CN104517432A - Monitoring system based on unmanned aerial vehicle and wireless sensor network - Google Patents
Monitoring system based on unmanned aerial vehicle and wireless sensor network Download PDFInfo
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Abstract
The invention discloses a monitoring system based on an unmanned aerial vehicle and a wireless sensor network. The monitoring system comprises an unmanned aerial vehicle device and an environment hazard detection device, wherein a first storage module, a first communication module, an image module and a sensor module of the environment hazard detection device are all in communication connection with a first processor module; a first power supply module is used for supplying direct-current power supply to the detection device; a fly control module, a GPS module, a second storage module and a second communication module of the unmanned aerial vehicle device are all in communication connection with a second processer module; a second power supply module is used for supplying power to an unmanned aerial vehicle; when the unmanned aerial vehicle device flies into the communication range of the environment hazard detection device, the first communication module and the second communication module are connected in a wireless communication mode. The purposes that the cost is lowered and limit of networks such as the 3G network, the 4G network and the satellite communication is avoided are achieved.
Description
Technical field
The present invention relates to field environment disaster information detection field, particularly, relate to a kind of supervisory system based on unmanned plane and wireless sensor network.
Background technology
Since ancient times, various disaster just threatens life and the property safety of the mankind always, and along with the development of science and technology, a lot of disaster can not be stopped or eliminate.Meanwhile, early warning technology and environmental monitoring technology is prevented to have also been obtained significant progress.Especially, since entering 21st century, the development of infotech and the progress of the appearance of Internet of Things to prevention early warning technology and environmental monitoring technology bring new opportunity.
Internet of Things is the important component part of generation information technology, core and the basis of Internet of Things remain internet, Internet of Things makes internet extend and extend between any article and article, achieve the interconnection between the hundreds of millions kinds of article in the whole world, the physical entity of different industries, different geographical, different application, different field is closely associated together by its internal relation.As brand-new comprehensive information system, Internet of Things is not simple, and it comprises the many aspects such as perception, transmission, disposal decision, service of information, presents self outstanding feature; Internet of Things is a huge network be made up of high in the clouds, along with sensor network large scale deployment, various terminal is just as blue sea, be distributed to collection information in various infrastructure, carry out calculating and processing these information being sent to high in the clouds by various network, through to calculate and the information of process has finally arrived the supporting that application layer is the different various row in field.
One of key core technology of Internet of Things is exactly wireless sensor network (Wireless Sensor Network, WSN) technology, this be 21st century one of the most influential 21 technology, one of the three large high-tech in one of ten large technology changing the world and whole world future.Coming one after another as wireless sensor network opens vast potential for future development and application space of these good reputations.
Four rotor unmanned aircrafts are studied produced novel unmanned vehicles in recent years, can vertical takeoff and landing, using four rotors as the aircraft of propulsion system, there is hovering, inverted flight, survey fly ability, screw propeller is little, flight safety, structure is simple, controls flexibly, to advantages such as air interference are more weak.The carrier that the data that can be used as server and network node from far-off regions are transmitted, solves the data transmission problems of remote districts.
China's longitude and latitude span is large, with a varied topography, and population distribution is extensive, and have a considerable amount of inhabitants live in mountain area, majority is distributed in area, mountain valley, and area, mountain valley affects by physical features becomes rubble flow, landslide, the multiple district of mountain torrents.In order to effectively pre-landslide-proofing and rubble flow, departments of government takes multinomial measure in succession, constantly perfects field environment, disaster monitoring early warning technology, and achieves some achievements.
Publication number is the patent document of CN102928019A, discloses a kind of environmental monitoring system based on wireless senser and geography information and method, and described system comprises wireless sensor network system and data processing and centralized monitoring system.Described method is as follows: the sensor assembly on terminal node gathers surrounding enviroment data, and the data collected are sent to via node; Data are sent to the Sink node in collection in worksite workstation by via node; Data are sent to collection control branch center system the data queue that terminal node collects by Sink node, the environmental data that collection control branch center system is collected by GUI man-machine interface real-time monitoring terminal node; Collection control branch center is by re-sending to centralized control center by environmental data, and centralized control center issues geography information GIS service information by generalized information system.Environmental parameter is presented in man-machine interface in the vivid mode of mapable, and early warning information is sent to area to be monitored, to the Real-Time Monitoring of a certain regional environment in open air.
