering the detection area;
(2)飞行器检测是否存在违章的车辆(2) The aircraft detects whether there are illegal vehicles
(2.1)飞行器采集实时交通流信息，并根据所述实时交通流信息计算检测区内车辆实时速度，得到与飞行器同向方向车辆速度vs和反方向车辆速度vd(2.1) The aircraft collects real-time traffic flow information, and calculates the real-time speed of vehicles in the detection area according to the real-time traffic flow information, and obtains the vehicle speed vs in the same direction as the aircraft and the vehicle speed vd in the opposite direction
其中，h为飞行器距离地面的垂直距离，α为从检测区起始到测速区的中垂线的角度，t为车辆从进入无人机测速区域到离开的时间，v为飞行器匀速速度；Among them, h is the vertical distance between the aircraft and the ground, α is the angle from the beginning of the detection area to the vertical line of the speed measurement area, t is the time from the vehicle entering the UAV speed measurement area to leaving, and v is the uniform speed of the aircraft;
当车辆速度vs或vd出现大于超速阈值时，判断该车辆超速违章，对出现违章行为的车辆记录其车牌号及违章行为并回传至终端平台；When the vehicle speed vs or vd is greater than the speeding threshold, it is judged that the vehicle has violated the speeding rules, and the license plate number and violation behavior of the vehicle that has violated the rules are recorded and sent back to the terminal platform;
(2.2)飞行器采集路面图像信息，根据图像信息中标靶所处位置确定应急车道区域，所述标靶，根据图像信息中标靶大小比例计算飞行器对地距离，当距离偏差大于阈值时调整飞行高度，直至与指定飞行高度相同；根据图像信息中标靶指向角度检测偏航角，当偏航角大于阈值时调整飞行器水平姿态，直至图像中标靶检测的偏航角为0°，在应急车道区域中检测有无车辆，当存在车辆时拍摄照片并判断该车辆违章停车，对出现违章行为的车辆记录其车牌号及违章行为并回传至终端平台；(2.2) The aircraft collects road surface image information, and determines the emergency lane area according to the position of the target in the image information. The target calculates the distance of the aircraft to the ground according to the size ratio of the target in the image information, and adjusts the flight height when the distance deviation is greater than the threshold value. Until it is the same as the specified flight altitude; detect the yaw angle according to the target pointing angle in the image information, and adjust the horizontal attitude of the aircraft when the yaw angle is greater than the threshold until the yaw angle of the target detection in the image is 0°, and detect in the emergency lane area Whether there is a vehicle, when there is a vehicle, take a photo and judge that the vehicle parked illegally, record the license plate number and illegal behavior of the vehicle that violated the rules and send it back to the terminal platform;
(3)重复飞行和检测过程，直至飞行器抵达终点。(3) Repeat the flight and detection process until the aircraft reaches the destination.
优选地，应急车道中心每间隔指定距离印有所述标靶，所述标靶为可被摄像头图像识别出来的二维标志物，其采用非中心对称设计，所述标靶采用喷绘设置在应急车道路段宽度中心处，任意时刻飞行器摄像头图像中至少有3个所述标靶被检测到。Preferably, the center of the emergency lane is printed with the target at a specified distance, the target is a two-dimensional marker that can be recognized by the camera image, and it adopts a non-centrosymmetric design, and the target is set on the emergency At the center of the lane width, at least three targets are detected in the image of the aircraft camera at any time.
