CN103970140A - Multi-angle remote sensing automatic observation system based on unmanned aerial vehicle - Google Patents
Multi-angle remote sensing automatic observation system based on unmanned aerial vehicle Download PDFInfo
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- CN103970140A CN103970140A CN201410219350.7A CN201410219350A CN103970140A CN 103970140 A CN103970140 A CN 103970140A CN 201410219350 A CN201410219350 A CN 201410219350A CN 103970140 A CN103970140 A CN 103970140A
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Abstract
The invention relates to a multi-angle remote sensing automatic observation system based on an unmanned aerial vehicle. The multi-angle remote sensing automatic observation system comprises a multi-angle cradle head, a multi-angle cradle head controller, an air line planning module, a data processing module and a control system. The multi-angle cradle head is fixedly installed on the unmanned aerial vehicle. The multi-angle cradle head controller is arranged on the multi-angle cradle head and in communication connection with the control system. An observation instrument is arranged on the multi-angle cradle head. The air line planning module is connected with the control system. The data processing module is connected with the observation instrument and the control system. The multi-angle cradle head comprises a pitching plate, a pitching vertical plate, a transverse rolling plate, a transverse rolling vertical plate, a cloud platform support and a cloud platform. The multi-angle remote sensing automatic observation system based on the unmanned aerial vehicle is convenient to carry, capable of conducting automatic observation and high in observation efficiency and adaptability.
Description
Technical field
The present invention relates to a kind of multi-angle remote sensing automatic observing system based on unmanned plane.
Background technology
In recent years, along with the fast development of quantitative remote sensing, multi-angle remote sensing becomes one of popular research field, but obtaining of data of multiple angles is but a difficult problem, therefore develops the element task that diversified multi-angle observation system is multi-angle remote sensing.The mode of obtaining from multi-angle remotely-sensed data, mainly contains three kinds of modes at present: based on satellite platform, based on airborne platform with based on ground observation.Satellite platform can provide a large amount of ground multi-angle observation data by the stack of sensor field of view, and data stabilization is reliable, but because satellite platform is overhead high, spatial resolution is low, be subject to Natural environment factors to affect the reasons such as large, also inapplicable in the remote sensing of Small and Medium Sized multi-angle.Therefore a series of ground observation devices have been invented by each R&D institution, and as the portable earth's surface of PARABOLA of U.S. JPL laboratory development and atmosphere anisotropy measurement device, this principle of device is that sensor carries out hemisphere surface sweeping around dead center; The FIGOS device of Univ Zurich Switzerland's remote sensing laboratory development in 1994, adopts the 360 circular orientation of degree tracks, and semicircular zenith arc framework, and sensor moves on zenith arc, and zenith arc can rotate around circuit orbit, thereby can automatically survey quickly; Anhui optics close mechanical research institute of the Chinese Academy of Sciences in 2008 has designed a zenith arc and azimuth circle track is 2m center multi-angle observation system.The common feature of all these conventional surface observational systems is the vegetation that can only observe comparatively short, and the higher arbor of plant is seemed to helpless, therefore develops aviation multi-angle observation particularly important.From existing aviation multi-angle observation data acquisition mode, mainly to carry sensor by fixed wing aircraft, observe, the problem that this observation procedure faces is exactly that cost is huge, the line of flight is dumb, flight time is long, and flow process is loaded down with trivial details, and all data of obtaining are in this way fewer.
At present, development for aviation multi-angle automatic observing system need to solve following problem: the problem that is first quick obtaining data, aerial remote reconnaissance platform flight is before dumb, flight time is long, can there is obvious variation in sun altitude during this period, cause observation data inaccurate, especially huge on the observation impact of thermal infrared.Next is flexibility problem, both comprised temporally also comprising that, on space, traditional aviation measurement adopts large-scale fixed wing aircraft, needed special runway, very inconvenient for remote districts observation, and remote sensing observations often need to be in the less remote mountain areas of human factor impact.
Summary of the invention
In view of the above-mentioned problems in the prior art, fundamental purpose of the present invention is to address the deficiencies of the prior art, the invention provides a kind of easy to carry, can carry out the high and adaptable multi-angle remote sensing automatic observing system based on unmanned plane of automatic Observation, observed efficiency.
