CN103954314A - Unmanned aerial vehicle low-altitude remote sensing simulating device - Google Patents
Unmanned aerial vehicle low-altitude remote sensing simulating device Download PDFInfo
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- CN103954314A CN103954314A CN201410153403.XA CN201410153403A CN103954314A CN 103954314 A CN103954314 A CN 103954314A CN 201410153403 A CN201410153403 A CN 201410153403A CN 103954314 A CN103954314 A CN 103954314A
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- remote sensing
- unmanned plane
- line slideway
- altitude remote
- analogue means
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Abstract
The invention discloses an unmanned aerial vehicle low-altitude remote sensing simulating device which comprises a linear guide rail, a hanger bracket, a drawing mechanism, a three-dimensional holder and image collecting devices. The linear guide rail is erected above a monitored object, the hanger bracket is in sliding fit with the linear guide rail, the drawing mechanism is used for driving the hanger bracket to move along the linear guide rail, the three-dimensional holder is hung below the hanger bracket, and the image collecting devices are arranged on the three-dimensional holder. According to the unmanned aerial vehicle low-altitude remote sensing simulating device, low-altitude flying of an unmanned aerial vehicle can be simulated, an agricultural condition low-altitude remote sensing mechanism is conveniently and reliably researched, and the development process of the unmanned aerial vehicle low-altitude remote sensing technology is accelerated.
Description
Technical field
The present invention relates to agriculture feelings low-altitude remote sensing field, be specifically related to a kind of unmanned plane low-altitude remote sensing analogue means.
Background technology
Precision agriculture is exactly a kind of agricultural modernization theory, refers to a kind of field management means based on spatial and temporal variation, thinks that the characteristic of field soil in farmland, crop is not homogeneous, along with time, spatial variations.
In recent years, precision agriculture, owing to can efficiently utilizing agricultural resource, is realized continuable agricultural development, causes extensive concern in worldwide, and cheap, obtaining of crops spatial and temporal variation information is the important step that realizes precision agriculture fast.
Traditional space flight, airborne remote sensing exist that trueness error is large, real-time is poor and be subject to the shortcomings such as meteorological factor influence, and the remote sensing of unmanned plane low latitude agriculture feelings with its accuracy high, ageing good, safeguard that usage charges are low, maneuverability, the advantage such as economical and practical more and more come into one's own.
Unmanned plane is the not manned aircraft that utilizes radio robot and the presetting apparatus provided for oneself to handle, and the remote-controlled station personnel on ground can be by equipment such as radars, to unmanned plane follow the tracks of, location, remote control, remote measurement and digital transmission.China's SUAV (small unmanned aerial vehicle) is used for the remote sensing of agriculture feelings still in starting conceptual phase, the building of stable low-latitude flying platform, the making of supporting Remote Sensing Information Extraction device (sensor) are, the parsing of crop nutrition content information etc. are all current urgent problems, in order to address this problem, first need to guarantee security and the stability of unmanned plane low-latitude flying platform.
The safety and stability of unmanned plane low-latitude flying platform relates to somatotype platform to series of problems such as the stability of the adaptability of severe operating environment and emergency case, flight control system, flying powers, be difficult in a short time develop practical and safe and reliable unmanned plane low altitude remote sensing platform, therefore need to develop the analogue means that a kind of alternative unmanned plane carries out the research of low latitude agriculture feelings mechanism of remote sensing.
Summary of the invention
The invention provides a kind of unmanned plane low-altitude remote sensing analogue means, can simulate the low-latitude flying of unmanned plane, carry out easily and reliably the research of agriculture feelings low-altitude remote sensing mechanism, accelerate the development process of unmanned plane Technology of low altitude remote sensing.
A unmanned plane low-altitude remote sensing analogue means, comprising:
Line slideway, is erected at the top of monitoring target;
Suspension, is slidably matched with described line slideway;
Haulage gear, for driving described suspension to move along line slideway;
Three-dimensional The Cloud Terrace, hangs the below that is located at described suspension;
Image collecting device, is arranged on described three-dimensional The Cloud Terrace.
When existing unmanned plane is done the remote sensing of low latitude agriculture feelings, normally in the region that will observe, do straight line back and forth movement, utilize haulage gear to drive suspension to slide along line slideway, the rectilinear motion of simulation unmanned plane; Described three-dimensional The Cloud Terrace can adopt prior art, can realize three rotations in direction, for simulating the motion of unmanned plane pitching, roll and three directions of deflection, and then drives the image collecting device on three-dimensional The Cloud Terrace to do shooting at any angle.
