CN203376646U - Low-altitude remote sensing monitoring system based on combination of 3S technology and unmanned aerial vehicle - Google Patents
Low-altitude remote sensing monitoring system based on combination of 3S technology and unmanned aerial vehicle Download PDFInfo
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- CN203376646U CN203376646U CN201320482068.9U CN201320482068U CN203376646U CN 203376646 U CN203376646 U CN 203376646U CN 201320482068 U CN201320482068 U CN 201320482068U CN 203376646 U CN203376646 U CN 203376646U
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Abstract
The utility model provides a low-altitude remote sensing monitoring system based on combination of a 3S technology and an unmanned aerial vehicle. The system comprises an unmanned flying platform, an airborne remote sensing system, an airborne flight control system and a radio telemetry remote control ground station. The airborne remote sensing system is arranged on the unmanned flying platform. The airborne flight control system is arranged on the unmanned flying platform. The airborne remote sensing system forms communication connection with the airborne flight control system. The airborne flight control system forms the communication connection with the radio telemetry remote control ground station. Remote sensing equipment is arranged on a three-dimensional stable platform so that three dimensions can control a shooting angle and a shooting direction of the remote sensing equipment and a scope of remote sensing equipment shooting pictures is extended.
Description
Technical field
The utility model belongs to the remote sensing monitoring technical field, is specifically related to a kind of low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology.
Background technology
Unmanned plane have motor-driven fast, the technical characterstic such as use cost is low, attended operation is simple, therefore being used as a kind of desirable flying platform is widely used in the military and civilian every field.Especially, after entering 21st century, many countries are placed in the research of UAS, exploitation, application the status of first developing.
Carry remote sensing equipment by unmanned plane; thereby obtain remote sensing image, can be widely used in the fields such as national ecological environmental protection, mineral resources exploration, marine environmental monitoring, land use survey, water resources development, crop growth monitoring and the yield by estimation, agricultural operation, Natural calamity monitoring and assessment, city planning and municipal administration, forest disease and pest protection and monitoring, public safety, Defence business, digital earth.
But, the unmanned plane of existing lift-launch remote sensing equipment, remote sensing equipment is equipped on single axis stable platform usually, and unmanned plane can only be controlled the displacement of a dimension of remote sensing equipment, there is the poor problem of remote sensing equipment control accuracy, thereby limited the scope of remote sensing equipment pictures taken.
The utility model content
The defect existed for prior art, the utility model provides a kind of low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology, remote sensing equipment is equipped on the three-dimensional stability platform, thereby realize the shooting angle of three dimensions control remote sensing equipments and take direction, having enlarged the scope of remote sensing equipment pictures taken.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology, comprising: nolo flight platform, airborne remote sensing system, airborne flight control system and radio telemetry remote controlled floor station; Wherein, described airborne remote sensing system is arranged on described nolo flight platform, and described airborne flight control system also is arranged on described nolo flight platform; Described airborne remote sensing system and described airborne flight control system communication connection; Described airborne flight control system and the communication connection of described radio telemetry remote controlled floor station;
Described airborne remote sensing system comprises: task device is controlled computing machine, airborne sensory equipment, three-axle steady platform, x axis drive motor, y axis drive motor, z axis drive motor, gyroscope and horizon sensor; Described airborne sensory equipment is fixedly installed on described three-axle steady platform; The output terminal that described task device is controlled computing machine is connected with the input end of described z axis drive motor with described x axis drive motor, described y axis drive motor respectively; Described x axis drive motor is for driving described three-axle steady platform along the axial displacement of x; Described y axis drive motor is for driving described three-axle steady platform along the axial displacement of y; Described z axis drive motor is for driving described three-axle steady platform along the axial displacement of z; Described gyroscope and described horizon sensor are installed on described three-axle steady platform; The input end of described gyroscope and described horizon sensor is connected with the input end that described task device is controlled computing machine.
Preferably, described airborne sensory equipment is one or more in area array CCD digital camera, optical film camera, imaging spectrometer, magnetic determining device and CCD video camera.
Preferably, described airborne flight control system comprises flight-control computer, topworks and attitude detection equipment; The output terminal of described attitude detection equipment is connected with the input end of described flight-control computer; The output terminal of described flight-control computer is connected with the input end of described topworks.