The invention provides a kind of multi-angle remote sensing automatic observing system based on unmanned plane, comprise multi-angle The Cloud Terrace, multi-angle cradle head controllor, flight course planning module, data processing module and control system, described multi-angle The Cloud Terrace is fixedly mounted on unmanned plane, described multi-angle cradle head controllor is arranged on described multi-angle The Cloud Terrace, described multi-angle cradle head controllor and the communication connection of described control system, on described multi-angle The Cloud Terrace, be provided with observation instrument, described flight course planning module is connected with described control system, described data processing module is connected with described control system with described observation instrument respectively, wherein, described multi-angle The Cloud Terrace comprises:
Pitching plate, is provided with cavity on described pitching plate, and the bottom of described pitching plate is provided with installation portion, and described pitching plate is fixedly installed on described unmanned plane by described installation portion level;
Pitching riser, described pitching riser is vertically fixedly installed on the side of described pitching plate away from described cavity, on described pitching riser, is provided with vertical shifting chute, and the both sides of described vertical shifting chute are symmetrically arranged with respectively the first mounting groove and the second mounting groove;
Roll riser, described roll riser and vertical setting of described pitching riser, the inner side, one end of described roll riser is provided with the first circular groove, in described the first circular groove, be provided with the first rotating shaft, described roll riser is connected with described pitching riser by described the first rotating shaft, the other end of described the first rotating shaft is arranged in the shifting chute of described pitching riser, described roll riser is realized and being moved up and down in the described vertical shifting chute of described pitching riser by described the first rotating shaft, is evenly provided with multiple the first shoulder holes on the circumferencial direction of described the first circular groove;
Roll plate, one end of described roll plate and one end vertical be fixedly connected with of described roll riser away from described the first circular groove, on described roll plate, be provided with and move horizontally groove, described in move horizontally groove both sides and be symmetrically arranged with respectively the 3rd mounting groove and the 4th mounting groove;
The Cloud Terrace supporting plate, described The Cloud Terrace supporting plate and vertical setting of described roll plate, inner side, described The Cloud Terrace supporting plate one end is provided with the second circular groove, in described the second circular groove, be provided with the second rotating shaft, described The Cloud Terrace supporting plate is connected with described roll plate by described the second rotating shaft, one end of described the second rotating shaft is arranged on moving horizontally in groove of described roll plate, described The Cloud Terrace supporting plate is realized and being moved left and right in moving horizontally groove described in described roll plate by described the second rotating shaft, on the circumferencial direction of described the second circular groove, be evenly provided with multiple the second shoulder holes, on described The Cloud Terrace supporting plate, be provided with multi-angle cradle head controllor, and
The Cloud Terrace plate, described The Cloud Terrace plate is vertically fixedly installed on described The Cloud Terrace supporting plate one end away from described the second circular groove, and described observation instrument is fixedly installed on described The Cloud Terrace plate.
Optionally, described multiple the first shoulder hole is four the first shoulder holes, described four the first shoulder holes are arranged to two groups of shoulder holes that vertically distribute, and in every group of shoulder hole, include setting two the first shoulder holes point-blank, in described two groups of shoulder holes, position support by the first mounting hole and the second mounting hole in bolt and described pitching riser respectively.
Optionally, described multiple the second shoulder hole is four the second shoulder holes, described four the second shoulder holes are arranged to two groups of shoulder holes of horizontal distribution, and in every group of shoulder hole, include setting two the second shoulder holes point-blank, described two groups of shoulder holes position support by the 3rd mounting hole in bolt and described roll plate and the 4th mounting hole respectively.
Optionally, described pitching riser is fixedly connected with described pitching plate by multiple bolts.
Optionally, described roll plate is fixedly connected with described roll riser by multiple bolts.
Optionally, described The Cloud Terrace plate is fixedly connected with described The Cloud Terrace supporting plate by multiple bolts.
The present invention has the following advantages and beneficial effect: the invention provides a kind of multi-angle remote sensing automatic observing system based on unmanned plane, this system is easy to carry, can adapt to multiple observing environment, in this system, be provided with multi-angle The Cloud Terrace, in this multi-angle The Cloud Terrace, be provided with the first rotating shaft and the second rotating shaft, described multi-angle The Cloud Terrace is realized upper and lower and left-right rotation by this first rotating shaft with the second rotating shaft, and then realize this multi-angle The Cloud Terrace flexible rotating in elevation angle, realize the multi-angle observation to Target scalar; Multi-angle cradle head controllor is fixed on The Cloud Terrace supporting plate, by communicate by letter to obtain angle-data with control system, then adjusts the angle of multi-angle cloud platform rotation, to reach target observation elevation angle; Can automatically plan rational flight path to observation mission (presetting many prescriptions parallactic angle and elevation angle) by flight course planning module, can complete observation mission within a short period of time, the consistance that ensures multiple angle-datas is higher, reduce the redundancy analysis time, simultaneously can also be automatically and Google Earth terrain data contrast, prevent to collide massif accident; In addition, this system is by the adjustment to unmanned plane during flying and observation angle, and for different landform, it is poor automatically to adjust with the relative height on ground, ensures that image different piece imaging resolution is consistent.