In order to control the collaborative work of unmanned plane all parts, preferably, also comprise control module, described haulage gear, three-dimensional The Cloud Terrace and image collecting device all access this control module.
By control module, can control following parameter: the parameters such as the travelling speed of haulage gear drive suspension, range ability, working time; The parameters such as the anglec of rotation, rotational speed and rotational time in three directions of three-dimensional The Cloud Terrace; The parameters such as the shooting time of image collecting device, screening-mode; Described control module can also carry out Coordination Treatment to controlled parameters, makes image collecting device export the monitoring result of agriculture feelings more accurately.
Described image collecting device can adopt the devices such as multispectral camera of the prior art, CCD camera, video camera, between described image collecting device and three The Cloud Terraces, for removably connecting, can change as required the kind of needed image collecting device.Image collecting device also can arrange a plurality of simultaneously, improves efficiency and the accuracy of taking.
When described control module is controlled haulage gear, three-dimensional The Cloud Terrace and image collecting device, wireless remote control mode can be adopted, also wired connection mode can be adopted.
As preferably, described haulage gear comprises:
Two runners, are coupling respectively at the two ends of line slideway;
Dragrope, around the home on two runners, and is connected with suspension;
Drive motor, is arranged on one end of line slideway, and links with one of them runner.
In described drive motor Access Control unit, by control module, control the output speed of drive motor, thereby control dragrope, drive suspension to move along described line slideway.
After long-time use, dragrope may produce lax, in order to ensure dragrope, remains tensioning state, preferably, in described dragrope, is connected with strainer.Described strainer can adopt flower basket bolt of the prior art, utilizes flower basket bolt to connect dragrope and suspension.
For the stationarity that keeps suspension to slide along line slideway, preferably, the top of described suspension is fixed with at least two slide blocks that match with line slideway.
As preferably, the both sides of described line slideway are provided with the anticreep groove of arranging along line slideway length direction, and described slide block is provided with the claw that snaps in anticreep groove.Claw engages mutually with anticreep groove, realizes being slidably matched of slide block and line slideway.
In order to simulate the lifting of unmanned plane on vertical height, preferably, the electric pushrod of vertical layout is installed on described suspension, described three-dimensional The Cloud Terrace is connected with electric pushrod and driven and lifting by electric pushrod.
Described electric pushrod accesses in described control module, is controlled advance distance and the fltting speed of electric pushrod by control module, and three-dimensional The Cloud Terrace, under the drive of electric pushrod, can be realized the Level Change on vertical direction.
In the process of unmanned plane during flying, motion due to rotor, unavoidably there will be shake, therefore,, in order to simulate more truly the state of unmanned plane in flight course, analogue means also needs shake to be simulated, preferably, described suspension is provided with brace summer, is provided with for simulating the fan of vibrations on brace summer, and this fan accesses described control module.
Described control module can be controlled the rotating speed of fan, by the motion of the motion simulation rotor of fan, and then makes low-altitude remote sensing analogue means provided by the invention can possess the shake close with unmanned plane.
The number of the installation site of fan, the power selection of fan and fan can be adjusted as required in realistic simulation process.
As preferably, described line slideway is all horizontally disposed and mutually vertical with brace summer, and described fan has two, is in respectively the two ends of brace summer.
Two fans are in respectively the both sides of three-dimensional The Cloud Terrace, and the provided with fan symmetrically at the two ends of brace summer keeps the symmetry of low-altitude remote sensing analogue means integral body, while preventing fan mal-distribution, brings the vibrations that mechanism is more complicated, is unfavorable for the research of mechanism of remote sensing.
Unmanned plane low-altitude remote sensing analogue means of the present invention, can by haulage gear and line slideway realize image collecting device horizontal rectilinear motion, by electric pushrod, realize the vertical rectilinear motion of image collecting device, by three-dimensional The Cloud Terrace, realize the motion of deflection, pitching, three directions of roll, also realized the free movement in five directions of unmanned plane, advance and retreat, lifting, driftage, pitching, five athletic performances of roll while having simulated respectively unmanned plane low-latitude flying.