Preferably, described topworks comprises one or more in lifting steering wheel, aileron steering wheel, accurate door steering wheel and umbrella control gear.
Preferably, described attitude detection equipment comprises one or more in GPS navigation locating device, attitude gyroscope, pressure altimeter, magnetic course transmitter and speed probe.
Preferably, also comprise: intelligent power management system; Described intelligent power management system is connected with described flight-control computer.
Preferably, also comprise: telemetering transmiter and remote-control receiver; The input end of described telemetering transmiter is connected with the output terminal of described flight-control computer; The output terminal of described telemetering transmiter is connected with described radio telemetry remote controlled floor station; The input end of described remote-control receiver is connected with described radio telemetry remote controlled floor station, and the output terminal of described remote-control receiver is connected with the input end of described flight-control computer.
Preferably, described radio telemetry remote controlled floor station comprises: integrated management controller, secondary station administration controller, human-computer interaction device, remote-transmitter antenna, remote measurement receiving antenna, control signal reception and power supervisor, change-over switch and secondary station instruction executor;
Described integrated management controller and the two-way connection of described secondary station administration controller; Described integrated management controller is connected with described human-computer interaction device, described remote-transmitter antenna and described remote measurement receiving antenna respectively; Described control signal receives and power supervisor is connected with described secondary station administration controller by described change-over switch; Described secondary station instruction executor is connected with described secondary station administration controller by described change-over switch.
Preferably, described radio telemetry remote controlled floor station also comprises: industrial computer and display; Described industrial computer is connected with described integrated management controller with described display respectively.
The low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology that the utility model provides has the following advantages:
(1) airborne sensory equipment is equipped on three-axle steady platform, control respectively the displacement of three directions of three-axle steady platform by three drive motor, and then displacement or the angle of pitch of three dimensions of control airborne sensory equipment, realize the vertical imaging of remote sensing equipment or be inclined to picture, be expanded into the picture coverage, also have advantages of that control accuracy is high;
(2) the airborne sensory equipment precision is high, has improved the resolution of photographic images;
(3) airborne flight control system is equipped with multiclass topworks and attitude detection equipment, has guaranteed the safety and reliability of unmanned plane during flying.
The accompanying drawing explanation
The structural representation of the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology that Fig. 1 provides for the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is elaborated:
In conjunction with Fig. 1, the utility model provides a kind of low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology, comprising: nolo flight platform, airborne remote sensing system, airborne flight control system and radio telemetry remote controlled floor station; Wherein, described airborne remote sensing system is arranged on described nolo flight platform, and described airborne flight control system also is arranged on described nolo flight platform; Described airborne remote sensing system and described airborne flight control system communication connection; Described airborne flight control system and the communication connection of described radio telemetry remote controlled floor station.Below above-mentioned critical piece is introduced respectively in detail:
(1) nolo flight platform
Aerodynamic arrangement is reasonable, the nolo flight platform of stable performance is the basic guarantee of system, and unmanned plane mainly adopts fiberglass and carbon fibre composite to process, and has advantages of lightweight large with intensity; Fuselage is the compartment form, and larger volume scope is arranged, and is convenient to installation and the working service of equipment, and the size in the mission payload of unmanned plane and task device storehouse is set according to weight and the size of remote sensing system.
(2) airborne remote sensing system
Airborne remote sensing system is for obtaining remote sensing image, be the important component part of unmanned plane low-altitude remote sensing monitoring system, comprise: task device is controlled computing machine, airborne sensory equipment, three-axle steady platform, x axis drive motor, y axis drive motor, z axis drive motor, gyroscope and horizon sensor; Described airborne sensory equipment is fixedly installed on described three-axle steady platform; The output terminal that described task device is controlled computing machine is connected with the input end of described z axis drive motor with described x axis drive motor, described y axis drive motor respectively; Described x axis drive motor is for driving described three-axle steady platform along the axial displacement of x; Described y axis drive motor is for driving described three-axle steady platform along the axial displacement of y; Described z axis drive motor is for driving described three-axle steady platform along the axial displacement of z; Described gyroscope and described horizon sensor are installed on described three-axle steady platform; The input end of described gyroscope and described horizon sensor is connected with the input end that described task device is controlled computing machine.Its principle of work is: task device control computing machine according to the position of unmanned plane, ground velocity, at a high speed, the boat of course, attitude angle and setting takes the photograph than data such as row chi and degrees of overlapping, automatically calculate and control the drift angle correction of exposure interval and the three-axle steady platform of camera, thereby guarantee to obtain high-quality remote sensing image.