Brief description of the drawings
Fig. 1 is the theory diagram of the multi-angle remote sensing automatic observing system based on unmanned plane of the embodiment of the present invention;
Fig. 2 is that in the multi-angle remote sensing automatic observing system based on unmanned plane of the embodiment of the present invention, multi-angle The Cloud Terrace omits the structural representation of the first rotating shaft and the second rotating shaft;
Fig. 3 is the structural representation of pitching plate in Fig. 2;
Fig. 4 is the structural representation of pitching riser in Fig. 2;
Fig. 5 is the structural representation of roll riser in Fig. 2;
Fig. 6 is the structural representation of roll plate in Fig. 2;
Fig. 7 is the assembly structure schematic diagram of The Cloud Terrace supporting plate and multi-angle cradle head controllor in Fig. 2;
Fig. 8 is the structural representation of Fig. 2 medium cloud platen;
Fig. 9 is the amplification sectional structure schematic diagram of the first rotating shaft;
Figure 10 is the amplification sectional structure schematic diagram of the second rotating shaft.
Embodiment
The present invention is further illustrated with specific embodiment below with reference to accompanying drawings.
As shown in Figures 1 to 10: a kind of multi-angle remote sensing automatic observing system based on unmanned plane of the embodiment of the present invention, comprise multi-angle The Cloud Terrace 1, multi-angle cradle head controllor 2, flight course planning module 3, data processing module 6 and control system 5, described multi-angle The Cloud Terrace 1 is fixedly mounted on unmanned plane, described multi-angle cradle head controllor 2 is arranged on described multi-angle The Cloud Terrace 1, described multi-angle cradle head controllor 2 communicates to connect with described control system 5, on described multi-angle The Cloud Terrace 1, be provided with observation instrument 4, described flight course planning module 3 is connected with described control system 5, can be to the observation mission rational flight path of planning automatically by described flight course planning module 3, can complete observation mission within a short period of time, the consistance that ensures multiple angle-datas is higher, reduce the redundancy analysis time, simultaneously can also be automatically and Google Earth terrain data contrast, prevent to collide massif accident, described data processing module is connected with described control system with described observation instrument respectively, carry out fast processing for the data of multiple angles that described observation instrument 4 is observed, to obtain the physical quantity needing, wherein, described multi-angle The Cloud Terrace 1 comprises: pitching plate 11, pitching riser 12, roll riser 13, roll plate 14, The Cloud Terrace supporting plate 15 and The Cloud Terrace plate 16, on described pitching plate 11, be provided with cavity, the bottom of described pitching plate 11 is provided with installation portion, and described pitching plate 11 is fixedly installed on described unmanned plane by described installation portion level, described pitching riser is vertically fixedly installed on the side of described pitching plate away from described cavity, on described pitching riser 12, is provided with vertical shifting chute 121, and the both sides of described vertical shifting chute 121 are symmetrically arranged with respectively the first mounting groove 122 and the second mounting groove 123, the setting vertical with described pitching riser 12 of described roll riser 13, the inner side, one end of described roll riser 13 is provided with the first circular groove 131, in described the first circular groove 131, be provided with the first rotating shaft 7, described roll riser 13 is connected with described pitching riser 12 by described the first rotating shaft 7, one end of described the first rotating shaft 7 is provided with the first protuberance 71, the other end is set to the first rotating shaft body 72, described the first protuberance 71 is fixedly installed in the first circular groove 131 of described roll riser 13, described the first rotating shaft body 72 runs through the vertical shifting chute 121 of described pitching riser 12, and can move up and down along described vertical shifting chute 121, described roll riser 13 is realized vertically moving up and down in shifting chute 121 described in described pitching riser 12 