CN103175789A - Water quality hyperspectral aerial remote sensing system based on multi-rotor unmanned aircraft - Google Patents
Water quality hyperspectral aerial remote sensing system based on multi-rotor unmanned aircraft Download PDFInfo
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Abstract
The invention relates to the technical field of a multi-rotor unmanned aircraft, and specifically relates to a water quality hyperspectral aerial remote sensing system based on a multi-rotor unmanned aircraft. The system comprises a multi-rotor unmanned aircraft and a data analysis and processing system. A hyperspectral image detection system is arranged on the multi-rotor unmanned aircraft. The data analysis and processing system receives information acquired by the hyperspectral image detection system. According to the water-quality hyperspectral aerial remote sensing system, the multi-rotor unmanned aircraft is adopted as an aerial remote sensing carrier, such that load and stability can be improved, and large-area data acquisition can be easily realized. Also, with the hyperspectral image detection system, water quality hyperspectral information is acquired, and source data is provided for the data analysis and processing system. With the data analysis and processing system, the data is subjected to real-time processing and analysis, and related indicators are outputted. Data normalization and smoothing, and analysis of various indicators are included. Therefore, water quality remote sensing detection efficiency and precision are improved. The system is suitable for remote sensing detection of water qualities of lakes and bays.
Description
Technical field
The present invention relates to many rotor unmanned aircrafts technical field, more specifically, relate to the high spectrum airborne remote sensing of a kind of water quality based on many rotor wing unmanned aerial vehicles system.
Background technology
Tradition is by using the instruments such as expensive, bulky HPLC-MS or GC-MS to carry out to water quality detection, and the sample preparation process is complicated, length consuming time, needs the professional and technical personnel to operate, and testing cost is very high, has therefore limited the routine monitoring number of times.How can be quick, effectively water quality is detected, effectively ensure the healthy of the people, become an important research topic.Remote sensing can address this problem well.
Because south China is a cloudy zone, satellite remote sensing is difficult to its effective effect of performance.Airborne remote sensing can be avoided the cloudy obstacle in South China, adds its maneuverability, dirigibility and high precision advantage, for the safety monitoring early warning of drinking water source provides means preferably.And the unmanned plane technology also gets over maturation at present, and its price is also more and more cheaper, and practicality is also more and more stronger.In recent years, the development of unmanned aero remote sensor is comparatively rapid, and its price is comparatively cheap, for lake and bay water quality airborne remote sensing are provided convenience.Divide from the wing form of unmanned plane, can be divided into two types, fixed-wing and the turn wing.The companies such as domestic your boat joint-stock company and middle soldier's photoelectricity all produce the relatively large fixed-wing unmanned plane of build at present, although these fixed-wing unmanned plane flight time are longer, but its take off and the landing process in higher to conditional request, need special help-fly structure, digging out process comparatively bothers.Due to water source, inland and the general less of bay area, and the water source surrounding environment is comparatively complicated, and large-scale fixed-wing unmanned plane is difficult to carry out landing, and for turn wing unmanned plane, its landing process is comparatively simple, is more suitable for the remote sensing monitoring of drinking water source.
But present domestic rotor wing unmanned aerial vehicle, some volumes are larger, and are can load-carrying larger, but price and oil are moving, and flying just had carbon distribution in fifties hours, need to clear up, and maintenance cost is very expensive; Four rotor wing unmanned aerial vehicles that some is small-sized, although the bodily form is less, load-carrying is also very little, only has 500 ~ 1000 grams, is difficult to satisfy present requirements, stationarity and the ease for operation of flight all have much room for improvement, and not too are fit to the remote sensing monitoring of lake and bay water quality.
Summary of the invention
The present invention is for overcoming the described at least a defective of above-mentioned prior art, the high spectrum airborne remote sensing of a kind of water quality based on many rotor wing unmanned aerial vehicles system is provided, by adopting the high spectrum image detection system, the hyperspectral information collection of water quality is gone forward side by side line number according to one's analysis, can increase water quality remote sensing detection efficiency and precision are fit to the remote sensing monitoring of lake and bay water quality.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The high spectrum airborne remote sensing of a kind of water quality based on many rotor wing unmanned aerial vehicles system is provided, comprise many rotor wing unmanned aerial vehicles and data analysis disposal system, described many rotor wing unmanned aerial vehicles are provided with the high spectrum image detection system, and described data analysis disposal system receives the information that the high spectrum image detection system gathers.The high spectrum airborne remote sensing of this water quality system has the load-carrying more than three kilograms take many rotor wing unmanned aerial vehicles as the airborne remote sensing carrier, can increase load and improve stability, and being convenient to realize the large tracts of land image data; The sensor that adopts simultaneously the high spectrum image detection system gathers the hyperspectral information of water quality and provides source data for the data analysis disposal system, by high spectrum image detection system image data and send data message to the data analysis disposal system, when the data analysis disposal system receives information, can process and analyze and export in real time index of correlation to data, data normalization, level and smooth and various index analysis have been comprised, as chlorophyll, suspended matter and the index such as may pollute.Wherein, the communication in the high spectrum airborne remote sensing of this water quality system comprises the transmission of data and the reception of microwave signal at least.