According to the needs of different remote sensing tasks, the airborne sensory equipment that system can be carried is selected one or more in area array CCD digital camera, optical film camera, imaging spectrometer, magnetic determining device and CCD video camera.Wherein, high resolving power area array CCD digital camera is as preferred main remote sensing equipment; The remote sensing image that the CCD digital camera obtains can be directly inputted in computing machine to be processed, do not need through flushing, print supervisor, unmanned plane can directly be checked the quality of image and flight quality at the scene after reclaiming, thereby greatly increase work efficiency, meet unmanned plane low-altitude remote sensing monitoring system in real time, technical characterstic fast; In addition, it is little, lightweight that the CCD digital camera also has a volume, in the advantage that possesses skills aspect light sensitivity, color depth, slide glass amount (memory space).
(3) airborne flight control system
Flight control system is for flight control and the task device management of unmanned plane, comprise flight-control computer, topworks and three parts of attitude detection equipment, can realize aspect, highly, the accurate control in speed, course line, there are remote control, program control and three kinds of model of flights of autonomous flight.
In order to improve the reliability of flight control system, but Adoption Network and position bus structure.Communication between each attitude detection equipment, topworks and flight-control computer realizes with digital form.Owing to by digital channel, replacing simulation to connect, improved the precision of signal transmission, increased antijamming capability.This structure has the ability of extensibility and flexible configuration.System can increase and decrease according to the demand of task some typical parts, and this structure also has advantages such as easily realizing redundancy and fault isolation.
Concrete, airborne flight control system comprises flight-control computer, topworks and attitude detection equipment; The output terminal of described attitude detection equipment is connected with the input end of described flight-control computer; The output terminal of described flight-control computer is connected with the input end of described topworks.Wherein, topworks comprises one or more in lifting steering wheel, aileron steering wheel, accurate door steering wheel and umbrella control gear.Attitude detection equipment comprises one or more in GPS navigation locating device, attitude gyroscope, pressure altimeter, magnetic course transmitter and speed probe.
Also comprise: intelligent power management system; Described intelligent power management system is connected with described flight-control computer.
Also comprise: telemetering transmiter and remote-control receiver; The input end of described telemetering transmiter is connected with the output terminal of described flight-control computer; The output terminal of described telemetering transmiter is connected with described radio telemetry remote controlled floor station; The input end of described remote-control receiver is connected with described radio telemetry remote controlled floor station, and the output terminal of described remote-control receiver is connected with the input end of described flight-control computer.
(4) radio telemetry remote controlled floor station
The remote sensing image that radio telemetry remote controlled floor station owner will photograph for receiving unmanned plane during flying state that flight-control computer returns and remote sensing equipment, realize aspect, highly, the measurement of speed, course, orientation, distance and machine power source and showing in real time, there are two kinds of Presentation Functions of data and figure, grasp unmanned plane and remote sensing equipment for information about for the ground staff, and store all transmission information, in order to call at any time check.Radio telemetry remote controlled floor station is also for transmitting ground controlling personnel's instruction, and the guiding unmanned plane is by ground staff's instruction flight.
Concrete, radio telemetry remote controlled floor station comprises: integrated management controller, secondary station administration controller, human-computer interaction device, remote-transmitter antenna, remote measurement receiving antenna, control signal reception and power supervisor, change-over switch and secondary station instruction executor.
Wherein, integrated management controller and the two-way connection of described secondary station administration controller; Described integrated management controller is connected with described human-computer interaction device, described remote-transmitter antenna and described remote measurement receiving antenna respectively; Described control signal receives and power supervisor is connected with described secondary station administration controller by described change-over switch; Described secondary station instruction executor is connected with described secondary station administration controller by described change-over switch.
Radio telemetry remote controlled floor station also comprises: industrial computer and display; Described industrial computer is connected with described integrated management controller with described display respectively.