by described the first rotating shaft 7, on the circumferencial direction of described the first circular groove 131, be evenly provided with multiple the first shoulder holes 132, one end of described roll plate 14 and one end vertical be fixedly connected with of described roll riser 13 away from described the first circular groove 131, on described roll plate 14, be provided with and move horizontally groove 141, described in move horizontally groove 141 both sides and be symmetrically arranged with respectively the 3rd mounting groove 142 and the 4th mounting groove 143, the setting vertical with described roll plate 14 of described The Cloud Terrace supporting plate 15, described The Cloud Terrace supporting plate 15 inner sides, one end are provided with the second circular groove 151, in described the second circular groove 151, be provided with the second rotating shaft 8, described The Cloud Terrace supporting plate 15 is connected with described roll plate 14 by described the second rotating shaft 8, one end of described the second rotating shaft 8 is provided with the second protuberance 81, the other end is set to the second rotating shaft body 82, described the second protuberance 81 is fixedly installed in the second circular groove 151 of described The Cloud Terrace board mount 15, what described the second rotating shaft body 152 ran through described roll plate 14 moves horizontally groove 141, and can move left and right along described groove 141 levels that move horizontally, described The Cloud Terrace supporting plate 15 is realized in moving horizontally groove 141 described in described roll plate 14 and being moved left and right by described the second rotating shaft 8, on the circumferencial direction of described the second circular groove 151, be evenly provided with multiple the second shoulder holes 152, on described The Cloud Terrace supporting plate 15, be provided with multi-angle cradle head controllor 2, described The Cloud Terrace plate 16 is vertically fixedly installed on described The Cloud Terrace supporting plate one end away from described the second circular groove 151, described observation instrument 4 is fixedly installed on described The Cloud Terrace plate 16, described multi-angle The Cloud Terrace 1 is realized upper and lower and left-right rotation by this first rotating shaft 7 with the second rotating shaft 8, and then realize this multi-angle The Cloud Terrace flexible rotating in elevation angle, realize the multi-angle observation to Target scalar, multi-angle cradle head controllor 2 is fixed on The Cloud Terrace supporting plate 15, by communicating by letter to obtain angle-data with control system 5, then adjust the angle that multi-angle The Cloud Terrace 1 rotates, to reach target observation elevation angle.
As the preferred implementation of above-described embodiment, described multiple the first shoulder hole 132 is four the first shoulder holes 132, described four the first shoulder holes 132 are arranged to two groups of shoulder holes that vertically distribute, and in every group of shoulder hole, include setting two the first shoulder holes point-blank, in described two groups of shoulder holes, position support by the first mounting hole 122 in bolt and described pitching riser 12 and the second mounting hole 122 respectively.
As the preferred implementation of above-described embodiment, described multiple the second shoulder hole 152 is four the second shoulder holes 152, described four the second shoulder holes are arranged to two groups of shoulder holes of horizontal distribution, and in every group of shoulder hole, include setting two the second shoulder holes point-blank, described two groups of shoulder holes position support by the 3rd mounting hole 142 in bolt and described roll plate 14 and the 4th mounting hole 143 respectively.
As the preferred implementation of above-described embodiment, described pitching riser 12 is fixedly connected with described pitching plate 11 by multiple bolts, makes its connection more safe and reliable.
As the preferred implementation of above-described embodiment, described roll plate 14 is fixedly connected with described roll riser 13 by multiple bolts, makes its connection more safe and reliable.
As the preferred implementation of above-described embodiment, described The Cloud Terrace plate 16 is fixedly connected with described The Cloud Terrace supporting plate 15 by multiple bolts, makes its connection more safe and reliable.