基于空地协同的飞行器检测装置包括飞控模块、飞行器罗盘、飞行器机架、电池模块、飞行器起落架、超声波模块、摄像头模块、电子警察控制终端、无线模块天线、搭载平台；超声波模块、摄像头模块与电子警察控制终端分别固定在搭载平台下方，搭载平台通过机械结构与飞行器相连；超声波模块发射端与接收端在同一水平角，超声波发射角度垂直于地面；摄像头模块与搭载平台之间加垫有减震材料；电子警察控制终端为由微控制器及外围电路组成的控制板，由飞行器电池供电，通过导线与超声波模块、摄像头模块和飞控模块电连接；需要飞行器移动时根据摄像头中标靶位置向飞控模块发送指令，微调飞行器姿态使其搭载的摄像头可以获得最佳拍摄角度；摄像头模块与电子警察控制终端中的微控制器采用USB连接，判断车辆违章时电子警察控制终端向摄像头模块发送指令，拍照留取违章证据和车牌信息；超声波模块与电子警察控制终端中的微控制器采用SPI接口连接，超声波模块传输对地测距信息，电子警察控制终端检查对地高度是否正常，需要飞行器调整高度时微控制器向飞控模块发送指令，调整飞行器高度；无线模块通过移动网络或局域无线网络将微控制器得到的检测信息传回终端平台。The aircraft detection device based on air-ground coordination includes flight control module, aircraft compass, aircraft frame, battery module, aircraft landing gear, ultrasonic module, camera module, electronic police control terminal, wireless module antenna, carrying platform; ultrasonic module, camera module and The electronic police control terminals are respectively fixed under the carrying platform, and the carrying platform is connected to the aircraft through a mechanical structure; the transmitting end of the ultrasonic module and the receiving end are at the same horizontal angle, and the ultrasonic emitting angle is perpendicular to the ground; there is a cushion between the camera module and the carrying platform. The electronic police control terminal is a control board composed of a microcontroller and peripheral circuits, powered by the aircraft battery, and electrically connected to the ultrasonic module, camera module and flight control module through wires; The flight control module sends instructions to fine-tune the attitude of the aircraft so that the camera equipped with it can obtain the best shooting angle; the camera module and the microcontroller in the electronic police control terminal are connected by USB, and the electronic police control terminal sends instructions to the camera module when it is judged that the vehicle violates regulations , taking photos to obtain evidence of violations and license plate information; the ultrasonic module is connected to the microcontroller in the electronic police control terminal through the SPI interface, the ultrasonic module transmits the distance measurement information to the ground, and the electronic police control terminal checks whether the altitude to the ground is normal, and the aircraft needs to be adjusted At altitude, the microcontroller sends instructions to the flight control module to adjust the height of the aircraft; the wireless module transmits the detection information obtained by the microcontroller to the terminal platform through the mobile network or local wireless network.
附图说明Description of drawings
图1是本发明的系统结构图。Fig. 1 is a system structure diagram of the present invention.
图2是定点车辆超速检测方法示意图。Fig. 2 is a schematic diagram of a fixed-point vehicle overspeed detection method.
图3是飞行器测速流程图。Figure 3 is a flow chart of aircraft speed measurement.
图4是应急车道违章占用检测方法示意图。Fig. 4 is a schematic diagram of a method for detecting illegal occupancy of emergency lanes.
图5是标靶设计示例图。Figure 5 is an example diagram of target design.
图6是标靶角度指示信息图。Fig. 6 is a diagram of target angle indication information.
图7是飞行器巡查流程图。Fig. 7 is a flow chart of aircraft inspection.
图8是电子警察装置结构图。Fig. 8 is a structural diagram of the electronic police device.
图9是控制终端结构图。Fig. 9 is a structural diagram of the control terminal.
具体实施方式Detailed ways
如图1所示，本发明系统包括终端平台、无线模块、控制终端、飞行器，控制终端包括与飞行器连接的硬件接口、应用软件、数据库、通讯协议，飞行器上设置有飞行控制系统、GPS模块、超声波模块、高清摄像头模块，终端平台通过无线模块与控制终端通讯连接，实现终端平台对飞行器的飞行状态控制以及功能实现，违章数据和交通流数据等检测数据通过无线模块传输到终端平台。As shown in Figure 1, the system of the present invention includes a terminal platform, a wireless module, a control terminal, and an aircraft. The control terminal includes a hardware interface connected to the aircraft, application software, a database, and a communication protocol. The aircraft is provided with a flight control system, a GPS module, The ultrasonic module, the high-definition camera module, and the terminal platform communicate with the control terminal through the wireless module to realize the flight status control and function realization of the aircraft by the terminal platform, and the detection data such as violation data and traffic flow data are transmitted to the terminal platform through the wireless module.
如图2所示，飞行器飞行到指定位置和高度后通过摄像头图像来捕捉车辆，根据指定时间间隔来计算车辆在区域内的行驶速度。As shown in Figure 2, after the aircraft flies to the specified position and altitude, the camera image is used to capture the vehicle, and the vehicle's driving speed in the area is calculated according to the specified time interval.
建立终端平台与飞行器的通讯，确定飞行器工作流程。终端平台通过数传模块向飞行器发送功能执行指令，GPS坐标及飞行高度。飞行器接受功能指令后飞至致指定位置并驶向交通违章检测及交通信息检测。Establish the communication between the terminal platform and the aircraft to determine the workflow of the aircraft. The terminal platform sends function execution instructions, GPS coordinates and flight altitude to the aircraft through the data transmission module. After receiving the function instruction, the aircraft flies to the designated position and heads to the traffic violation detection and traffic information detection.