This patented technology relative merits: this systemic-function is complete, but use in the middle of need to dispose a large amount of via node, spend larger; Data rely on via node to transmit one by one, if certain remote nodes break down, all data are interrupted, and need manually to go to repair or change node, and a large amount of via nodes brings high maintenance cost.
Publication number is the patent document of CN1034427, disclose a kind of wireless telemetering rubble flow and early warning system, this system detects warning device and train protection teleseme and console panel under shifting to an earlier date alarm transmission station, central control room (CCR), rainfall alarm, bridge by remote rain amount cell site, Circulation Area and forms.This system can forecast muddy water stream scale, differentiates true and false muddy water stream.Not only be suitable for prediction and the warning of rubble flow on a small scale, and be applicable to prediction and the warning of extensive rubble flow.Cause system that employs ten shake sensors and tap detects line, is not therefore subject to people and animals and destroys, and avoids because reporting the false alarm caused by mistake.
The relative merits of this patented technology: whether this system rubble flow occurs under judging this condition by means of only remote sensing survey rainfall amount, but this early warning system is without other data monitoring beyond rainfall, and there is no the ability of mass data processing, its prediction accuracy and fiduciary level too low.
Publication number is the patent document of CN102547247A, disclose a kind of field intelligent monitoring system based on long distance wireless mesh network, comprise backbone network and subnet double-layer network, wherein backbone network is the long distance wireless mesh network based on IEEE802.11, covers for providing high bandwidth and long distance; Subnet comprises the network of wireless sensor network WSN and WLAN (wireless local area network) WLAN two type; Wireless sensor network WSN is used for collection and the transmission of ecologic environment monitor data, and be deployed with various types of acquisition terminal and sensor network nodes as required, sensor network nodes comprises soil temperature and humidity acquisition terminal, water quality acquisition terminal; WLAN (wireless local area network) WLAN is for the voice communication in high definition picture or video monitoring and monitoring range, by handhold mobile terminal equipment and the image capture device of accessing WLAN WLAN, to collect, the data of big data quantity that transmission comprises voice, picture/video; The network of two types all by the tidal data recovering that collects to backbone network node, be uploaded to Surveillance center by backbone network.
According to the monitoring needs of field large regions, a kind of intelligent monitoring system integrating video, voice and ecology is provided, the technical scheme that the present invention takes is, field intelligent based on long distance wireless mesh network is supervised, comprise backbone network and subnet double-layer network, wherein backbone network is the long distance wireless mesh network based on IEEE 802.11; Subnet comprises the network of wireless sensor network WSN and WLAN (wireless local area network) WLAN two type; The network of two types all by the tidal data recovering that collects to backbone network node, be uploaded to Surveillance center by backbone network.The present invention is mainly used in field large regions monitoring.
The relative merits of this patented technology: the system uses the field supervisory system based on long distance wireless mesh network data transmission, efficiently solve long distance transmit problem, but mesh node still needs artificial field to dispose, lower deployment cost is larger, along with the growth of service time, there is the hidden danger of interrupting in data.
Publication number is the patent document of CN201707456U, disclose a kind of self-adaptive data restoration, analysis and distribution system, belong to the part in weather eye environmental monitoring and disaster early warning system, it is characterized in that: communication network receiving platform by environmental data after image acquisition/coding reduction server process, send the content management server of having installed " four points " system management platform again to and hardware management server identifies, the data after identification provide monitoring center, database server, Streaming Media/picture servers/ftp server to use.
Adopt highly reliable aggregated server system to process from being distributed in the data that field monitoring point passes back, and be distributed to monitoring center for early warning system and mobile monitoring librarian use.Because part field locations does not have the data channel of high bandwidth that MMS or SMS signalling path can only be utilized to transmit, so need to compress data, encode or documenting before transmission.First reduction treatment is carried out to data after receiving data, then carry out consolidation form process, then to data analysis, sorting, divides and deposit, four divisional processing of distribution.The data layout distributed, except support HTTP form, also supports mobile communications network (3G) transmission, the transmission of MMS, SMS signalling path.
