The invention discloses an anti-damage alarm method and system for an unmanned aerial vehicle field consignment vehicle and an equipment medium, and the method comprises the steps: S1, obtaining a three-channel image and point cloud data in a monitoring range of the unmanned aerial vehicle field consignment vehicle, and carrying out the clustering operation; s2, redundant bounding boxes are removed from the data after clustering operation, bounding boxes with numerical values lower than a threshold value are removed, and non-maximum values are adopted for the remaining bounding boxes to suppress redundant parts; s3, after a redundant boundary rear frame is removed, an up-sampling amplified image is adopted for convolution operation, a Kalman state matrix of a detected object is obtained through calculation, training is conducted till a loss function converges, iteration network parameters are reversely updated, and then obstacle and pedestrian feature results are obtained; and S4, obtaining the special features of the obstacles and pedestrians in front of the unmanned aerial vehicle yard consignment vehicle, comparing the special features with the obstacle and pedestrian feature result models, and giving an alarm when the similarity of the two features is greater than a set value. The obstacle and pedestrian recognition precision is greatly improved, and no alarm or false alarm is avoided.
本发明公开了一种无人机场托运车的防破坏报警方法、系统及设备介质,S1,获取无人机场托运车监测范围内的三通道图像和点云数据,并进行聚类运算;S2,对聚类运算后的数据去除冗余的边界框且去掉数值低于阈值的边界框,对余下的边界框采用非极大值抑制多余的部分;S3,去除冗余的边界后框后采用上采样放大图像进行卷积操作,计算得到检测物的卡尔曼状态矩阵,再训练至损失函数收敛,再反向更新迭代网络参数,进而得到障碍物及行人特征结果;S4,获取无人机场托运车实际前方障碍物及行人的特制特征,与障碍物及行人特征结果机型比对,当二者相似度大于设定值时,进行报警。极大提高了障碍物及行人的识别精度,避免了未报警或误报警。
Anti-damage alarm method and system for unmanned aerial vehicle field consignment vehicle and equipment medium
一种无人机场托运车的防破坏报警方法、系统及设备介质
2023-03-31
Patent
Electronic Resource
Chinese
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