CN104132942B - The detection of a kind of body eutrophication based on unmanned plane and processing method - Google Patents
The detection of a kind of body eutrophication based on unmanned plane and processing method Download PDFInfo
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- CN104132942B CN104132942B CN201410390302.4A CN201410390302A CN104132942B CN 104132942 B CN104132942 B CN 104132942B CN 201410390302 A CN201410390302 A CN 201410390302A CN 104132942 B CN104132942 B CN 104132942B
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Abstract
The present invention relates to the detection of a kind of body eutrophication based on unmanned plane and processing method, it comprises the following specific steps that: 1) be configured the course line of unmanned plane；2) control unmanned plane to cruise according to course line set in step 1)；By unmanned plane, and the remote sensing equipment of UAV flight obtains water body image；3) by unmanned plane and the detection equipment that is mounted on unmanned plane, in step 2) unmanned plane cruise during, the nutrient laden situation of water body is detected；4) for step 3) exists the water body of eutrophication, by unmanned plane, it is carried out emergency processing；Using body eutrophication based on unmanned plane detection and the processing method of technique scheme, the integrated environment of water body can be monitored by advance, and for there is the region of eutrophication in water body, it can obtain view data, and measures its exact level.
Description
Technical field
The present invention relates to a kind of method of environmental monitoring, the detection of a kind of body eutrophication based on unmanned plane with
Processing method.
Background technology
Along with the aggravation of industrial pollution Yu domestic pollution, body eutrophication phenomenon has become universal phenomenon.Tradition is right
In the process of body eutrophication, it cannot be carried out in real time for water body, and complete monitoring, therefore it is often only capable of at water body
Occur it being carried out relevant treatment, because its injured area is excessive, so said method is difficult to take often during large area eutrophication
Obtain effect well.
Summary of the invention
The technical problem to be solved in the present invention is to provide the detection of a kind of body eutrophication based on unmanned plane and process side
Method, it can carry out omnibearing monitoring, thus can find and process when eutrophication occurs in water body water body.
For solving above-mentioned technical problem, the present invention relates to the detection of a kind of body eutrophication based on unmanned plane and process side
Method, it comprises the following specific steps that:
1) area based on water body to be detected and shape, be configured the course line of unmanned plane；
2) control unmanned plane to cruise according to course line set in step 1)；By unmanned plane, and UAV flight
Remote sensing equipment obtain water body image；
3) by unmanned plane and the detection equipment that is mounted on unmanned plane, in step 2) unmanned plane cruise process
In, the nutrient laden situation of water body is detected；
4) for step 3) exists the water body of eutrophication, by unmanned plane, it is carried out emergency processing.
As a modification of the present invention, for the water body of regular shape, in described step 1), unmanned plane course line is carried out
Arrange method particularly includes:
2.1) by its center to coastal waters, water body being divided into multiple annular region, the ring footpath of each annular region is at most
5 meters；2.2) in step 2.1) in the periphery of each annular region, be respectively provided with multiple anchor point, arrange unmanned plane according to
By the water body center spatial order to water body periphery, pass sequentially through water body center, and the location that each annular region is peripheral
Point.
Using above-mentioned design, water body can be monitored by it by taking spiral course line, thus obtains water body side entirely
The view data of position, thus the more complete environmental aspect to water body is analyzed.
As the another kind of improvement of the present invention, described step 2.2) in, the anchor point quantity that described annular region is peripheral, by
Annular region near water body center gradually increases to the annular region being positioned at water body peripheral；Arbitrarily determining in annular region
Bit number of points is at least 3, and it can ensure that unmanned plane carries out complete cruise in multiple annular regions.
As a modification of the present invention, for non-regular shape water body, in described step 1), unmanned plane course line is carried out
Arrange method particularly includes:
4.1) water body being divided into multiple rectangular area, the area of each rectangular area is at most 5 square metres；
4.2) in step 4.1) in each rectangular area in arrange at least 1 anchor point, unmanned plane is set and leads to successively
Cross the anchor point in each rectangular area.
Using above-mentioned design, it can be for erose water body, and its everywhere is entered by the method monitored by segmentation
Row monitoring, thus avoid existing during cruise omitting.