飞行器到达指定的为位置及高度后，进行定高飞行，其速度为v。并开始进行车辆速度检测。根据超声波模块可得到飞行器距离地面的垂直距离h(m)。由摄像头拍摄测速区的角度可以规定且已知，则可以得到从测速区起始到测速区的中垂线的角度α。可以计算出测速区在水平地面范围的长度距离L(m)：After the aircraft reaches the specified position and altitude, it will fly at a fixed altitude, and its speed is v. And start the vehicle speed detection. According to the ultrasonic module, the vertical distance h(m) between the aircraft and the ground can be obtained. The angle of the speed measurement area photographed by the camera can be specified and known, and then the angle α from the beginning of the speed measurement area to the perpendicular line of the speed measurement area can be obtained. The length L(m) of the speed measuring area in the horizontal ground range can be calculated:
L＝h×tan(a)×2L=h×tan(a)×2
测速过程中，可得到车辆从进入无人机测速区域到离开的时间t，和无人机移动速度v可以计算出车辆的行驶速度。设与无人机同向方向车辆速度为vs，反向速度为vd：During the speed measurement process, the time t from entering the UAV speed measurement area to leaving the vehicle can be obtained, and the moving speed v of the UAV can be used to calculate the driving speed of the vehicle. Let the speed of the vehicle in the same direction as the UAV be vs , and the reverse speed be vd:
由于通过图像识别的测速方法会受到车身长度、飞行器摆动以及超声波定高误差的影响而产生一定的误差，将误差考虑进去，计算公式如下：Because the speed measurement method through image recognition will be affected by the length of the vehicle body, the swing of the aircraft, and the error of ultrasonic height determination, a certain error will occur. Taking the error into account, the calculation formula is as follows:
当车辆进入检测区域后，飞行器所安装的高清摄像模块与超声波模块相互协作。收集其车牌信息及车速信息。判断其是否有违章行为。对出现违章行为的车辆记录其车牌号及违章行为并回传至终端平台。When the vehicle enters the detection area, the high-definition camera module installed on the aircraft cooperates with the ultrasonic module. Collect its license plate information and vehicle speed information. Determine whether it has violated the rules. Record the license plate number and violation behavior of vehicles that have violated the regulations and send them back to the terminal platform.
如图3为所示方法流程，该方法满足了临时性测速检查的需求，安装维护成本低，可根据需要部署在任意无遮挡的指定路段区域上方，同时可进一步采集交通量信息，辅助检测或满足更多样化的交通管理需求。As shown in Figure 3, the method flow is shown. This method meets the needs of temporary speed measurement inspections, and has low installation and maintenance costs. It can be deployed above any unobstructed designated road section area as required, and at the same time, it can further collect traffic volume information for auxiliary detection or Meet more diverse traffic management needs.
如图4所示，描述了一种基于空地协同的应急车道违章占用巡检技术，图中最外侧车道为应急车道，车道中心每间隔指定距离印有地面信标，飞行器根据应急车道的设计路线移动，在控制终端的辅助下自动导航并调整姿态，寻找应急车道中违章停车的车辆，拍摄取证照片和清晰车牌照片，通过控制终端传回终端平台控制中心。As shown in Figure 4, an emergency lane illegal occupancy inspection technology based on air-ground coordination is described. The outermost lane in the figure is the emergency lane, and the center of the lane is printed with ground beacons at specified distances. The aircraft follows the design route of the emergency lane Move, automatically navigate and adjust posture with the assistance of the control terminal, look for vehicles parked illegally in the emergency lane, take evidence collection photos and clear license plate photos, and send them back to the terminal platform control center through the control terminal.
