CN109557880A - A kind of ecological cruising inspection system based on unmanned plane - Google Patents
A kind of ecological cruising inspection system based on unmanned plane Download PDFInfo
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Abstract
The invention discloses a kind of ecological cruising inspection system based on unmanned plane, belongs to unmanned aerial vehicle remote sensing technical field.Ecological cruising inspection system based on unmanned plane includes UAV system data acquisition platform, floor control station and cloud data center；Integrated management is carried out to job task by the floor control station；By carrying out basic data acquisition by data collection station；The basic data imports the floor control station, realizes that local data is saved, checked, and basic data is synchronized to the cloud data center by internet, realizes Remote data processing；Inspection report is returned after the completion of data processing.The ecology cruising inspection system forms set of system, visual information platform, the level of IT application managed with improving ecological protection, and suitable for ecological protection large area remote sensing operation plays positive effect for ecological environmental protection.
Description
Technical field
The invention discloses a kind of ecological cruising inspection system based on unmanned plane, belongs to unmanned aerial vehicle remote sensing technical field.
Background technique
Unmanned plane be a kind of self-powered, wireless remotecontrol or autonomous flight, multiple-task can be executed and can be repeatedly
The unmanned vehicle used.By using UAV flight's data collection station, it can be achieved that remote remote sensing.Nobody
Machine remote sensing (UAVRS) technology has many advantages, such as that cruise duration is long, high-risk areas detects, maneuverability as air remote sensing means,
Having a extensive future in ecological environmental protection field.
It is can be traced with the investigation that remote sensing technique carries out the forest reserves in the 1920s, the U.S. utilized aeroplane photography at that time
Measuring technique has started the experimental study to forest remote sensing.2013, the Sichuan panda protection zone Wang Lang used for the first time at home
Unmanned plane eliminates the problems such as patrolling blind area to realize dynamic monitoring as health check tool.
Although current unmanned air vehicle technique continues to develop, there are still monitoring in concrete application field for unmanned aerial vehicle remote sensing technology
(including equipment purchase and maintenance, staff training, data processing cost etc.) at high cost, it is not easy to operate, high using threshold the problems such as.
It is in particular in following many aspects:
(1) widely applied UAV system applicability is poor at this stage, including air approach control, UAV Flight Control, later period
Data processing etc. is required to academic program, stronger professional to strongly limit system application.
(2) data acquisition lacks Collaborative Control in traditional aerial survey of unmanned aerial vehicle, and POS data controls record by flying in the prior art,
The acquisition of the data such as attached drawing picture is executed by terminals such as Airborne Cameras, often will lead to POS point and attached drawing picture mismatches, increase post-processing
Burden, and precision is reduced, or even need to do over again, such system is not suitable for the inspection operation frequently used.
(3) lack targeted floor control station in existing matured product.In general, unmanned aerial vehicle software is only able to achieve
UAV Flight Control, but management can not be combined for application scenarios, for ecological protection the information of inspection management
Change and the degree of automation is lower.
(4) traditional unmanned plane inspection operation includes the field operation part and later data processing part of on-site data gathering,
It is influenced by factors such as operational staff, place differences, two parts work is difficult to be performed simultaneously, and data-linkage therebetween greatly reduces
System work efficiency.
Summary of the invention
In order to overcome the above technical problem, the invention discloses a kind of ecological cruising inspection system based on unmanned plane.It is used
Technical solution be:
A kind of ecological cruising inspection system based on unmanned plane, including UAV system data acquisition platform, floor control station and cloud data
Center；The UAV system data acquisition platform carries data collection station by carrier aircraft and constitutes.
Integrated management is carried out to job task by floor control station；Basic number is acquired by UAV system data acquisition platform
According to；Basic data collected imports floor control station, completes local data preservation, look facility, and synchronous by internet
To cloud data center, Remote data processing is realized by cloud data center；After the completion of data processing, inspection report is returned.
Further, the UAV system data acquisition platform carries flight control system, is controlled by flight control system
Carrier aircraft autonomous flight and the working condition for controlling data collection station carry out basic data acquisition by data collection station.
Further, flight control system is equipped with data capture management module；The connection of data capture management module front end flies
Primary processor is controlled, rear end connects data collection station；Data collection station receives enabling signal, completes a basic data acquisition
Afterwards, data capture management module return number to be adopted and completes signal, data acquisition and control module records primary matched POS data,
It realizes closed-loop control, forms take photo by plane attached image data and POS point synchronization mechanism, guarantee data integrity.
Further, carrier aircraft selects composite wing type of the rotor type in conjunction with fixed-wing type, and takeoff and landing is rotation
Wing mode, when flight operation, are switched to fixed-wing mode.