As a modification of the present invention, described unmanned aerial vehicle body is equipped with color sensor；Described step 2) in, obtain
The method of water intaking body image is:
5.1) during unmanned plane cruises, by acquisition water body image of taking pictures continuously, between adjacent two images
Registration is 30% to 50%.
5.2) in step 2) unmanned plane cruise during, by color sensor detect water surface color；
5.3) when step 5.2) in, color sensor detects when water body color changes, and carries out snapshots, quickly
During taking pictures, the registration between adjacent two images is 60% to 80%.
Using above-mentioned design, it can obtain the substantially view data of water body during unmanned plane cruises, and in water body face
Color changes, and obtains complete continuous print view data, it is simple to the analysis of staff when i.e. there is eutrophication.
As a modification of the present invention, in described step 3), described detection equipment includes being mounted under unmanned aerial vehicle body
The chlorophyll meter of end face；Concrete side water body detected by unmanned plane and the detection equipment that is mounted on unmanned plane
Method is: for step 5.2) in, when color sensor detection changes to water body color, green by the leaf being mounted on unmanned plane
There is the light of two kinds of different wave lengths in element instrument, obtained the chlorophyll content of water body by the light-transmission coefficient of water body to water surface.
Using above-mentioned design, it is by the phenomenon of the eutrophication of the chlorophyll content acquisition water body in water body.
As the another kind of improvement of the present invention, in described step 4), by unmanned plane, eutrophication water is met an urgent need
Process method particularly includes: control unmanned plane and carry chemical treatment medicament, in step 5.2) in, color sensor detects to water body
The region of color change carries out the throwing of chemical treatment medicament and spreads.
As the another kind of improvement of the present invention, described chemical treatment medicament is, iron powder, aluminium powder and the one or many in calcium powder
The combination planted.Using above-mentioned design, it by materials such as the nitrogen in above-mentioned substance and in water body, phosphorus, thus can realize water body
The improvement of eutrophication.
Using body eutrophication based on unmanned plane detection and the processing method of technique scheme, it can be in advance to water
The integrated environment of body is monitored, and for there is the region of eutrophication in water body, it can obtain view data, and concrete to it
Degree measures, thus obtains the relevant information of complete body eutrophication；Simultaneously for the water that there is eutrophication
Body, such scheme also can carry out emergency processing to it by unmanned plane, to reduce the content of nutritional labeling in water body.
Detailed description of the invention
Below in conjunction with detailed description of the invention, it is further elucidated with the present invention, it should be understood that following detailed description of the invention is only used for
The bright present invention rather than restriction the scope of the present invention.
A kind of body eutrophication based on unmanned plane detects and processing method, and it comprises the following specific steps that:
1) area based on water body to be detected and shape, be configured the course line of unmanned plane；
2) control unmanned plane to cruise according to course line set in step 1)；By unmanned plane, and UAV flight
Remote sensing equipment obtain water body image；
3) by unmanned plane and the detection equipment that is mounted on unmanned plane, in step 2) unmanned plane cruise process
In, the nutrient laden situation of water body is detected；
4) for step 3) exists the water body of eutrophication, by unmanned plane, it is carried out emergency processing.
As a modification of the present invention, for the water body of regular shape, in described step 1), unmanned plane course line is carried out
Arrange method particularly includes:
2.1) by its center to coastal waters, water body being divided into multiple annular region, the ring footpath of each annular region is at most
5 meters；2.2) in step 2.1) in the periphery of each annular region, be respectively provided with multiple anchor point, arrange unmanned plane according to
By the water body center spatial order to water body periphery, pass sequentially through water body center, and the location that each annular region is peripheral
Point.
Using above-mentioned design, water body can be monitored by it by taking spiral course line, thus obtains water body side entirely
The view data of position, thus the more complete environmental aspect to water body is analyzed.
As the another kind of improvement of the present invention, described step 2.2) in, the anchor point quantity that described annular region is peripheral, by
Annular region near water body center gradually increases to the annular region being positioned at water body peripheral；Arbitrarily determining in annular region
Bit number of points is 4, and it can ensure that unmanned plane carries out complete cruise in multiple annular regions.
