Automatic illegal development behavior identification and tracking device for natural reserve

Abstract

The invention relates to the technical field of natural reserve monitoring, and provides a natural reserve violation development behavior automatic identification and tracking device, which comprises an unmanned aerial vehicle body, a shooting lens and a processing terminal, and further comprises a counterweight mechanism detachably arranged on the unmanned aerial vehicle body, the balance weight mechanism comprises a base and a plurality of strip-shaped pieces evenly arranged on the base in the circumferential direction, each strip-shaped piece is provided with a balance weight piece, and the balance weight mechanism further comprises a monitoring component. During hovering, the shaking state of the unmanned aerial vehicle body is monitored through the monitoring component, when the shaking amplitude of the unmanned aerial vehicle body reaches a balance intervention value, the balance weight piece in the strip-shaped piece corresponding to the upwarp part during shaking of the unmanned aerial vehicle body is adjusted in a sliding mode in the direction away from the base, and the balance weight is added to the upwarp part of the unmanned aerial vehicle body to offset and reduce the wind power effect; the unmanned aerial vehicle body is kept balanced when hovering in the wind, and stable and clear image shooting is ensured, so that details and degrees of violation behaviors are accurately judged.

Description

Technical Field

[0001] The invention relates to the technical field of nature reserve monitoring, and in particular to an automatic identification and tracking device for illegal development activities in nature reserves. Background Art

[0002] In the management and maintenance of nature reserves, timely detection and prevention of illegal development activities is of vital importance to protecting the ecological environment and maintaining biodiversity. With the advancement of science and technology, drone technology has become an important means of patrolling and monitoring nature reserves due to its high efficiency, flexibility and relatively low cost. Drones are equipped with high-definition cameras, infrared sensors and other equipment, and can cruise quickly in vast nature reserves, effectively covering areas that are difficult to reach with traditional manpower, significantly improving the efficiency of monitoring illegal development activities.

[0003] In the practice of using drones to identify and track illegal development activities in nature reserves, when a drone discovers suspected illegal development scenarios (such as illegal logging, illegal construction, etc.) during patrol, it needs to hover to zoom in for detailed confirmation. The hovering of a drone is easily affected by the wind, causing the body and the lens on board to shake, which not only directly affects the quality of image capture, making the captured image blurry and unstable, and making it difficult to accurately judge the details and extent of the illegal behavior, thereby reducing the accuracy of automatic recognition. At the same time, the shaking of the body affects the hovering control of the drone, increasing flight safety risks, such as position offset, attitude imbalance, etc., and in severe cases may even lead to a crash.

[0004] Therefore, the present invention proposes an automatic identification and tracking device for illegal development activities in nature reserves to solve the above-mentioned problems. Summary of the invention

[0005] The embodiment of the present invention aims to provide a device for automatically identifying and tracking illegal development activities in nature reserves to solve the above-mentioned problems.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A device for automatically identifying and tracking illegal development activities in nature reserves, comprising an unmanned aerial vehicle (UAV) body, a shooting lens arranged on the UAV body, and a processing terminal located on the ground for receiving image data and automatically identifying illegal development activities. The automatic identification and tracking device also includes a detachable counterweight mechanism arranged on the UAV body, which is used to dynamically distribute the counterweight according to the shaking state of the UAV body when the UAV body is hovering so that the body remains balanced. The counterweight mechanism includes a base and a plurality of strips uniformly arranged on the base in the circumferential direction, and the whole is in a centrally divergent shape. Each of the strips is equipped with a counterweight, and the position of the counterweight can be adjusted along the direction of the corresponding strip. The counterweight mechanism also includes a monitoring component for monitoring the shaking state of the UAV body.

[0008] In an optional solution: the automatic identification and tracking device also includes a dust isolation mechanism for preventing dust from adhering to the shooting lens when the drone body lands.

[0009] In an optional solution: the dust isolation mechanism includes a disk body arranged below the shooting lens and an air pump arranged on the drone body, the disk body is hollow inside, an air duct is provided on the drone body, the lower end of the air duct is connected to the inside of the disk body, the air pump port is connected to the air duct, and air outlet holes are arranged circumferentially on one side of the disk body facing the shooting lens.

[0010] In an optional solution: a cylinder is provided on the base, the cylinder includes a first cavity and a second cavity, the strip is cylindrical, one end of each strip close to the base is open and connected to the first cavity, and the other end is provided with a through hole, the counterweight is sealed from the inner wall of the strip, the air pump is a two-way air pump, and the air pump port is also connected to the first cavity, used to inject gas into the first cavity and extract gas from the first cavity, each strip is provided with a first sealing valve, and the air guide pipe is provided with a second sealing valve;

[0011] The monitoring component is arranged in the second cavity.