Further, further include carrier aircraft remote controler, take off in carrier aircraft, land or complex environment in flight when realize to carrier aircraft
Manually control.
Further, data radio station is carried at the UAV system data acquisition platform and floor control station respectively；Ground line
Reason station is established by the data radio station and UAV system data acquisition platform and is communicated, and realizes flight directive input, including inspection
The parameters such as route, flight control；And in flight operation obtain unmanned plane during flying state parameter, including flight attitude, ground velocity and
The parameters such as air speed, battery capacity.
Further, the floor control station is equipped with data collector, data collection station and the data collector without
Line connection realizes that data are quick-downloading.
Further, the interactive interface at floor control station includes patrol task management plate, flight control management plate；It patrols
It examines in task management and issues 3 subdivisions comprising protecting field model foundation, line walking planning and cruise task；Flight control management version
Block realizes flight supervision when drone status self-test and operation；Floor control station first with existing satellite attached drawing data etc.
With the establishing ecological protection model of attached drawing basically of equal operating areas, the later period is realized on ground attached drawing model the work planning that cruises,
State of flight monitoring function.
Further, the interactive interface at floor control station further includes data management plate, information system management plate；Data pipe
The downloading of plate optimized integration data and preview are managed, and connection cloud data center optimized integration data upload and data processing is completed
Inspection report downloading afterwards；Information system management plate realizes notice service and expands the management of filing of data.
Further, the cloud data center carries web administration console, notice service and three parts of cloud storage, by
Web administration console carries out integrated management, and notice service, which is realized, issues the information of system user and data processing assistant director, inspection
Data, which are then distributed, is stored in cloud.
IT application in management is horizontal with improving ecological protection for ecological cruising inspection system based on unmanned plane application of the invention, can answer
It for protecting field fire prevention early warning, Wild animal and plant resources investigation, environmental protection supervise and examine, fells trees unlawfully and hunts many aspects such as inspection unlawfully, for ecology
Positive effect is played in the protections such as environment, rare animals and plants.
The beneficial effects are mainly reflected as follows following aspect:
(1) connected applications demand rationally designs framework, forms set of system, visual information platform, in field operation not
It needs professional observing and controlling to fly hand and data processing personnel, conveniently patrols personnel's operation, suitable for remote ecological protection large area is distant
Feel operation.
(2) aerophotogrammetry data and POS data synchronous acquisition, guarantee data integrity, and improve job success ratio, and convenient for subsequent
Data processing and raising precision.
(3) in ecological protection ground attached drawing model realization cruise planning, state of flight monitoring, data are looked at floor control station
It sees, the functions such as task management, the further lifting system level of informatization.
(4) Internet technology is combined, realizes remote data management, the data-linkage efficiency of interior industry and field operation is improved, is promoted
This characteristic of long-range operation.
Detailed description of the invention
Attached drawing 1 is the ecological cruising inspection system structural schematic diagram of the invention based on unmanned plane；
Attached drawing 2 is the software module composition schematic diagram of flight control system in the present invention；
Attached drawing 3 is data acquisition and control module attachment structure schematic diagram in the present invention；
Attached drawing 4 is the Flight Control Software architecture diagram at floor control station in the present invention；
Attached drawing 5 is the interactive interface architecture diagram at floor control station in the present invention；
Attached drawing 6 is medium cloud data center architecture figure of the present invention；
Attached drawing 7 is the system case schematic diagram of cloud data center in the present invention.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings:
As shown in Fig. 1, the ecological cruising inspection system based on unmanned plane, including UAV system data acquisition platform (1), ground line
Reason station (2) and cloud data center (3).UAV system data acquisition platform (1) carries data collection station by carrier aircraft and constitutes.
Carrier aircraft selects composite wing type of the rotor type in conjunction with fixed-wing type, and takeoff and landing is rotor mode, makees
It is switched to fixed-wing mode when industry, has the characteristics of VTOL of rotor type and length continuation of the journey of fixed-wing type, it is difficult to reduce operation
While spending, the inspection operation of overlength distance is realized.
System retains UAV system set remote-controller (5), in case take off in unmanned plane, land or complex environment in the spies such as fly
It is realized under different situation and unmanned plane is manually controlled.
The signal path of system includes that flight control signal transmission and inspection data transmit two parts, and UAV system data are adopted
All have both between collection platform (1) and floor control station (2), floor control station (2) and cloud data center (3) mainly realize data
Storage transmission.
Floor control station (2) is established by data radio station (6) and UAV system data acquisition platform (1) and is communicated, and realizes and flies
The flights control parameter such as row instruction input, including inspection route, speed, flying height；And carrier aircraft state of flight ginseng is obtained in inspection
Number, including the parameters such as flight attitude, ground velocity and air speed, battery capacity.