飞行器飞行导航控制由飞控模块自行设置，所依赖的GPS轨迹信息可通过事先由实验车辆在应急车道上行驶采集得到，飞行过程中通过控制终端进行校正；The flight navigation control of the aircraft is set by the flight control module itself, and the GPS track information relied on can be obtained by collecting the experimental vehicle in the emergency lane in advance, and corrected through the control terminal during the flight;
飞行器姿态控制通过地面信标反馈和超声波测距信息调整，由控制终端发送指令，用以确保摄像头中心对准应急车道并获得最佳拍摄视角；The attitude control of the aircraft is adjusted through ground beacon feedback and ultrasonic ranging information, and the control terminal sends instructions to ensure that the camera center is aligned with the emergency lane and obtain the best shooting angle;
信息数据回传功能由控制终端实现，通过无线模块传输照片至远程终端平台；The information data return function is realized by the control terminal, and the photos are transmitted to the remote terminal platform through the wireless module;
地面指示标靶为可被摄像头图像识别出来的具有明显特征的二维标志物，采用非中心对称设计以矫正飞行器的偏航角，使其搭载的摄像头可以将视角对准应急车道，如图5所示。该标志物宜采用喷绘等快速便捷的方式制作在应急车道路段宽度中心处，每间隔一定距离制作一个，距离根据摄像头视场角大小和设定飞行高度确定，确保无违停车辆遮挡的情况下，任意时刻飞行器摄像头图像中至少有3个标靶可被检测到，所制作的标靶应能够在复杂恶劣天气和自然磨损情况下稳定的保持其二维特征；The ground indicator target is a two-dimensional marker with obvious characteristics that can be recognized by the camera image. It adopts a non-centrosymmetric design to correct the yaw angle of the aircraft so that the camera on it can align the viewing angle with the emergency lane, as shown in Figure 5 shown. The markers should be made at the center of the width of the emergency lane in the center of the width of the emergency lane by means of quick and convenient methods such as inkjet painting, and one at a certain distance. , at least three targets can be detected in the camera image of the aircraft at any time, and the produced targets should be able to maintain their two-dimensional characteristics stably under complex and severe weather and natural wear and tear;
该地面标靶的作用主要体现在如下三个方面：The role of the ground target is mainly reflected in the following three aspects:
1.标识应急车道：紧靠飞行器摄像头图像很难保证在全程中准确分辨应急车道所在区域，在存在标靶的情况下则一目了然，摄像头仅需捕捉标靶所在车道即可确定应急车道区域，根据标靶尺寸与车道宽度的比例和标靶间距可以进一步精细化的划定应急车道范围。1. Mark the emergency lane: It is difficult to ensure that the area of the emergency lane is accurately identified in the whole process if it is close to the camera image of the aircraft. In the case of a target, it is clear at a glance. The camera only needs to capture the lane where the target is located to determine the area of the emergency lane. According to The ratio of the target size to the lane width and the target spacing can further refine the delineation of the emergency lane range.
2.微调飞行器航向：由于标靶的非对称式设计，使其在图像中带有角度特征，如图6所示，控制终端可根据图像中标靶所指示的方向对飞行器的偏航角进行微调，使摄像头可以对准应急车道中线，有利于保持识别精度。2. Fine-tune the heading of the aircraft: Due to the asymmetric design of the target, it has angle features in the image, as shown in Figure 6, the control terminal can fine-tune the yaw angle of the aircraft according to the direction indicated by the target in the image , so that the camera can be aimed at the center line of the emergency lane, which is conducive to maintaining the recognition accuracy.
3.辅助定高：考虑飞行器续航的需求，不宜在其上安装过多超声波设备，但单一超声波模块容易出现被意外遮挡测量值突变或路面颠簸导致飞行器需要频繁调整高度的情况出现，因此可根据近似三角原理，通过标靶在图像中的像素面积大小和整个画幅的大小之比和偏移角度间接计算飞行器此时的高度，辅助定高。3. Auxiliary altitude determination: Considering the needs of the aircraft’s battery life, it is not appropriate to install too many ultrasonic devices on it, but a single ultrasonic module is prone to sudden changes in the measurement value due to accidental occlusion or bumpy roads, which may cause the aircraft to frequently adjust the altitude. Approximate triangle principle, through the ratio of the pixel area size of the target in the image to the size of the entire frame and the offset angle to indirectly calculate the height of the aircraft at this time, and assist in height determination.
上述三个功能依赖飞行器与地面标靶的空地协同实现，克服了传统飞行器巡航中GPS定位精度有限，无法对应急车道精准定位的不足，依赖于标靶信息对于飞行器姿态和轨迹的实时反馈校正，所得到的巡查图像更为稳定，有利于提高检测精度或有效降低所需要考虑的计算复杂度。The above three functions rely on the air-ground cooperation between the aircraft and the ground target, which overcomes the limitation of GPS positioning accuracy in the traditional aircraft cruise and cannot accurately locate the emergency lane, and relies on the real-time feedback correction of the aircraft attitude and trajectory by the target information The obtained inspection image is more stable, which is conducive to improving the detection accuracy or effectively reducing the computational complexity that needs to be considered.