As a modification of the present invention, for non-regular shape water body, in described step 1), unmanned plane course line is carried out
Arrange method particularly includes:
4.1) water body being divided into multiple rectangular area, the area of each rectangular area is at most 5 square metres；
4.2) in step 4.1) in each rectangular area in arrange at least 1 anchor point, unmanned plane is set and leads to successively
Cross the anchor point in each rectangular area.
Using above-mentioned design, it can be for erose water body, and its everywhere is entered by the method monitored by segmentation
Row monitoring, thus avoid existing during cruise omitting.
As a modification of the present invention, described unmanned aerial vehicle body is equipped with color sensor；Described step 2) in, obtain
The method of water intaking body image is:
5.1) during unmanned plane cruises, by acquisition water body image of taking pictures continuously, between adjacent two images
Registration is 30%；
5.2) in step 2) unmanned plane cruise during, by color sensor detect water surface color；
5.3) when step 5.2) in, color sensor detects when water body color changes, and carries out snapshots, quickly
During taking pictures, the registration between adjacent two images is 80%.
Using above-mentioned design, it can obtain the substantially view data of water body during unmanned plane cruises, and in water body face
Color changes, and obtains complete continuous print view data, it is simple to the analysis of staff when i.e. there is eutrophication.
As a modification of the present invention, in described step 3), described detection equipment includes being mounted under unmanned aerial vehicle body
The chlorophyll meter of end face；Concrete side water body detected by unmanned plane and the detection equipment that is mounted on unmanned plane
Method is: for step 5.2) in, when color sensor detection changes to water body color, green by the leaf being mounted on unmanned plane
There is the light of two kinds of different wave lengths in element instrument, obtained the chlorophyll content of water body by the light-transmission coefficient of water body to water surface.
Using above-mentioned design, it is by the phenomenon of the eutrophication of the chlorophyll content acquisition water body in water body.
As the another kind of improvement of the present invention, in described step 4), by unmanned plane, eutrophication water is met an urgent need
Process method particularly includes: control unmanned plane and carry chemical treatment medicament, in step 5.2) in, color sensor detects to water body
The region of color change carries out the throwing of chemical treatment medicament and spreads.
As the another kind of improvement of the present invention, described chemical treatment medicament is, iron powder, aluminium powder and the one or many in calcium powder
The combination planted.Using above-mentioned design, it by materials such as the nitrogen in above-mentioned substance and in water body, phosphorus, thus can realize water body
The improvement of eutrophication.
Using body eutrophication based on unmanned plane detection and the processing method of technique scheme, it can be to water body
Integrated environment is monitored, and for there is the region of eutrophication in water body, it can obtain view data, and to its exact level
Measure, thus obtain the relevant information of complete body eutrophication；Simultaneously for there is the water body of eutrophication, on
State scheme and also it can be carried out emergency processing by unmanned plane, to reduce the content of nutritional labeling in water body.The present invention program institute
Disclosed technological means is not limited only to the technological means disclosed in above-mentioned embodiment, also includes by any group of above technical characteristic
Close the technical scheme formed.