Further, described many rotor wing unmanned aerial vehicles comprise the body that is provided with the center basin, be arranged at lifting module on body, control module and be the power module of body power supply, and described lifting module is connected, is electrically connected to control module with the center basin.These many rotor wing unmanned aerial vehicles are in the situation that the power module power supply, control module is controlled the lifting block motion raises body, to flight angle, the direction of unmanned plane and take off and landing is controlled, make high spectrum image detection system image data in large area.
In this programme, control module comprises that microwave transmits and receives system, mainly adopts microwave signal to carry out communication; Many rotor wing unmanned aerial vehicles can also comprise GPS, to the design of the line of flight.These many rotor wing unmanned aerial vehicles can effectively improve the load of body and the stability of flight attitude, but over the horizon flight control and high-level efficiency business operate to that remote sensing monitoring based on the high spectrum airborne remote sensing of the water quality system of these many rotor wing unmanned aerial vehicles provides fully and the realization of efficient detection may.
In such scheme, described high spectrum image detection system comprises acquisition control system and the first harvester that is electrically connected to acquisition control system, the second harvester, and described acquisition control system is electrically connected to control module.Control module is controlled acquisition control system and is gathered water quality information, specifically realizes by the first harvester and the second harvester that are electrically connected to acquisition control system.The first harvester can adopt high spectrum and image detection sensor, and the second harvester can adopt the devices such as spectrometer, camera.
Alternatively, the support that rises and falls that described lifting module comprises screw propeller, motor and is located at underpart, described screw propeller is connected with the center basin by the rotor support, and the motion of motor-driven screw propeller also is electrically connected to power module.
Preferably, described rotor support is comprised of six isometric carbon fiber supports, and an end of each rotor support is connected with screw propeller, the other end is connected with the center basin.Adopt the consistent carbon fiber support of six length, material to form the rotor support as the support system of unmanned plane rising power, can improve the fuselage balanced capacity of unmanned plane, and can effectively increase the dead weight capacity of SUAV (small unmanned aerial vehicle).
Preferably, described center basin is regular hexagon carbon fiber basin, can adopt especially the carbon fiber board of half hollow out to make.
As improvement, described lifting module also comprises the remote-receiver of control center's basin, and remote-receiver is electrically connected to control module, so that the lifting module is controlled, namely controls the state of flight that UAS makes its lifting etc.
Change further improvement into, described many rotor wing unmanned aerial vehicles also comprise the cradle head control receiving trap that is electrically connected to control module, and described cradle head control receiving trap is connected with The Cloud Terrace.
Preferably, described The Cloud Terrace is provided with camera and/or video camera.Except the first harvester and the second harvester are set, camera and/or video camera can also be set on The Cloud Terrace, increase the possibility of image data, water quality remote sensing detection efficiency and the precision of the high spectrum airborne remote sensing of further increasing water quality system.
Preferably, described power module is the lithium battery group.
Compared with prior art, the invention has the beneficial effects as follows:
the present invention is based on the high spectrum airborne remote sensing of the water quality system of many rotor wing unmanned aerial vehicles take many rotor wing unmanned aerial vehicles as the airborne remote sensing carrier, can increase the load of unmanned plane and improve stability, can be quick at the scene, effectively the water quality in lake and bay being carried out remote sensing detects, improved to a great extent the detection efficiency of large tracts of land water quality, and adopt the high spectrum image detection system that the hyperspectral information of water quality is gathered, further by wireless transmission and receiving system, data are carried out real-time Transmission, index of correlation is processed and analyze and exported to data, comprised data normalization, level and smooth and various index analysis, as chlorophyll, suspended matter and the index such as may pollute.Should can carry out remote sensing to water quality based on the high spectrum airborne remote sensing of the water quality system of many rotor wing unmanned aerial vehicles and detect, have quick, convenient, the advantage such as the inferior measurement of multifrequency continuously; As a kind of new important method that water quality remote sensing is detected, to inland and bay water quality accurately, fast detecting has considerable meaning.