In process of data communication, remote low latitude visual angle basic data is realized by UAV system data acquisition platform (1)
Acquisition；Basic data imports floor control station (2) by data collector, completes local data preservation, basic data is checked
Function；And cloud data center (3) are synchronized to by internet and carry out data management；After completing Remote data processing, inspection is returned
Report.
Data collection station is wirelessly connected by the data collector that independent data transmission set is carried with floor control station (2)
It connects, realizes that data are quick-downloading.
UAV system data acquisition platform (1) carry flight control system, function realize include autonomous flight control and
Two aspect of data acquisition control: first is that flight control, including automatic Pilot and flight management, automatic Pilot, that is, unmanned plane is in the sky
The stabilization of aspect and track is kept, and changes aspect and track by instructions such as preset height, the speed of a ship or plane, course lines,
Guarantee stabilized flight；The works such as flight management, the i.e. acquisition of completion flight parameter, navigation calculating, data transmission, fault diagnosis processing
Make.Second function is task device control, i.e., data collection station controls.
The software module of flight control system as shown in Fig. 2 forms, and is flown by preset instructions or telecommand
Control management obtains real-time flight parameter by filtering and parsing to each sensing data；The position obtained according to navigation module
Information, position control module comprehensive analysis obtains attitude control signal, and completes gesture stability by integrated output module, realizes certainly
Dynamic Driving control.
As shown in Fig. 3, flight control system is equipped with data capture management module.Data capture management module is by opening up
The connection that interface connector is realized with flies control primary processor is opened up, and connects each data collection station in rear end, such as: visible light phase
Machine, infrared camera, multispectral camera, laser radar, thermal imaging apparatus, gas sensor etc..
Data acquisition and control module and data collection station realize closed-loop control, and flight control system is through data acquisition and control module
Enabling signal is exported to data collection station, data collection station completes a basic data acquisition, and logarithm after receiving signal
It is adopted according to acquisition management module return number and completes signal, data acquisition and control module records primary matched POS data, and formation is taken photo by plane
Attached image data and POS point synchronization mechanism, guarantee data integrity.For example, acquiring attached image data, data acquisition using camera
Control module forms take photo by plane attached image data and POS point synchronous machine using camera hotshoe signal triggering unmanned plane POS data record
System, guarantees data integrity, and to ensure that data acquire success rate, precision is handled and improved convenient for follow-up data.
For ecological protection inspection application carries out function setting and interactive interface exploitation at floor control station (2), while real
The integrated design of existing unmanned plane during flying management and protecting field information system management.
Attached drawing 4 is the structural representation attached drawing of flight management software section in floor control station, and the acquisition of UAV system data is flat
Platform (1) signal is transmitted to floor control station (2) through data radio station, and floor control station carries out protocol analysis and object after reading in information
It is abstract, by each parameter such as flight position, attitude data, the speed of a ship or plane, battery capacity read respectively for user interface layer carry out using,
Each parameter is shown on the basis of calling protecting field model by GIS interface module, such as the real-time display on cartographic model
The information such as unmanned plane position, course line.
As shown in Fig. 5, the interactive interface of floor control station (2) contains patrol task management, flight control manages,
The cores plate such as data management and information system management.
Include the subdivisions such as protecting field model foundation, line walking planning and cruise task publication in patrol task management；Flight
Flight control when drone status self-test and inspection operation is realized in control management；Under data management plate optimized integration data
Load and preview, and cloud data center is connected, inspection report downloading after the completion of the upload of optimized integration data and data processing；It is information-based
Management plate further expands protecting field informatization platform application, the management of filing including notice service and expansion data.
First with existing satellite attached drawing data etc. wait the basic of operating areas with establishing ecological protection at floor control station
Ground attached drawing model, later period realize cruise work planning, state of flight monitoring, local data management, information on protecting field model
Change the functions such as management.
This system combination Internet technology establishes cloud data center (3), to complete remote data management, promotes unmanned plane
Using this characteristic of long-range, change existing work pattern, reduces system and use threshold.
Cloud Server (Elastic Compute Service, ECS) can give another equipment the data forwarding of equipment A
B is suitable for remote data acquisition, intelligent control.Cloud storage refers to through cluster application, grid or distributed file system
Etc. functions, application memory virtualization technology memory device sets a large amount of in network are cooperated altogether, provide data storage and
Business access function.
Cloud data center (3) framework of this system is as shown in Fig. 6, and web administration console (3- is carried in Cloud Server
1), notice service (3-2) and three parts of cloud storage (3-3) carry out integrated management by web administration console, and notice service is adopted
The information publication to system user and data processing assistant director is realized with modes such as short message, mail, IVR, and inspection data, which are then distributed, deposits
It is stored in cloud.