Finally it should be noted that: above-described each embodiment, only for technical scheme of the present invention is described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record previous embodiment is modified, or to wherein partly or entirely technical characterictic be equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (6)
1. the multi-angle remote sensing automatic observing system based on unmanned plane, it is characterized in that: comprise multi-angle The Cloud Terrace, multi-angle cradle head controllor, flight course planning module, data processing module and control system, described multi-angle The Cloud Terrace is fixedly mounted on unmanned plane, described multi-angle cradle head controllor is arranged on described multi-angle The Cloud Terrace, described multi-angle cradle head controllor and the communication connection of described control system, on described multi-angle The Cloud Terrace, be provided with observation instrument, described flight course planning module is connected with described control system, described data processing module is connected with described control system with described observation instrument respectively, wherein, described multi-angle The Cloud Terrace comprises:
Pitching plate, is provided with cavity on described pitching plate, and the bottom of described pitching plate is provided with installation portion, and described pitching plate is fixedly installed on described unmanned plane by described installation portion level;
Pitching riser, described pitching riser is vertically fixedly installed on the side of described pitching plate away from described cavity, on described pitching riser, is provided with vertical shifting chute, and the both sides of described vertical shifting chute are symmetrically arranged with respectively the first mounting groove and the second mounting groove;
Roll riser, described roll riser and vertical setting of described pitching riser, the inner side, one end of described roll riser is provided with the first circular groove, in described the first circular groove, be provided with the first rotating shaft, described roll riser is connected with described pitching riser by described the first rotating shaft, the other end of described the first rotating shaft is arranged in the shifting chute of described pitching riser, described roll riser is realized and being moved up and down in the described vertical shifting chute of described pitching riser by described the first rotating shaft, is evenly provided with multiple the first shoulder holes on the circumferencial direction of described the first circular groove;
Roll plate, one end of described roll plate and one end vertical be fixedly connected with of described roll riser away from described the first circular groove, on described roll plate, be provided with and move horizontally groove, described in move horizontally groove both sides and be symmetrically arranged with respectively the 3rd mounting groove and the 4th mounting groove;
The Cloud Terrace supporting plate, described The Cloud Terrace supporting plate and vertical setting of described roll plate, inner side, described The Cloud Terrace supporting plate one end is provided with the second circular groove, in described the second circular groove, be provided with the second rotating shaft, described The Cloud Terrace supporting plate is connected with described roll plate by described the second rotating shaft, one end of described the second rotating shaft is arranged on moving horizontally in groove of described roll plate, described The Cloud Terrace supporting plate is realized and being moved left and right in moving horizontally groove described in described roll plate by described the second rotating shaft, on the circumferencial direction of described the second circular groove, be evenly provided with multiple the second shoulder holes, on described The Cloud Terrace supporting plate, be provided with multi-angle cradle head controllor, and
The Cloud Terrace plate, described The Cloud Terrace plate is vertically fixedly installed on described The Cloud Terrace supporting plate one end away from described the second circular groove, and described observation instrument is fixedly installed on described The Cloud Terrace plate.
2. the multi-angle remote sensing automatic observing system based on unmanned plane according to claim 1, it is characterized in that, described multiple the first shoulder hole is four the first shoulder holes, described four the first shoulder holes are arranged to two groups of shoulder holes that vertically distribute, and in every group of shoulder hole, include setting two the first shoulder holes point-blank, in described two groups of shoulder holes, position support by the first mounting hole and the second mounting hole in bolt and described pitching riser respectively.
3. the multi-angle remote sensing automatic observing system based on unmanned plane according to claim 1, it is characterized in that, described multiple the second shoulder hole is four the second shoulder holes, described four the second shoulder holes are arranged to two groups of shoulder holes of horizontal distribution, and in every group of shoulder hole, include setting two the second shoulder holes point-blank, described two groups of shoulder holes position support by the 3rd mounting hole in bolt and described roll plate and the 4th mounting hole respectively.
4. the multi-angle remote sensing automatic observing system based on unmanned plane according to claim 1, is characterized in that, described pitching riser is fixedly connected with described pitching plate by multiple bolts.
5. the multi-angle remote sensing automatic observing system based on unmanned plane according to claim 1, is characterized in that, described roll plate is fixedly connected with described roll riser by multiple bolts.
6. the multi-angle remote sensing automatic observing system based on unmanned plane according to claim 1, is characterized in that, described The Cloud Terrace plate is fixedly connected with described The Cloud Terrace supporting plate by multiple bolts.
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| CN201410219350.7A CN103970140B (en) | 2014-05-23 | 2014-05-23 | A kind of multiple-angle thinking automatic observing system based on unmanned plane |
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| CN201410219350.7A CN103970140B (en) | 2014-05-23 | 2014-05-23 | A kind of multiple-angle thinking automatic observing system based on unmanned plane |
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| CN103970140B CN103970140B (en) | 2016-08-17 |
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| CN108263630A (en) * | 2018-03-28 | 2018-07-10 | 京杭遥感技术（杭州）有限公司 | Unmanned plane oblique photograph holder and unmanned plane |
| CN108284963A (en) * | 2018-03-28 | 2018-07-17 | 京杭遥感技术（杭州）有限公司 | Unmanned plane twin-lens mechanism and unmanned plane |
| CN109813281A (en) * | 2017-11-20 | 2019-05-28 | 南京模幻天空航空科技有限公司 | Navigation channel incident management system based on unmanned plane aerial photography technology |
| CN109923488A (en) * | 2017-04-27 | 2019-06-21 | 深圳市大疆创新科技有限公司 | The system and method for generating real-time map using loose impediment |
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| CN103970140B (en) | 2016-08-17 |
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