The relative merits of this patented technology: this system uses mobile communications network (3G) transmission, the transmission of MMS, SMS signalling path, heavy dependence telecom operators transmission data, except needing the communication fee of payment great number, also be limited to the network bandwidth of Virtual network operator, the more important thing is the likely not communication network covering of part remote districts.
Publication number is the patent document of CN102103201A, disclose a kind of wetland collecting method and system of multi job mode, take portable computer as platform, in conjunction with GPS module, image capture module, infrared distance measurement module, the hardware devices such as wireless communication module and independently developed data acquisition software, adopt blue-tooth technology, 3G network, GPS technology, spatial database technology etc. are developed, have powerful graphics process, space data collection, image acquisition and attribute information typing ability, this method and system can realize the with no paper site work of wetland field study, avoid the duplication of labour of indoor interior industry process, improve the work efficiency of data acquisition.And superposition can be facilitated to call available data achievement analyze, be applicable to very much Wetland Protection field condition investigation work, as the distribution of investigation muskeg, Animal resources distribution, water quality detection, hydraulic facilities, renewal wetland data, project generaI investigation etc.The invention solves the practical problems that data acquisition in wet land protection work is difficult, upgrade difficulty.
The relative merits of this patented technology: this system take portable computer as platform, have stronger integrated information acquisition capacity, combine hardware device and the data acquisition softwares such as GPS module, image capture module, infrared distance measurement module, wireless communication module.But use 3G network when data are transmitted.Face the predicament that part remote districts likely do not have communication network covering.
Comprehensive left-hand seat multiple field environment monitoring patented technology, there is the drawback that it is common: data transmission relies on Virtual network operator, face part field locations no signal and cover predicament, rate limit, or need to dispose a large amount of via node, the possibility that a ultimate node damages then may face data and interrupt.
And most monitored area is in unfrequented remote districts, lack the quorum sensing inhibitor of the means of communication such as widely used 3G, 4G, therefore, how the data that WSN collects are passed to service end and become key issue, common solution be set up repeater or use satellite communication, the drawback brought thus be exactly cost high, need examination & approval.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of supervisory system based on unmanned plane and wireless sensor network, low cost and be not limited by the object that network service realizes monitoring.
For achieving the above object, the technical solution used in the present invention is:
Based on a supervisory system for unmanned plane and wireless sensor network, comprise unmanned flight's apparatus and environmental hazard pick-up unit; Described environmental hazard pick-up unit comprises first processor module, the first memory module, first communication module, image module, the first power module and sensor assembly, described first memory module, first communication module, image module are all connected with first processor module communication with sensor assembly, and described first power module provides direct supply for pick-up unit;
Described unmanned flight's apparatus is included in second source module, the second processor module, flight control modules, GPS module, the second memory module and second communication module that aircraft is arranged, described flight control modules, GPS module, the second memory module and second communication module all communicate to connect with the second processor module, and described second source module provides power supply for aircraft;
When in the communication range that unmanned flight's apparatus flies into environmental hazard pick-up unit, described first communication module and second communication module are connected by communication.
Preferably, gyroscope, GPS, soil-pressure cell, soil moisture sensor and rainfall amount sensor is at least integrated with in described sensor assembly.
Preferably, described first communication module and second communication module all adopt Zigbee chip.
Preferably, described first power module adopts solar cell.
Preferably, described image module comprises camera.
Preferably, described first memory module and the second memory module all adopt SD card.
Preferably, described flight control modules accepts the second processor die block instruction, the aerial mission of commander's aircraft; Described GPS module is used for positioning aircraft position; Described second memory module is used for storing the detection of device information of next monitoring node of collecting; Described second communication module is responsible for communicating with pick-up unit; Described second processor module is responsible for the operation controlling whole aircraft, carries out data processing, Row control and order and controls; Described second memory module, the data of storage of collected.
Preferably, described unmanned vehicle adopts quadrotor.