Claims (3)
1. body eutrophication based on a unmanned plane detection and processing method, it is characterised in that described based on unmanned plane
Body eutrophication detection comprises the following specific steps that with processing method:
1) area based on water body to be detected and shape, be configured the course line of unmanned plane；
2) control unmanned plane to cruise according to course line set in step 1)；By unmanned plane, and UAV flight's is distant
Sense equipment obtains water body image；
3) by unmanned plane and the detection equipment that is mounted on unmanned plane, in step 2) unmanned plane cruise during, to water
The nutrient laden situation of body detects；
4) for step 3) exists the water body of eutrophication, by unmanned plane, it is carried out emergency processing；
For the water body of regular shape, in described step 1), unmanned plane course line is configured method particularly includes:
2.1) by its center to coastal waters, water body being divided into multiple annular region, the ring footpath of each annular region is at most 5 meters；
2.2) in step 2.1) in the periphery of each annular region, be respectively provided with multiple anchor point, arrange unmanned plane according to
By the water body center spatial order to water body periphery, pass sequentially through water body center, and the location that each annular region is peripheral
Point；
Described step 2.2) in, the anchor point quantity that described annular region is peripheral, by the annular region near water body center
Gradually increase to the annular region being positioned at water body peripheral；The arbitrarily anchor point quantity in annular region is at least 3；
For non-regular shape water body, in described step 1), unmanned plane course line is configured method particularly includes:
4.1) water body being divided into multiple rectangular area, the area of each rectangular area is at most 5 square metres；
4.2) in step 4.1) in each rectangular area in arrange at least 1 anchor point, unmanned plane is set and passes sequentially through often
Anchor point in one rectangular area；
It is equipped with color sensor on described unmanned aerial vehicle body；Described step 2) in, the method obtaining water body image is:
5.1) during unmanned plane cruises, by acquisition water body image of taking pictures continuously, the coincidence between adjacent two images
Degree is 30% to 50%；
5.2) in step 2) unmanned plane cruise during, by color sensor detect water surface color；
5.3) when step 5.2) in, color sensor detects when water body color changes, and carries out snapshots, snapshots
During, the registration between adjacent two images is 60% to 80%；
In described step 3), described detection equipment includes the chlorophyll meter being mounted in unmanned aerial vehicle body lower surface；By unmanned plane,
And water body is detected by the detection equipment that is mounted on unmanned plane method particularly includes: for step 5.2) in, work as color
When sensor detection to water body color changes, launch two kinds of differences by the chlorophyll meter being mounted on unmanned plane to water surface
The light of wavelength, obtains the chlorophyll content of water body by the light-transmission coefficient of water body.
2. detect and processing method according to the body eutrophication based on unmanned plane described in claim 1, it is characterised in that institute
State in step 4), by unmanned plane, eutrophication water is carried out emergency processing method particularly includes: control carrying of unmanned plane
Learn treatment agent, in step 5.2) in, color sensor detection carries out chemical treatment medicament to the region of water body color change
Throwing is spread.
3. detect and processing method according to the body eutrophication based on unmanned plane described in claim 2, it is characterised in that institute
Stating chemical treatment medicament is, iron powder, aluminium powder and the combination of one or more in calcium powder.
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| CN110940314A (en) * | 2019-11-06 | 2020-03-31 | 同济大学 | Unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system |
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| CN104361602B (en) * | 2014-11-26 | 2017-12-08 | 中国科学院遥感与数字地球研究所 | A kind of water body method for detecting color and device based on MODIS images |
| CN104700575A (en) * | 2015-03-27 | 2015-06-10 | 尚乐 | Safe water rescue system and method |
| CN105699378A (en) * | 2016-02-22 | 2016-06-22 | 佛山市稚蒙环境科技有限公司 | Method for monitoring water quality of large water areas by aid of unmanned aerial vehicles |
| CN106379999B (en) * | 2016-09-23 | 2021-01-12 | 浙江水利水电学院 | Stereo purification method for eutrophic lake water body |
| CN108439611B (en) * | 2018-03-30 | 2020-08-04 | 云南亚美湖泊水质治理有限公司 | Method for purifying eutrophic water body |
| CN110082349B (en) * | 2019-02-01 | 2021-11-02 | 南京师范大学 | Remote sensing estimation method for inland eutrophication lake water body blue-green algae biomass ratio based on OLCI |
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| US8662441B2 (en) * | 2011-02-16 | 2014-03-04 | Sparton Corporation | Unmanned aerial vehicle launch system |
| CN103175789B (en) * | 2013-03-05 | 2016-07-06 | 中国科学院南海海洋研究所 | Water quality hyperspectral air remote sensing system based on many rotor wing unmanned aerial vehicles |
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| CN110940314A (en) * | 2019-11-06 | 2020-03-31 | 同济大学 | Unmanned aerial vehicle-based cyanobacterial bloom hyperspectral monitoring and medicament spraying system |
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Address after: Jiangsu HENGCHUANG Software Industrial Park (Suzhou Yongfeng Town, Jiangsu Province) Patentee after: HENGCHUANG digital technology (Jiangsu) Co.,Ltd. Address before: Jiangsu HENGCHUANG Software Industrial Park (Suzhou Yongfeng Town, Jiangsu Province) Patentee before: JIANGSU HENGCHUANG SOFTWARE CO.,LTD. |
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