Description of drawings
Fig. 1 is the structural representation of embodiment 1 six rotor wing unmanned aerial vehicles.
Fig. 2 is the structure for amplifying schematic diagram of A part in Fig. 1.
Fig. 3 is the structural representation of embodiment 1 center basin.
Fig. 4 is the part structure for amplifying schematic diagram of embodiment 2 six rotor wing unmanned aerial vehicles.
Embodiment
The present invention is further illustrated below in conjunction with embodiment.Wherein, accompanying drawing only is used for exemplary illustration, expression be only schematic diagram, but not pictorial diagram can not be interpreted as the restriction to this patent; For embodiments of the invention are described better, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product; For a person skilled in the art, in accompanying drawing some known features and explanation thereof may to omit be understandable.
the corresponding same or analogous parts of same or analogous label in the accompanying drawing of the embodiment of the present invention, in description of the invention, it will be appreciated that, if have term " on ", D score, " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of indications such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore the term of describing position relationship in accompanying drawing only is used for exemplary illustration, can not be interpreted as the restriction to this patent.
In addition, if there are the terms such as " first ", " second " only to be used for describing purpose, and can not be interpreted as indication or hint relative importance; In the present invention, unless otherwise prescribed or limit, need to prove, if there are the terms such as " installation ", " connection ", " being connected " should do broad understanding.
Embodiment 1
Be as shown in Figure 1 to Figure 3 the first embodiment of the high spectrum airborne remote sensing of the water quality system that the present invention is based on many rotor wing unmanned aerial vehicles, comprise six rotor wing unmanned aerial vehicles and data analysis disposal system, six rotor wing unmanned aerial vehicles are provided with the high spectrum image detection system, and the data analysis disposal system receives the information that the high spectrum image detection system gathers.
In the present embodiment, as Fig. 1, Fig. 2 and shown in Figure 3, six rotor wing unmanned aerial vehicles comprise the body that is provided with center basin 12, be arranged at lifting module on body, control module and be the power module 31 of body power supply, comprise that also its viewable portion of GPS(that the line of flight is designed is gps antenna 41 as shown in Figure 2), the lifting module is connected, is electrically connected to control module with center basin 12.High spectrum image detection system in this programme comprises acquisition control system 51 and the first harvester 52 that is electrically connected to acquisition control system 51, the second harvester 53, and acquisition control system 51 is electrically connected to control module.Control module is controlled acquisition control system 51 and is gathered water quality information, specifically realizes by first, second harvester 52/53 that is electrically connected to acquisition control system 51.Wherein, center basin 12 is the regular hexagon carbon fiber basin of half hollow out; The first harvester 52 can adopt high spectrum and image detection sensor, and the second harvester 53 can adopt the devices such as spectrometer, camera; Power module 31 is the lithium battery group.This six rotor wing unmanned aerial vehicle is in the situation that power module 31 power supplies, control module is controlled the lifting block motion raises body, to flight angle, the direction of unmanned plane and take off and landing is controlled, make high spectrum image detection system image data in large area.
This six rotor wing unmanned aerial vehicle can effectively improve the load of body and the stability of flight attitude, but over the horizon flight control and high-level efficiency business operate to that remote sensing monitoring based on the high spectrum airborne remote sensing of the water quality system of this six rotor wing unmanned aerial vehicle provides fully and the realization of efficient detection may.
As shown in Figure 1, the lifting module comprises screw propeller 21, motor 22, is located at the remote-receiver 24 of rise and fall support 23 and control center's basin 12 of underpart, remote-receiver 24 is electrically connected to control module, screw propeller 21 is connected with center basin 12 by rotor support 25, and motor 22 drives screw propeller 21 motions and is electrically connected to power module 31.Wherein, rotor support 25 is comprised of six isometric carbon fiber supports, and an end of each rotor support is connected with screw propeller 21, the other end is connected with center basin 12.Adopt the consistent carbon fiber support of six length, material to form the rotor support as the support system of unmanned plane rising power, can improve the fuselage balanced capacity of unmanned plane, and can effectively increase the dead weight capacity of SUAV (small unmanned aerial vehicle).
During the actual high spectrum airborne remote sensing of the water quality based on the six rotor wing unmanned aerial vehicles system that uses operation the present embodiment, because the data analysis disposal system is arranged on long-range, and carry out the data transmission between high spectrum image detection system and data analysis disposal system, therefore operating personnel only need to control in long-range (as indoor) operation, carry out the detection to water quality.Therefore, adopt the high spectrum airborne remote sensing of this water quality system easier, reduced dramatically the restrictive condition to water quality detection.