Technical scheme of the present invention has following beneficial effect:
Technical scheme of the present invention, by unmanned vehicle, regularly data acquisition is carried out to the unmanned environmental hazard pick-up unit being arranged on the unsound area of remote network service, adopt self-built short distance communication network, thus the restriction broken away from existing 3G, 4G or satellite communication network, also need not redeploy special network, thus reduce lower deployment cost.Reach low cost and not by the object of network limits.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the environmental hazard pick-up unit described in the embodiment of the present invention;
Fig. 2 is the theory diagram of the unmanned flight's apparatus described in the embodiment of the present invention;
Fig. 3 is for using the environmental hazard supervisory system block diagram of the supervisory system based on unmanned plane and wireless sensor network described in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
As depicted in figs. 1 and 2, a kind of supervisory system based on unmanned plane and wireless sensor network, comprises unmanned flight's apparatus and environmental hazard pick-up unit; Environmental hazard pick-up unit comprises first processor module, the first memory module, first communication module, image module, the first power module and sensor assembly, described first memory module, first communication module, image module are all connected with first processor module communication with sensor assembly, and the first power module provides direct supply for pick-up unit;
Unmanned flight's apparatus is included in second source module, the second processor module, flight control modules, GPS module, the second memory module and second communication module that aircraft is arranged, flight control modules, GPS module, the second memory module and second communication module all communicate to connect with the second processor module, and second source module provides power supply for aircraft;
When in the communication range that unmanned flight's apparatus flies into environmental hazard pick-up unit, first communication module and second communication module are connected by communication.
The devices such as gyroscope, GPS, soil-pressure cell, soil moisture sensor and rainfall amount sensor are integrated with in sensor assembly.First communication module and second communication module all adopt Zigbee chip.First power module adopts solar cell.Image module comprises camera.First memory module and the second memory module all adopt SD card.Flight control modules accepts the second processor die block instruction, the aerial mission of commander's aircraft; Described GPS module is used for positioning aircraft position; Described second memory module is used for storing the detection of device information of next monitoring node of collecting; Described second communication module is responsible for communicating with pick-up unit; Described second processor module is responsible for the operation controlling whole aircraft, carries out data processing, Row control and order and controls; Described second memory module, the data of storage of collected.
The supervisory system of technical solution of the present invention mainly comprises three parts: one, the collection of information; Two, the transmission of information; Three, to arrangement and the process of image data.
The collection of information: as shown in Figure 1, the intelligent terminal of environmental hazard pick-up unit, this terminal comprises first processor module, the first memory module, first communication module, image module, the first power module and sensor assembly.In sensor assembly, be integrated with the devices such as gyroscope, GPS, soil-pressure cell, soil moisture sensor and rainfall amount sensor, first communication module comprises Zigbee chip, and image module comprises camera.First power module provides the energy required for normal operation for all modules, and sensor adopts low power consuming devices usually, and the first power module adopts solar cell for supplying power; First processor module in charge controls the operation of whole intelligent terminal, carries out data processing, Row control and order and controls, the data that process itself gathers; First memory module uses Large Copacity SD card to store data, and sensor assembly is responsible for collection and the data conversion of partial information, and the main physical message gathered in the external world, as the graphical information of the particular location of the geography of data sampling, various parameter and necessity; First communication module is responsible for carrying out radio communication with quadrotor, the data that exchange of control information and transmitting-receiving collect.
The transmission of information: the drawback not having telecommunications company's quorum sensing inhibitor in order to overcome part remote districts, set up the risk that the high expense of a large amount of via node and via node interrupt, the high expense of satellite communication, technical solution of the present invention adopts four rotocrafts as information carrier, regular automatic cruising monitoring node position, the information that acquisition collects also delivers to service end analysis.As shown in Figure 2, quadrotor is made up of the flight instruments of quadrotor, second source module, the second processor module, flight control modules, GPS module, the second memory module, Zigbee module.Flight control modules accepts the second processor die block instruction, the aerial mission of commander's quadrotor; GPS module is used for positioning aircraft position; Second memory module is used for storing the information of collecting next monitoring node; Zigbee module is responsible for communicating with monitoring node; Second processor module is responsible for the operation controlling whole quadrotor, carries out data processing, Row control and order and controls, the data of the second memory module storage of collected.