Pass through control module, can realize the accurate control of the kinematic parameter of image collecting device in five directions, image collecting device is moved according to projected path, data (the corresponding advance and retreat speed V1 of difference of kinematic parameter in five directions of control module while document image harvester, rising or falling speed V2, crab angle θ, angle of pitch ρ, roll angle φ), other data that the subsidiary sensor of three-dimensional The Cloud Terrace gathers (for example, the position that GPS gathers, the acceleration that INS gathers, angular velocity data) and the view data that gathers of image collecting device, control module combines gathered data to carry out analyzing and processing to explore low latitude agriculture feelings mechanism of remote sensing.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of unmanned plane low-altitude remote sensing analogue means of the present invention;
Fig. 2 is the schematic diagram of suspension in unmanned plane low-altitude remote sensing analogue means of the present invention;
Fig. 3 is the schematic cross-section that unmanned plane low-altitude remote sensing analogue means cathetus guide rail of the present invention coordinates with slide block.
Embodiment
Below in conjunction with accompanying drawing, unmanned plane low-altitude remote sensing analogue means of the present invention is described in detail.
As shown in Figure 1, a kind of unmanned plane low-altitude remote sensing analogue means, comprise: be erected at the top of monitoring target line slideway 4, the suspension being slidably matched with line slideway 4, be arranged on brace summer 6 on suspension, the fan 7(line slideway 4 that is arranged on brace summer 6 two ends is all horizontally disposed and mutually vertical with brace summer 6, the Plane of rotation of fan is parallel with surface level), the haulage gear for driving suspension to move along line slideway 4, the three-dimensional The Cloud Terrace (as shown in Fig. 1 arrow A) that hangs the below that is located at suspension and be arranged at the image collecting device 10 on three-dimensional The Cloud Terrace.
Wherein, haulage gear comprises: be coupling respectively two runners 2 at the two ends of line slideway 4, around the home on two runners 2 and the dragrope 3 being connected with suspension, the one end that is arranged on line slideway 4 and with the drive motor 9 of one of them runner interlock.
Dragrope 3 adopts the steel cable of diameter 4mm, and in order to prevent skidding with runner, steel cable is all around 1.5 circles (cornerite is 540 °) on two runners, and drive motor can be stepper motor, and the control accuracy of stepper motor is 0.03 °.
Dragrope 3 is connected by flower basket bolt 1 with suspension, can regulate the tensioning degree of dragrope 3 by flower basket bolt 1, makes dragrope 3 remain tensioning state.
The top of suspension is fixed with two slide blocks 11 that match with line slideway 4, as shown in Figure 3, the both sides of line slideway 4 are provided with the anticreep groove of arranging along line slideway 4 length directions, and slide block is provided with the claw 12 that snaps in anticreep groove, between anticreep groove and claw 12, uses grease lubrication.
Line slideway 4 consists of the straight rail of high precision and channel-section steel, and between the straight rail of high precision and channel-section steel, bolt connects, and described anticreep groove is arranged on channel-section steel, and the straight rail of high precision adopts the sliding friction guide rail that load-bearing capacity is large, positioning precision is high.
12 meters of the present embodiment cathetus guide rail 4 total lengths, are erected at apart from the high surface level of ground 3.8m, and line slideway 4 is 3.8m apart from the distance on ground.
As shown in Figure 2, the electric pushrod 5 of vertical layout is installed on suspension, three-dimensional The Cloud Terrace is connected with electric pushrod 5 and driven and lifting by electric pushrod 5.Between electric pushrod 5 and suspension, be provided with and strengthen connecting rod 8, strengthen connecting rod and can adopt tilting angle steel.
The control accuracy of electric pushrod 5 is 0.01mm, and the effective travel of electric pushrod 5 is 500mm, and the effective travel that suspension moves along line slideway 4 is 10m.
In the load-carrying of slide block, be limited to 30kg, can fully meet the general assembly (TW) (in 15kg) of suspension, electric pushrod 5, three-dimensional The Cloud Terrace and image collecting device, whole low-altitude remote sensing analogue means is operated steadily reliably.
Three-dimensional The Cloud Terrace is usually used in the field of taking photo by plane, comprise that The Cloud Terrace support, three overlaps independently servomotor, control system and all kinds of auxiliary sensor (comprising GPS, INS etc.), length for the fixed head of still image harvester in the present embodiment is 0.5m, can fix one or two spectrum cameras simultaneously; The independent servo electrical machinery system of three covers that three-dimensional The Cloud Terrace is built-in, controls respectively and carries rotatablely moving of camera pitching, roll, three directions of deflection.
The drive motor of dragrope 3, electric pushrod 5, fan 7, three-dimensional The Cloud Terrace and the equal Access Control of image collecting device unit, control the motion of each assembly by control module, and the relation of the image that gathers and kinematic parameter.