The high spectrum airborne remote sensing of the present embodiment water quality system is take six rotor wing unmanned aerial vehicles as the airborne remote sensing carrier, has the load-carrying more than three kilograms, can increase load and improve stability, and be convenient to realize the large tracts of land image data, improved to a great extent the detection efficiency of large tracts of land water quality, can carry out remote sensing to the water quality in lake and bay quickly and efficiently at the scene and detect; Adopt simultaneously the high spectrum image detection system that the hyperspectral information of water quality is gathered and provide source data for the data analysis disposal system, by high spectrum image detection system image data and send data message to the data analysis disposal system, when the data analysis disposal system receives information, can process and analyze and export in real time index of correlation to data, data normalization, level and smooth and various index analysis have been comprised, as chlorophyll, suspended matter and the index such as may pollute.Communication in the high spectrum airborne remote sensing of the water quality of the present embodiment system comprises the transmission of data and the reception of microwave signal at least.
Should can carry out remote sensing to water quality based on the high spectrum airborne remote sensing of the water quality system of six rotor wing unmanned aerial vehicles and detect, have quick, convenient, the advantage such as the inferior measurement of multifrequency continuously; As a kind of new important method that water quality remote sensing is detected, to inland and bay water quality accurately, fast detecting has considerable meaning.
Embodiment 2
Be illustrated in figure 4 as the second embodiment of the high spectrum airborne remote sensing of the water quality that the present invention is based on many rotor wing unmanned aerial vehicles system, as different from Example 1, six rotor wing unmanned aerial vehicles also comprise the cradle head control receiving trap 60 that is electrically connected to control module, cradle head control receiving trap 60 is connected with The Cloud Terrace 61, and The Cloud Terrace 61 is provided with camera and/or video camera.Except the first harvester 52 and the second harvester 53 are set on the unmanned plane of embodiment 1, the unmanned plane of the present embodiment can also arrange camera and/or video camera on The Cloud Terrace 61, increase the possibility of image data, water quality remote sensing detection efficiency and the precision of the high spectrum airborne remote sensing of further increasing water quality system.
Obviously, the above embodiment of the present invention is only for example of the present invention clearly is described, and is not to be restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of claim of the present invention.
Claims (10)
1. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles system, it is characterized in that, comprise many rotor wing unmanned aerial vehicles and data analysis disposal system, described many rotor wing unmanned aerial vehicles are provided with the high spectrum image detection system, and described data analysis disposal system receives the information that the high spectrum image detection system gathers.
2. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 1 system, it is characterized in that, described many rotor wing unmanned aerial vehicles comprise the body that is provided with the center basin, be arranged at lifting module on body, control module and be the power module of body power supply, and described lifting module is connected, is electrically connected to control module with the center basin.
3. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 2 system, it is characterized in that, described high spectrum image detection system comprises acquisition control system and the first harvester that is electrically connected to acquisition control system, the second harvester, and described acquisition control system is electrically connected to control module.
4. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 2 system, it is characterized in that, the support that rises and falls that described lifting module comprises screw propeller, motor and is located at underpart, described screw propeller is connected with the center basin by the rotor support, and the motion of motor-driven screw propeller also is electrically connected to power module.
5. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 4 system, it is characterized in that, described rotor support is comprised of six isometric carbon fiber supports, and an end of each rotor support is connected with screw propeller, the other end is connected with the center basin.
6. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 5 system, is characterized in that, described center basin is regular hexagon carbon fiber basin.
7. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 4 system, is characterized in that, described lifting module also comprises the remote-receiver of control center's basin, and remote-receiver is electrically connected to control module.
8. the high spectrum airborne remote sensing of the described water quality based on many rotor wing unmanned aerial vehicles of according to claim 2 to 7 any one system, it is characterized in that, described many rotor wing unmanned aerial vehicles also comprise the cradle head control receiving trap that is electrically connected to control module, and described cradle head control receiving trap is connected with The Cloud Terrace.
9. the high spectrum airborne remote sensing of the water quality based on many rotor wing unmanned aerial vehicles according to claim 8 system, is characterized in that, described The Cloud Terrace is provided with camera and/or video camera.
10. the high spectrum airborne remote sensing of the described water quality based on many rotor wing unmanned aerial vehicles of according to claim 2 to 7 any one system, is characterized in that, described power module is the lithium battery group.
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