[0012] In an optional solution: the monitoring component includes a suspension rod and a touch-pressure ball, one end of the suspension rod is hinged to the top of the second cavity through a ball joint, and the other end is fixedly connected to the touch-pressure ball, and pressure sensors corresponding to the strip-shaped pieces are evenly distributed around the touch-pressure ball in the second cavity, and a contact sheet is provided at the pressure sensing end of the pressure sensor.

[0013] In an optional solution: the second cavity is fully enclosed.

[0014] In an optional solution: a shift button is provided on each of the strip-shaped members, and the counterweight member is in an initial position to trigger the corresponding shift button.

[0015] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0016] 1. When hovering, the shaking state of the drone body is monitored through the monitoring component. When the shaking amplitude of the drone body reaches the balance intervention value, the counterweight in the strip corresponding to the upturned part of the drone body when it is shaking is slid away from the base, and the counterweight is added to the upturned part of the body to offset the wind force, so that the drone body can maintain balance when hovering in the wind, ensuring stable and clear image shooting, so as to accurately judge the details and degree of the violation;

[0017] 2. When the drone lands, an air pump is set up to deliver air to the disc, and then the air is discharged through the air outlet to form a wind curtain. The wind curtain blocks dust and prevents the raised dust from adhering to and contaminating the shooting lens.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into and constitute a part of the specification to illustrate embodiments consistent with the present application and are used together with the specification to explain the principles of the present application. At the same time, these drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0020] Figure 1 It is a front view of the present invention.

[0021] Figure 2 It is a top view of the present invention.

[0022] Figure 3 It is a schematic diagram of the arrangement among the base, the cylinder and a plurality of strips in an embodiment of the present invention.

[0023] Figure 4 It is a top cross-sectional view of the counterweight mechanism in an embodiment of the present invention.

[0024] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0025] Figure 6 Schematic diagram of the arrangement between the disk and the air duct in an embodiment of the present invention.

[0026] Figure 7 It is a schematic diagram of the arrangement between the cylinder, the air pump and the monitoring component in an embodiment of the present invention.

[0027] Notes on figure numbers: 1-UAV body, 2-shooting lens, 3-counterweight mechanism, 301-base, 302-strip, 303-cylinder, 3031-first cavity, 3032-second cavity, 304-counterweight, 305-first sealing valve, 306-shift button, 307-limiting boss, 308-through hole, 309-suspender rod, 310-touch ball, 311-contact sheet, 312-pressure sensor, 4-dust isolation mechanism, 401-air pump, 402-disc, 403-air duct, 404-air outlet. DETAILED DESCRIPTION

[0028] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0029] See also Figure 1 to Figure 5 , an automatic identification and tracking device for illegal development activities in nature reserves, comprising an unmanned aerial vehicle (UAV) body 1, a shooting lens 2 arranged on the UAV body 1, and a processing terminal located on the ground for receiving image data and automatically identifying illegal development activities, the automatic identification and tracking device also includes a counterweight mechanism 3 detachably arranged on the UAV body 1, which is used to dynamically distribute the counterweight according to the shaking state of the UAV body when the UAV body 1 is hovering so that the body remains balanced, the counterweight mechanism 3 includes a base 301 and a plurality of strips 302 uniformly arranged on the base 301 in a circumferential direction, and the whole is in a centrally divergent shape, each of the strips 302 is provided with a counterweight 304, and the counterweight 304 can adjust its position along the direction of the corresponding strip 302, and the counterweight mechanism 3 also includes a monitoring component for monitoring the shaking state of the UAV body 1.

[0030] It should be noted that the processing terminal includes an image receiving module for receiving image data in real time, a data processing module for quickly processing and analyzing the received image data, a user interface, a communication module, etc. The equipped image recognition and analysis algorithm can automatically identify targets, objects, scenes, etc. in the image, and extract key information to realize automatic identification and tracking of illegal development behaviors in nature reserves; in addition, the technical solution provided in this application is used to maintain balance when the drone body 1 is hovering, and is suitable for windy weather. In windless weather, the counterweight mechanism 3 is removed from the drone body 1 to reduce unnecessary load on the drone body 1. The counterweight mechanism 3 can be detachably assembled with the drone body 1 by existing technologies such as bolts and clips, which are not limited or elaborated here.

[0031] The drone body 1 flies and patrols over the nature reserve area according to the set trajectory, shoots pictures through the shooting lens 2 and transmits them to the processing terminal for automatic processing in real time. When a suspected illegal development scene is identified, the drone body 1 hovers over the target scene area and zooms in for further identification and confirmation. When hovering, the shaking state of the drone body 1 is monitored by the monitoring component. When the shaking amplitude of the drone body 1 reaches the balanced intervention value, the counterweight 304 on the strip 302 corresponding to the upturned part of the drone body 1 when shaking is adjusted to slide away from the base 301, and the counterweight is added to the upturned part of the body to offset the wind force, so that the drone body 1 maintains balance when hovering in the wind, ensuring stable and clear image shooting, so as to accurately judge the details and degree of the illegal behavior. When the illegal development behavior is determined, the drone body 1 focuses on the illegal development area during the flight inspection within a certain period, and judges whether the illegal development behavior has stopped by comparing the before and after images, that is, tracking is carried out after the illegal development behavior is found. In addition, after the hovering ends, all the counterweights 304 are reset.