The flight path of quadrotor is planned in advance, and is stored in the second memory module, and has the second processor module to call planning thus the flight of the control quadrotor of intelligence, does not need to carry out Remote.The second processor module in quadrotor can calculate the shortest flight path, thus Intelligent flight.
Quadrotor flight shortest path first: existing algorithm only considers the shortest path between the node on surface level, and native system is likely deployed in mountain area, and different monitoring node is in Different Altitude, and aircraft horizontal flight is different from power consumption of upwards flying.Algorithm in this numerical procedure has taken into full account these factors, calculates a path least in power-consuming by this algorithm, makes quadrotor perform farther aerial mission.
Arrangement and process to image data: quadrotor regularly performs aerial mission, collect the information that monitoring node is collected, collecting the magnanimity information of returning transfers to server cluster to process in conjunction with weather information, as shown in Figure 3, carry out analysis according to risk model deduce and assess possibility the condition of a disaster.By network, result data, chart and visual information are transferred to unit of relevant competent authorities and carry out forecast of natural calamity or ecology language, make finally combat a natural disaster, take precautions against natural calamities, the decision-making such as mitigation.
The hardware used in a kind of concrete enforcement in technical solution of the present invention is as shown in Table 1:
。
Table one: based on the supervisory system hardware table of comparisons of unmanned plane and wireless sensor network.
In technical solution of the present invention, Analysis on monitoring data platform uses the java exploitation of increasing income, and database is free mysql database and free sqlite database; Four rotor module and monitoring node software development environment are the java environment of increasing income, and the sdk of android, the eclipse software that compilation tool is increased income.Specifically in table two:
。
Table two: system developement software instrument correspondence table.
Native system carries out facing calamity early warning or ecology language mainly for disaster easy happen zone territory or emphasis environmental area, some monitoring terminals are disposed in specific region, to soil internal moisture content, soil internal pressure, the key factor monitorings such as rainfall amount, regularly by quadrotor data collection, send back Analysis on monitoring data platform and carry out analyzing and processing, by existing comparatively ripe Hazard analysis, complete the analyzing and processing to every terms of information, prediction and display, finally reach hazard prediction and the ecocrisis Objective of Report, the people's emergency evacuation of further help disaster area, the life of the protection people, property safety and ecologic environment.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1., based on a supervisory system for unmanned plane and wireless sensor network, it is characterized in that, comprise unmanned flight's apparatus and environmental hazard pick-up unit; Described environmental hazard pick-up unit comprises first processor module, the first memory module, first communication module, image module, the first power module and sensor assembly, described first memory module, first communication module, image module are all connected with first processor module communication with sensor assembly, and described first power module provides direct supply for pick-up unit;
Described unmanned flight's apparatus is included in second source module, the second processor module, flight control modules, GPS module, the second memory module and second communication module that aircraft is arranged, described flight control modules, GPS module, the second memory module and second communication module all communicate to connect with the second processor module, and described second source module provides power supply for aircraft;
When in the communication range that unmanned flight's apparatus flies into environmental hazard pick-up unit, described first communication module and second communication module are connected by communication.
2. the supervisory system based on unmanned plane and wireless sensor network according to claim 1, is characterized in that, be at least integrated with gyroscope, GPS, soil-pressure cell, soil moisture sensor and rainfall amount sensor in described sensor assembly.
3. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, it is characterized in that, described first communication module and second communication module all adopt Zigbee chip.
4. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, is characterized in that, described first power module adopts solar cell.
5. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, it is characterized in that, described image module comprises camera.
6. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, it is characterized in that, described first memory module and the second memory module all adopt SD card.
7. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, it is characterized in that, described flight control modules accepts the second processor die block instruction, the aerial mission of commander's aircraft; Described GPS module is used for positioning aircraft position; Described second memory module is used for storing the detection of device information of next monitoring node of collecting; Described second communication module is responsible for communicating with pick-up unit; Described second processor module is responsible for the operation controlling whole aircraft, carries out data processing, Row control and order and controls; Described second memory module, the data of storage of collected.
8. the supervisory system based on unmanned plane and wireless sensor network according to claim 1 and 2, is characterized in that, described unmanned vehicle adopts quadrotor.
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