For example, the step of obtaining agriculture field crop nutrient hum pattern based on unmanned plane low-altitude remote sensing analogue means provided by the invention is as follows:
1) multispectral camera is installed on described three-dimensional The Cloud Terrace, below unmanned plane low-altitude remote sensing analogue means, closely put potted plant crops (for example paddy rice), putting area determines according to the length of line slideway, for example putting plant area is 12m*2m, along line slideway length direction, is wherein 12m;
2) by control module, start multispectral camera and fan, and start drive motor and drive three-dimensional The Cloud Terrace to move to one end of line slideway, control module is controlled the rotation of three-dimensional The Cloud Terrace, make the camera lens of multispectral camera straight down over against crops, requirement according to imaging resolution, by electric pushrod, adjust the camera lens of multispectral camera and the distance of crops, to obtain high-resolution image;
3) drive motor drives the other end motion to line slideway with suitable speed of three-dimensional The Cloud Terrace, the distortion that the picture that velocity amplitude is shot with multispectral camera does not produce direction of motion is as the criterion, camera is along in the process of line slideway operation, the Self-balance Control System of three-dimensional The Cloud Terrace simulates by eliminating in real time the camera shake that rotor causes, and improves shooting quality;
4) by control module, control the rotating speed of drive motor, control multispectral camera fixed point and take, and to make the coincidence factor of the adjacent two width images taken be 15%, be convenient to later stage picture mosaic;
5) image data transmission multispectral camera being gathered, to control module, is carried out rectification, the splicing of image by control module, generate the crop map of complete 12m*2m;
6) according to model, the multispectral data of crop map is processed, extract crop nutrition content information, generate nutrient hum pattern.
The nutrient hum pattern generating can show the nutrient difference of field zones of different, for instructing meticulous fertilising.
By this experiment, can study unmanned plane during flying speed, flying height to obtaining the impact of result, the pattern distortion collecting, picture registration rate are processed later image and are corrected, the impact of splicing.
Except nutrient information, in like manner can obtain various agriculture feelings information, such as nitrogen content distribution, leaf area index etc.
And for example, the step of obtaining floor level three-dimensional information figure based on unmanned plane low-altitude remote sensing analogue means provided by the invention is as follows:
1) two CCD cameras are installed on described three-dimensional The Cloud Terrace, below unmanned plane low-altitude remote sensing analogue means, put rugged sand table to simulate rugged landform, putting area determines according to the length of line slideway, for example putting area is 12m*2m, along line slideway length direction, is wherein 12m;
2) by control module, start CCD camera and fan, and start drive motor and drive three-dimensional The Cloud Terrace to move to one end of line slideway, control module is controlled the rotation of three-dimensional The Cloud Terrace, make the camera lens of CCD camera straight down over against sand table, requirement according to imaging resolution, by electric pushrod, adjust the camera lens of CCD camera and the distance of crops, to obtain high-resolution image;
3) drive motor drives the other end motion to line slideway with suitable speed of three-dimensional The Cloud Terrace, the distortion that the picture that velocity amplitude is shot with CCD camera does not produce direction of motion is as the criterion, camera is along in the process of line slideway operation, the Self-balance Control System of three-dimensional The Cloud Terrace simulates by eliminating in real time the camera shake that rotor causes, and improves shooting quality;
4) by control module, control the rotating speed of drive motor, control CCD camera fixed point and take, and to make the coincidence factor of the adjacent two width images taken be 15%, be convenient to later stage picture mosaic;
5) by the image data transmission of CCD collected by camera to control module, by control module, carried out rectification, the splicing of image, generate the three-dimensional land map of complete 12m*2m.
By this experiment, can be used for studying the structure of unmanned plane to the high-acruracy survey on ground and three-dimensional scenic.In like manner, can obtain the information such as plant three-dimensional imaging.
The above-mentioned design parameter value of mentioning and embodiment are mainly used to the present invention that explains; rather than limit the invention; in the protection domain of spirit of the present invention and claim, any modification and change that the present invention is made, all fall into protection scope of the present invention.
Claims (9)
1. a unmanned plane low-altitude remote sensing analogue means, is characterized in that, comprising:
Line slideway, is erected at the top of monitoring target;
Suspension, is slidably matched with described line slideway;
Haulage gear, for driving described suspension to move along line slideway;
Three-dimensional The Cloud Terrace, hangs the below that is located at described suspension;
Image collecting device, is arranged on described three-dimensional The Cloud Terrace.
2. unmanned plane low-altitude remote sensing analogue means as claimed in claim 1, is characterized in that, also comprises control module, and described haulage gear, three-dimensional The Cloud Terrace and image collecting device all access this control module.