[0032] See also Figure 1 and Figure 6 In one embodiment of the present invention, the automatic identification and tracking device further includes a dust isolation mechanism 4 for preventing dust from adhering to the shooting lens 2 when the drone body 1 lands;

[0033] The dust isolation mechanism 4 includes a disk 402 arranged below the shooting lens 2 and an air pump 401 arranged on the drone body 1. The disk 402 is hollow inside, and an air duct 403 is provided on the drone body 1. The lower end of the air duct 403 is connected to the inside of the disk 402, and the port of the air pump 401 is connected to the air duct 403. The disk 402 is provided with air outlet holes 404 arranged circumferentially on one side facing the shooting lens 2.

[0034] In this embodiment, when the drone body 1 lands, the high-speed rotating propellers will stir up dust on the ground, causing the dust to adhere to and contaminate the shooting lens 2. In this embodiment, an air pump 401 is provided to transport airflow to the disk 402, and then the air is discharged through the air outlet 404 to form a wind curtain (the shooting lens 2 is located in the wind curtain). The wind curtain blocks dust and prevents the stirred dust from adhering to and contaminating the shooting lens 2.

[0035] See also Figure 2 to Figure 5 , Figure 7In one embodiment of the present invention, a cylinder 303 is provided on the base 301, and the cylinder 303 includes a first cavity 3031 and a second cavity 3032. The strip 302 is cylindrical, and one end of each strip 302 close to the base 301 is open and communicated with the first cavity 3031, and the other end is provided with a through hole 308. The counterweight 304 is sealed from the inner wall of the strip 302. The air pump 401 is a two-way air pump, and the port of the air pump 401 is also communicated with the first cavity 3031. , used to inject gas into the first cavity 3031 and extract gas from the first cavity 3031, each of the strip members 302 is provided with a first sealing valve 305, and the air duct 403 is provided with a second sealing valve (not shown in the figure), preferably, the first sealing valve 305 and the second sealing valve are both solenoid valves (it should be noted that when the drone body 1 lands, all the first sealing valves 305 are in a closed state and the second sealing valves are open, and when the hovering weight is adjusted, the second sealing valve is in a closed state).

[0036] The monitoring component is disposed in the second cavity 3032 .

[0037] In this embodiment, the counterweight 304 is equivalent to a sealing piston in the strip member 302, and the counterweight 304 is driven by injecting gas into the first cavity 3031 and extracting gas from the first cavity 3031 through the air pump 401, so that the counterweight 304 slides along the corresponding strip member 302 to change the adjustment position (when injecting gas into the first cavity 3031, the counterweight 304 is moved away from the first cavity 3031 by the air pressure, and when extracting gas from the first cavity 3031, the counterweight 304 moves toward the first cavity 3031 under the action of negative pressure) to achieve counterweight adjustment. It should be noted that when performing counterweight adjustment, only the first sealing valve 305 in the strip member 302 that needs to be adjusted is in an open state, and the first sealing valves 305 in all other strip members 302 are in a closed state.

[0038] See also Figure 7 In one embodiment of the present invention, the monitoring component includes a suspension rod 309 and a touch-pressure ball 310, one end of the suspension rod 309 is hinged to the top of the second cavity 3032 through a ball joint, and the other end is fixedly connected to the touch-pressure ball 310, and pressure sensors 312 corresponding to the strip members 302 are evenly distributed around the touch-pressure ball 310 in the second cavity 3032, and a contact sheet 311 is provided at the pressure sensing end of the pressure sensor 312.