上述自动化功能由控制终端辅助飞行器实现，飞行器与控制终端进行数据与指令的交互，整个流程如下：The above automation functions are realized by the control terminal assisting the aircraft, and the aircraft and the control terminal perform data and command interaction. The whole process is as follows:
如图7所示，建立终端平台与飞行器的通讯，确定飞行器工作流程。终端平台通过数传模块向飞行器发送功能执行指令，飞行轨迹及飞行高度。飞行器接受功能指令后飞至致起点位置并沿设定轨迹路线开始巡查工作。As shown in Figure 7, the communication between the terminal platform and the aircraft is established to determine the workflow of the aircraft. The terminal platform sends function execution instructions, flight trajectory and flight altitude to the aircraft through the data transmission module. After receiving the functional command, the aircraft flies to the starting point and starts patrolling along the set trajectory.
飞行器控制终端读取各传感器信息并进行实时分析，根据图像中标靶所处位置确定应急车道区域。The aircraft control terminal reads the information of each sensor and conducts real-time analysis, and determines the emergency lane area according to the position of the target in the image.
根据超声波模块和图像中标靶大小比例计算飞行器对地距离，当距离偏差大于25cm时调整飞行高度，直至传感器检测对地距离与指定飞行高度相同。Calculate the distance of the aircraft to the ground according to the size ratio of the ultrasonic module and the target in the image. When the distance deviation is greater than 25cm, adjust the flight height until the sensor detects that the distance to the ground is the same as the specified flight height.
根据图像中标靶指向角度检测偏航角，当偏航角大于5°时调整飞行器水平姿态，直至图像中标靶检测的偏航角为0°。The yaw angle is detected according to the pointing angle of the target in the image. When the yaw angle is greater than 5°, the horizontal attitude of the aircraft is adjusted until the yaw angle detected by the target in the image is 0°.
在应急车道区域中检测有无车辆目标，当存在违章车辆时拍摄取证照片。Detect whether there are vehicle targets in the emergency lane area, and take forensic photos when there are illegal vehicles.
重复飞行和检测过程，直至抵达终点。Repeat the flight and detection process until the end point is reached.
如图8所示为实现本专利方法所需的装置结构，1-飞行器飞控、2-飞行器罗盘、3-飞行器机架、4-电池模块、5-飞行器起落架、6-超声波模块、7-摄像头模块、8-电子警察控制终端、9-无线模块天线、10-装置搭载平台，其中，天线与终端无线通信模块相连用以增强无线通信信号；超声波模块、摄像头模块与电子警察控制终端分别固定在搭载平台下方，搭载平台通过机械机构与飞行器相连。As shown in Figure 8, the device structure required to realize the patented method, 1-aircraft flight control, 2-aircraft compass, 3-aircraft frame, 4-battery module, 5-aircraft landing gear, 6-ultrasonic module, 7 -camera module, 8-electronic police control terminal, 9-wireless module antenna, 10-device carrying platform, wherein, the antenna is connected to the terminal wireless communication module to enhance the wireless communication signal; the ultrasonic module, camera module and electronic police control terminal are respectively It is fixed under the carrying platform, and the carrying platform is connected with the aircraft through a mechanical mechanism.