3. unmanned plane low-altitude remote sensing analogue means as claimed in claim 2, is characterized in that, described haulage gear comprises:
Two runners, are coupling respectively at the two ends of line slideway;
Dragrope, around the home on two runners, and is connected with suspension;
Drive motor, is arranged on one end of line slideway, and links with one of them runner.
4. unmanned plane low-altitude remote sensing analogue means as claimed in claim 3, is characterized in that, in described dragrope, is connected with strainer.
5. unmanned plane low-altitude remote sensing analogue means as claimed in claim 2, is characterized in that, the top of described suspension is fixed with at least two slide blocks that match with line slideway.
6. unmanned plane low-altitude remote sensing analogue means as claimed in claim 5, is characterized in that, the both sides of described line slideway are provided with the anticreep groove of arranging along line slideway length direction, and described slide block is provided with the claw that snaps in anticreep groove.
7. unmanned plane low-altitude remote sensing analogue means as claimed in claim 2, is characterized in that, the electric pushrod of vertical layout is installed on described suspension, and described three-dimensional The Cloud Terrace is connected with electric pushrod and driven and lifting by electric pushrod.
8. unmanned plane low-altitude remote sensing analogue means as claimed in claim 2, is characterized in that, described suspension is provided with brace summer, is provided with for simulating the fan of vibrations on brace summer, and this fan accesses described control module.
9. unmanned plane low-altitude remote sensing analogue means as claimed in claim 8, is characterized in that, described line slideway is all horizontally disposed and mutually vertical with brace summer, and described fan has two, is in respectively the two ends of brace summer.
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Cited By (9)
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| CN104965521A (en) * | 2015-06-18 | 2015-10-07 | 浙江大学 | Agricultural aircraft simulator with swinging-type carrier |
| CN105093961A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Agricultural aircraft simulation device with rotary type objective table |
| CN105093960A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Device for simulating aircraft to collect crop information |
| CN105716819A (en) * | 2016-02-24 | 2016-06-29 | 华南农业大学 | Device and method for medicine chest anti-shock performance test |
| CN105923168A (en) * | 2016-06-24 | 2016-09-07 | 济宁学院 | Rotorcraft flight simulating platform applied to airborne cradle head testing |
| CN107192678A (en) * | 2017-06-06 | 2017-09-22 | 浙江大学 | A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral |
| CN107290054A (en) * | 2017-06-06 | 2017-10-24 | 浙江大学 | A kind of self-propelled on-line measuring device based on spectral imaging technology |
| CN108091201A (en) * | 2017-12-27 | 2018-05-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of target simulator of auxiliary exercise manipulation airborne photoelectric gondola |
| CN108898070A (en) * | 2018-06-07 | 2018-11-27 | 湖南中科星图信息技术有限公司 | A kind of high-spectrum remote-sensing extraction Mikania micrantha device and method based on unmanned aerial vehicle platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105093961B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of agricultural aircraft simulation device with rotary objective table |
| CN105093961A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Agricultural aircraft simulation device with rotary type objective table |
| CN105093960A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Device for simulating aircraft to collect crop information |
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| CN104965521B (en) * | 2015-06-18 | 2017-08-22 | 浙江大学 | A kind of agricultural aircraft simulation device with swing type objective table |
| CN105093960B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of simulated flight device gathers the device of Crop Information |
| CN105716819A (en) * | 2016-02-24 | 2016-06-29 | 华南农业大学 | Device and method for medicine chest anti-shock performance test |
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| CN105923168A (en) * | 2016-06-24 | 2016-09-07 | 济宁学院 | Rotorcraft flight simulating platform applied to airborne cradle head testing |
| CN105923168B (en) * | 2016-06-24 | 2018-07-17 | 济宁学院 | Gyroplane flight simulation platform for airborne tripod head test |
| CN107192678A (en) * | 2017-06-06 | 2017-09-22 | 浙江大学 | A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral |
| CN107290054A (en) * | 2017-06-06 | 2017-10-24 | 浙江大学 | A kind of self-propelled on-line measuring device based on spectral imaging technology |
| CN108091201A (en) * | 2017-12-27 | 2018-05-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of target simulator of auxiliary exercise manipulation airborne photoelectric gondola |
| CN108091201B (en) * | 2017-12-27 | 2019-11-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of target simulator of auxiliary exercise manipulation airborne photoelectric gondola |
| CN108898070A (en) * | 2018-06-07 | 2018-11-27 | 湖南中科星图信息技术有限公司 | A kind of high-spectrum remote-sensing extraction Mikania micrantha device and method based on unmanned aerial vehicle platform |
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