[0039] In this embodiment, under the action of gravity, the boom 309 is always in a vertical downward state. When the drone body 1 is hovering, the shaking of the body drives the cylinder 303 to shake together. When the shaking of the cylinder 303 reaches a certain amplitude (i.e., the balance intervention value), the touch ball 315 contacts the contact piece 311 to trigger the corresponding pressure sensor 312, which means that the part of the drone body 1 corresponding to the pressure sensor 312 is in a lower state, and the position "laterally" opposite to the part is in a tilted state. At this time, the counterweight 304 on the strip 302 corresponding to the tilted part of the drone body 1 slides in a direction away from the base 301, and its sliding adjustment distance is adapted to the pressure value when the touch ball 315 and the contact piece 316 are in instantaneous contact. The larger the instantaneous pressure value, the faster the body shakes, the greater the impact of wind impact, and the counterweight 304 The larger the distance required for sliding adjustment in the direction away from the base 301, the smaller the distance required for sliding adjustment of the counterweight 304. The counterweight 304 suppresses the tilted part of the body to offset and reduce the wind force, so that the drone body 1 can maintain balance when hovering in the wind. It should be noted that in this embodiment, the size of the touch and pressure ball 310 is designed to be able to contact only two contact pieces 311 at most at the same time. When the touch and pressure ball 310 contacts the two contact pieces 311 at the same time, only the counterweight 304 on the strip 302 corresponding to the pressure sensor 312 with the larger instantaneous pressure value is responded to. When the instantaneous pressure values ​​sensed by the two pressure sensors 312 are the same, the counterweight 304 on the strip 302 corresponding to any one of the pressure sensors 312 is responded to, and the next adjustment action is made according to the adjusted condition.

[0040] Furthermore, in this embodiment, the second cavity 3032 is fully enclosed.

[0041] See also Figure 5 In one embodiment of the present invention, each of the strip-shaped members 302 is provided with a shift button 306 , and the counterweight member 304 triggers the corresponding shift button 306 when it is in the initial position.

[0042] In this embodiment, whether the counterweight 304 has been shifted and adjusted is determined by whether the counterweight 304 triggers the shift button 306. When the drone body 1 shakes, if the counterweight 304 corresponding to the lower part of the body has been adjusted, the counterweight 304 is adjusted "backward" to reduce the weight of the lower part of the body. If the body has not reached balance after the counterweight 304 is fully reset, the counterweight 304 corresponding to the tilted part of the body is adjusted to increase the weight of the tilted part until the body is balanced.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A device for automatically identifying and tracking illegal development activities in nature reserves, comprising an unmanned aerial vehicle (UAV) body (1), a camera lens (2) disposed on the UAV body (1), and a processing terminal located on the ground for receiving image data and automatically identifying illegal development activities, characterized in that: The automatic identification and tracking device also includes a counterweight mechanism (3) detachably arranged on the drone body (1), which is used to dynamically distribute the counterweight according to the body shaking state when the drone body (1) is hovering so as to keep the body balanced. The counterweight mechanism (3) includes a base (301) and a plurality of strips (302) uniformly arranged on the base (301) in a circumferential direction, and the overall shape is centrally divergent. Each of the strips (302) is provided with a counterweight (304), and the position of the counterweight (304) can be adjusted along the direction of the corresponding strip (302). The counterweight mechanism (3) also includes a monitoring component for monitoring the body shaking state of the drone body (1).

2. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 1 is characterized in that: The automatic identification and tracking device also includes a dust isolation mechanism (4) for preventing dust from adhering to the shooting lens (2) when the drone body (1) lands.

3. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 2, characterized in that: The dust isolation mechanism (4) comprises a disk (402) arranged below the shooting lens (2) and an air pump (401) arranged on the drone body (1); the disk (402) is hollow inside; an air duct (403) is arranged on the drone body (1); the lower end of the air duct (403) is connected to the inside of the disk (402); a port of the air pump (401) is connected to the air duct (403); and air outlet holes (404) are arranged circumferentially on one side of the disk (402) facing the shooting lens (2).

4. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 3 is characterized in that: The base (301) is provided with a cylinder (303), and the cylinder (303) includes a first cavity (3031) and a second cavity (3032). The strip pieces (302) are in a cylindrical shape. One end of each of the strip pieces (302) close to the base (301) is open and communicated with the first cavity (3031), and the other end is provided with a through hole (308). The counterweight (304) and the inner wall of the strip piece (302) are sealed. The air pump (401) is a two-way air pump, and the port of the air pump (401) is also communicated with the first cavity (3031) for injecting gas into the first cavity (3031) and extracting gas from the first cavity (3031). Each of the strip pieces (302) is provided with a first sealing valve (305), and the air guide pipe (403) is provided with a second sealing valve; The monitoring component is arranged in the second cavity (3032).

5. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 4 is characterized in that: The monitoring component comprises a suspension rod (309) and a touch-pressure ball (310); one end of the suspension rod (309) is hinged to the top of the second cavity (3032) through a ball joint, and the other end is fixedly connected to the touch-pressure ball (310); pressure sensors (312) corresponding to the strip members (302) are evenly distributed around the touch-pressure ball (310) in the second cavity (3032); and a contact sheet (311) is provided at the pressure sensing end of the pressure sensor (312).

6. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 5 is characterized in that: The second cavity (3032) is fully enclosed.

7. The device for automatically identifying and tracking illegal development activities in nature reserves according to claim 1, characterized in that: Each of the strip-shaped members (302) is provided with a shift button (306), and the counterweight member (304) triggers the corresponding shift button (306) when it is in the initial position.

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