超声波模块发射端与接收端应保证在同一水平角，超声波发射角度垂直于地面；The transmitting end and receiving end of the ultrasonic module should be at the same horizontal angle, and the ultrasonic emitting angle is perpendicular to the ground;
摄像头模块镜头根据实际工作需要朝向正下方或斜向下方，视角与地面按呈90°或30°夹角，便于拍摄路面上的车牌，为保证图像清晰度与稳定性，可在与搭载平台之间加垫减震材料；The lens of the camera module is directed directly downward or obliquely downward according to actual work needs, and the angle of view is 90° or 30° with the ground, which is convenient for photographing the license plate on the road. In order to ensure the clarity and stability of the image, it can cushioning shock-absorbing material;
电子警察控制终端为由微控制器及外围电路组成的控制板，由飞行器电池供电，通过导线与超声波模块、摄像头模块和飞行器飞控模块电连接，采用模块所需接口交互信息，如图9所示；The electronic police control terminal is a control board composed of a microcontroller and peripheral circuits, powered by the aircraft battery, electrically connected to the ultrasonic module, camera module, and aircraft flight control module through wires, and using the interfaces required by the modules to exchange information, as shown in Figure 9 Show;
图9中，飞控模块与控制终端中的微控制器采用串口连接，飞控模块传输GPS轨迹信息，控制终端检查航线是否正常，需要飞行器移动时将根据摄像头中信标位置向飞控模块发送指令，微调飞行器姿态使其搭载的摄像头可以获得最佳拍摄角度；摄像头模块与控制终端中的微控制器采用USB连接，摄像头模块传输图像信息，控制终端根据图像识别算法实现电子警察功能，发现违章车辆时将向摄像头模块发送指令，拍照留取违章证据和车牌信息；超声波模块与控制终端中的微控制器采用SPI接口连接，超声波模块传输对地测距信息，控制终端检查对地高度是否正常，需要飞行器调整高度时微控制器向飞控模块发送指令，调整飞行器高度使其搭载的摄像头可以获得最佳拍摄视角；无线模块通过移动网络或局域无线网络将微控制器计算得到的检测信息传回终端平台。In Figure 9, the flight control module and the microcontroller in the control terminal are connected through a serial port. The flight control module transmits GPS trajectory information, and the control terminal checks whether the route is normal. When the aircraft needs to move, it will send instructions to the flight control module according to the position of the beacon in the camera. , fine-tune the attitude of the aircraft so that the camera on board can obtain the best shooting angle; the camera module and the microcontroller in the control terminal are connected by USB, the camera module transmits image information, and the control terminal realizes the electronic police function according to the image recognition algorithm to find illegal vehicles Instructions will be sent to the camera module to take photos to obtain evidence of violations and license plate information; the ultrasonic module is connected to the microcontroller in the control terminal through the SPI interface, the ultrasonic module transmits the distance measurement information to the ground, and the control terminal checks whether the height to the ground is normal. When the height of the aircraft needs to be adjusted, the microcontroller sends instructions to the flight control module to adjust the height of the aircraft so that the camera equipped with it can obtain the best shooting angle; the wireless module transmits the detection information calculated by the microcontroller through the mobile network or local area wireless network. Return to the terminal platform.
该装置的安装步骤如下：The installation steps of the device are as follows:
步骤1：将电子警察控制终端固定在装置搭载平台上，供电模块与飞行器电池相连，加装无线天线，检查无线通信能否有效建立；Step 1: Fix the electronic police control terminal on the device carrying platform, connect the power supply module to the aircraft battery, install a wireless antenna, and check whether the wireless communication can be effectively established;
步骤2：通过导线将控制终端串口与飞控模块相连，检查信息是否有效传输；Step 2: Connect the serial port of the control terminal to the flight control module through a wire, and check whether the information is transmitted effectively;
步骤3：将摄像头模块固定在装置搭载平台上，调整镜头角度至与地面夹角为30°，通过导线与控制终端USB接口相连，检查信息是否有效传输；Step 3: Fix the camera module on the device carrying platform, adjust the angle of the lens to 30° with the ground, connect it to the USB interface of the control terminal through a wire, and check whether the information is effectively transmitted;
步骤4：将超声波模块固定在装置搭载平台上，调整镜头角度至与地面夹角为90°，通过导线与控制终端SPI接口相连，检查信息是否有效传输；Step 4: Fix the ultrasonic module on the device carrying platform, adjust the angle of the lens to 90° with the ground, connect it to the SPI interface of the control terminal through a wire, and check whether the information is effectively transmitted;
步骤5：将装置搭载平台固定于飞行器下方，确保牢固不松动；Step 5: Fix the device carrying platform under the aircraft to ensure that it is firm and not loose;
步骤6：设置装置工作模式，发送指令，验证功能是否正常，一切正常可根据实际需求安排装置工作，并保证飞行器电池电量足够。Step 6: Set the working mode of the device, send commands, and verify whether the function is normal. If everything is normal, arrange the device to work according to actual needs, and ensure that the battery power of the aircraft is sufficient.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810232226.2ACN108510745A (en) | 2018-03-20 | 2018-03-20 | Air-ground cooperation-based police aircraft detection method and device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810232226.2ACN108510745A (en) | 2018-03-20 | 2018-03-20 | Air-ground cooperation-based police aircraft detection method and device |
| Publication Number | Publication Date |
|---|---|
| CN108510745Atrue CN108510745A (en) | 2018-09-07 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810232226.2APendingCN108510745A (en) | 2018-03-20 | 2018-03-20 | Air-ground cooperation-based police aircraft detection method and device |
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