In sum, the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology that the utility model provides has the following advantages:
(1) airborne sensory equipment is equipped on three-axle steady platform, control respectively the displacement of three directions of three-axle steady platform by three drive motor, and then displacement or the angle of pitch of three dimensions of control airborne sensory equipment, realize the vertical imaging of remote sensing equipment or be inclined to picture, be expanded into the picture coverage, also have advantages of that control accuracy is high;
(2) the airborne sensory equipment precision is high, has improved the resolution of photographic images;
(3) airborne flight control system is equipped with multiclass topworks and attitude detection equipment, has guaranteed the safety and reliability of unmanned plane during flying.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be looked protection domain of the present utility model.
Claims (9)
1. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology, is characterized in that, comprising: nolo flight platform, airborne remote sensing system, airborne flight control system and radio telemetry remote controlled floor station; Wherein, described airborne remote sensing system is arranged on described nolo flight platform, and described airborne flight control system also is arranged on described nolo flight platform; Described airborne remote sensing system and described airborne flight control system communication connection; Described airborne flight control system and the communication connection of described radio telemetry remote controlled floor station;
Described airborne remote sensing system comprises: task device is controlled computing machine, airborne sensory equipment, three-axle steady platform, x axis drive motor, y axis drive motor, z axis drive motor, gyroscope and horizon sensor; Described airborne sensory equipment is fixedly installed on described three-axle steady platform; The output terminal that described task device is controlled computing machine is connected with the input end of described z axis drive motor with described x axis drive motor, described y axis drive motor respectively; Described x axis drive motor is for driving described three-axle steady platform along the axial displacement of x; Described y axis drive motor is for driving described three-axle steady platform along the axial displacement of y; Described z axis drive motor is for driving described three-axle steady platform along the axial displacement of z; Described gyroscope and described horizon sensor are installed on described three-axle steady platform; The input end of described gyroscope and described horizon sensor is connected with the input end that described task device is controlled computing machine.
2. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 1, it is characterized in that, described airborne sensory equipment is one or more in area array CCD digital camera, optical film camera, imaging spectrometer, magnetic determining device and CCD video camera.
3. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 1, is characterized in that, described airborne flight control system comprises flight-control computer, topworks and attitude detection equipment; The output terminal of described attitude detection equipment is connected with the input end of described flight-control computer; The output terminal of described flight-control computer is connected with the input end of described topworks.
4. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 3, is characterized in that, described topworks comprises one or more in lifting steering wheel, aileron steering wheel, accurate door steering wheel and umbrella control gear.
5. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 3, it is characterized in that, described attitude detection equipment comprises one or more in GPS navigation locating device, attitude gyroscope, pressure altimeter, magnetic course transmitter and speed probe.
6. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 3, is characterized in that, also comprises: intelligent power management system; Described intelligent power management system is connected with described flight-control computer.
7. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 3, is characterized in that, also comprises: telemetering transmiter and remote-control receiver; The input end of described telemetering transmiter is connected with the output terminal of described flight-control computer; The output terminal of described telemetering transmiter is connected with described radio telemetry remote controlled floor station; The input end of described remote-control receiver is connected with described radio telemetry remote controlled floor station, and the output terminal of described remote-control receiver is connected with the input end of described flight-control computer.
8. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 1, it is characterized in that, described radio telemetry remote controlled floor station comprises: integrated management controller, secondary station administration controller, human-computer interaction device, remote-transmitter antenna, remote measurement receiving antenna, control signal reception and power supervisor, change-over switch and secondary station instruction executor;
Described integrated management controller and the two-way connection of described secondary station administration controller; Described integrated management controller is connected with described human-computer interaction device, described remote-transmitter antenna and described remote measurement receiving antenna respectively; Described control signal receives and power supervisor is connected with described secondary station administration controller by described change-over switch; Described secondary station instruction executor is connected with described secondary station administration controller by described change-over switch.
9. the low-altitude remote sensing monitoring system combined with unmanned plane based on the 3S technology according to claim 8, is characterized in that, described radio telemetry remote controlled floor station also comprises: industrial computer and display; Described industrial computer is connected with described integrated management controller with described display respectively.