Attached drawing 7 is cloud data center system case attached drawing, and web administration console carries out task management, and basic data is through number
It is collected according to reception and Data Matching, and Remote data processing assistant director is notified to carry out data processing；After completion report is submitted, lead to
Know that system user is downloaded use.
The collected basic data of unmanned plane is uploaded to mesh using standard FTP/HTTP communication protocol by floor control station (2)
Mark server address, then by long-range assistant director complete the correction of data skew difference, empty three encryptions, DEM compiling after matching, DOM correction framing,
The expert datas processing such as modeling, GIS data analysis, are back to floor control station after generating inspection report for specifically used.
The unmanned plane ecology cruising inspection system can be applied to the fire prevention early warning on ecological protection ground, resource investigation, environmental protection supervise and examine, steal
It cuts down and hunts many aspects such as inspection unlawfully, play positive effect for protections such as ecological environment, rare animals and plants.
Above description is a specific embodiment of the invention, and each Composition of contents for the essence of the present invention that illustrates not limits
System, person of ordinary skill in the field makes an amendment or deforms to specific embodiment above-mentioned, without departing substantially from essence of the invention.
Claims (10)
1. a kind of ecological cruising inspection system based on unmanned plane, which is characterized in that including UAV system data acquisition platform, ground line
Reason station and cloud data center；The UAV system data acquisition platform carries data collection station by carrier aircraft and constitutes；
Integrated management is carried out to job task by the floor control station；
By carrying out basic data acquisition by data collection station；The basic data imports the floor control station, realizes local
Data are saved, are checked, and basic data is synchronized to the cloud data center by internet, realize Remote data processing；Number
It reports and according to inspection is generated after the completion of processing by floor control station downloading.
2. ecology cruising inspection system as described in claim 1, which is characterized in that the UAV system data acquisition platform, which carries, to fly
Row control system；Carrier aircraft autonomous flight is controlled by the flight control system and controls the work shape of the data collection station
State.
3. ecology cruising inspection system as claimed in claim 2, which is characterized in that the flight control system is equipped with data collection tube
Module is managed, the data collection station is connected；
The data capture management module output number adopts enabling signal, and the data collection station executes a base after receiving signal
The acquisition of plinth data, and data capture management module return number is adopted and completes signal, data acquisition and control module records primary phase
The POS data matched realizes closed-loop control.
4. ecology cruising inspection system as described in claim 1, which is characterized in that the carrier aircraft selects rotor type and fixed-wing aircraft
The composite wing type that type combines, takeoff and landing are rotor mode, and when flight operation is switched to fixed-wing mode.
5. ecology cruising inspection system as described in claim 1, which is characterized in that further include carrier aircraft remote controler, in the carrier aircraft
Take off, land or complex environment in flight when realize carrier aircraft is manually controlled.
6. ecology cruising inspection system as described in claim 1, which is characterized in that the UAV system data acquisition platform and ground
Data radio station is carried respectively in management station；The floor control station is acquired flat by the data radio station and the UAV system data
Platform establishes communication, realizes that flight directive inputs and obtains flight status parameter in flight operation.
7. ecology cruising inspection system as described in claim 1, which is characterized in that the floor control station is equipped with data collector,
It is by being wirelessly connected the data collection station, optimized integration data wireless downloading.
8. ecology cruising inspection system as described in claim 1, which is characterized in that the floor control station, interactive interface include
Patrol task manages plate, flight control management plate；It plans and patrols comprising model foundation, line walking in the patrol task management
Boat task issues 3 subdivisions；The flight control management column realizes flight supervision when drone status self-test and operation；
The floor control station initially sets up the ground attached drawing model of operating area, and the later period realizes inspection operation on ground attached drawing model
Planning, state of flight monitoring function.
9. ecology cruising inspection system as claimed in claim 8, which is characterized in that the interactive interface at floor control station further includes data
Manage plate, information system management plate；The downloading of data management plate optimized integration data and preview, and connection cloud data center
Optimized integration data upload and inspection report is downloaded in data processing after the completion；The information system management plate realize notice service and
The management of filing of data.
10. ecology cruising inspection system as described in claim 1, which is characterized in that the cloud data center carries web administration control
Platform, notice service and three parts of cloud storage, carry out integrated management by web administration console, by notice service realization pair
The publication of the information of system user and data processing assistant director, the cloud storage realize that distribution of the inspection data in Cloud Server is deposited
Storage.
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Cited By (8)
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| WO2021223125A1 (en) * | 2020-05-06 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Patrol inspection method and system, unmanned aerial vehicle, ground control platform, and storage medium |
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