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| CN103837143A (en) * | 2014-03-25 | 2014-06-04 | 许凯华 | Super-mapping machine |
| CN104050649A (en) * | 2014-06-13 | 2014-09-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| CN104333733A (en) * | 2014-10-17 | 2015-02-04 | 天津全华时代航天科技发展有限公司 | UAV airborne computer system |
| CN104980708A (en) * | 2015-06-30 | 2015-10-14 | 江苏首控制造技术有限公司 | Hand-held-terminal-contained remote direct-broadcasting monitoring system of unmanned plane |
| CN105185166A (en) * | 2015-09-10 | 2015-12-23 | 杨建疆 | Unmanned aircraft city air control system |
| CN105763859A (en) * | 2016-05-11 | 2016-07-13 | 北京迈凯飞工程技术有限公司 | Method and system for improving aerial survey accuracy of unmanned aerial vehicle and unmanned aerial vehicle |
| CN106382919A (en) * | 2016-09-09 | 2017-02-08 | 西北农林科技大学 | Agricultural trinocular remote-sensing multispectral camera |
| CN106708075A (en) * | 2016-12-30 | 2017-05-24 | 浙江大学 | Long range oilseed rape field SPAD value remote sensing system and acquisition method based on fixed wing unmanned plane |
| CN107179775A (en) * | 2017-05-10 | 2017-09-19 | 中国资源卫星应用中心 | A kind of the spectrum automatic measurement system of mass color with multi-angle and method based on unmanned plane |
| US10273001B2 (en) | 2016-09-09 | 2019-04-30 | Walmart Apollo, Llc | Apparatus and method for unmanned flight |
| CN112414451A (en) * | 2020-10-10 | 2021-02-26 | 西安龙资电子科技有限公司 | Airborne platform information acquisition device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103837143A (en) * | 2014-03-25 | 2014-06-04 | 许凯华 | Super-mapping machine |
| CN103837143B (en) * | 2014-03-25 | 2015-01-14 | 许凯华 | Super-mapping machine |
| CN104050649A (en) * | 2014-06-13 | 2014-09-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| WO2015188464A1 (en) * | 2014-06-13 | 2015-12-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| CN104333733A (en) * | 2014-10-17 | 2015-02-04 | 天津全华时代航天科技发展有限公司 | UAV airborne computer system |
| CN104980708A (en) * | 2015-06-30 | 2015-10-14 | 江苏首控制造技术有限公司 | Hand-held-terminal-contained remote direct-broadcasting monitoring system of unmanned plane |
| CN105185166A (en) * | 2015-09-10 | 2015-12-23 | 杨建疆 | Unmanned aircraft city air control system |
| CN105763859A (en) * | 2016-05-11 | 2016-07-13 | 北京迈凯飞工程技术有限公司 | Method and system for improving aerial survey accuracy of unmanned aerial vehicle and unmanned aerial vehicle |
| CN106382919A (en) * | 2016-09-09 | 2017-02-08 | 西北农林科技大学 | Agricultural trinocular remote-sensing multispectral camera |
| US10273001B2 (en) | 2016-09-09 | 2019-04-30 | Walmart Apollo, Llc | Apparatus and method for unmanned flight |
| US11117663B2 (en) | 2016-09-09 | 2021-09-14 | Walmart Apollo, Llc | Apparatus and method for unmanned flight |
| CN106708075A (en) * | 2016-12-30 | 2017-05-24 | 浙江大学 | Long range oilseed rape field SPAD value remote sensing system and acquisition method based on fixed wing unmanned plane |
| CN106708075B (en) * | 2016-12-30 | 2020-01-07 | 浙江大学 | Wide-range rape field SPAD value remote sensing system based on fixed-wing unmanned aerial vehicle and acquisition method |
| CN107179775A (en) * | 2017-05-10 | 2017-09-19 | 中国资源卫星应用中心 | A kind of the spectrum automatic measurement system of mass color with multi-angle and method based on unmanned plane |
| CN107179775B (en) * | 2017-05-10 | 2020-04-14 | 中国资源卫星应用中心 | Multi-angle earth surface spectrum automatic measurement system and method based on unmanned aerial vehicle |
| CN112414451A (en) * | 2020-10-10 | 2021-02-26 | 西安龙资电子科技有限公司 | Airborne platform information acquisition device |
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