CN104155994A - Unmanned helicopter-based urban engineering environment monitoring method - Google Patents
Unmanned helicopter-based urban engineering environment monitoring method Download PDFInfo
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- CN104155994A CN104155994A CN201410390288.8A CN201410390288A CN104155994A CN 104155994 A CN104155994 A CN 104155994A CN 201410390288 A CN201410390288 A CN 201410390288A CN 104155994 A CN104155994 A CN 104155994A
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Abstract
The invention relates to an unmanned helicopter-based urban engineering environment monitoring method. The method comprises the following specific steps: 1) the route of the unmanned helicopter is planned according to the onsite engineering environment; 2) the unmanned helicopter is set to cruise according to the route planned in the first step, noise of the engineering site and dust concentration in the air of the engineering site are monitored in real time via the unmanned helicopter and a noise detector and a dust detector carried with the unmanned helicopter; and 3) as for the second step, during the process when the unmanned helicopter carries out real-time monitoring, when the noise of the engineering site and the dust concentration in the air of the engineering site exceed peak values, image data of the engineering site are recorded via remote sensing equipment carried with the unmanned helicopter. When the unmanned helicopter-based urban engineering environment monitoring method is adopted, the noise and the dust concentration of the engineering site in the city can be effectively detected, and image data of the engineering site when the noise and the dust concentration exceed the peak values are acquired by the remote sensing equipment, and monitoring on the data is facilitated.
Description
Technical field
The present invention relates to a kind of Monitoring Urban Environment method, especially a kind of municipal engineering method of environmental monitoring based on unmanned plane.
Background technology
Along with the propelling of urbanization, the engineering sites such as incity, city building are increasing, and the thing followed is the environmental impact that engineering construction causes.On The Surroundings in Cities, impact is mainly reflected in noise and dust concentration two aspects to engineering site, existing Supervision Measures is often initiatively reported by engineering site resident around, or supervise by specific people, it is subject to the impact of the time and space, cannot show Real-Time Monitoring, its monitoring angle also fails to realize omnibearing monitoring.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of municipal engineering method of environmental monitoring based on unmanned plane, and it can wait the environmental index of engineering site to carry out Real-Time Monitoring recording image data to building in city.
For solving the problems of the technologies described above, the present invention relates to a kind of municipal engineering method of environmental monitoring based on unmanned plane, it comprises following concrete grammar:
1) according to engineering site environment, the course line of unmanned plane is planned;
2) unmanned plane is set and cruises according to the course line of setting in step 1), by unmanned plane and lift-launch, noise level monitor and the dust detector on unmanned plane carries out Real-Time Monitoring to the dust concentration in the noise of engineering site and engineering site air simultaneously;
3) for step 2) in, unmanned plane carries out in Real-Time Monitoring process, when the noise of engineering site and the dust concentration in engineering site air surpass peak value, records the view data of engineering site by carrying remote sensing equipment on unmanned plane;
4) for step 2) in, unmanned plane carries out in Real-Time Monitoring process, when detecting, exists while existing object to fall in engineering site, by the voice device carrying on unmanned plane, points out.
As a modification of the present invention, in described step 1), the concrete grammar that unmanned plane is carried out to flight course planning is:
2.1) by the Region Segmentation lower than unmanned plane during flying height in engineering site, be a plurality of rectangular areas, a plurality of the first anchor points are set in each rectangular area, unmanned plane is set successively by above-mentioned the first anchor point;
2.2) in engineering site higher than the region of unmanned plane during flying height, central apparatus or the building in this region of take is the center of circle, in this edges of regions, a plurality of the second anchor points that are positioned in same level annular region are set, unmanned plane are set successively by the second anchor point.
Adopt above-mentioned design, it can be by being cruised respectively in differing heights region in engineering site, touches to Architectural Equipment, thereby cause both sides' damage thereby avoid unmanned plane to cruise in process.
As a modification of the present invention, the flying height of described unmanned plane is at least 5 meters, it can avoid unmanned plane in the process of cruising, ground staff or equipment to be impacted, and can detect high aerial floating dust, thereby obtains more accurate dust concentration numerical value.
As a modification of the present invention, in rectangular area, the quantity of anchor point is at least 3 arbitrarily; In annular region, the quantity of anchor point is at least 5 arbitrarily, adopts above-mentioned design, and it can guarantee that unmanned plane cruises to the regional in engineering site, avoids occurring the dead angle of cruising.
As a modification of the present invention, in described step 3), in engineering site, noise peak is at least 75 decibels; In engineering site, dust concentration peak value is at least 10mg/m
3.
As a modification of the present invention, in described step 3), when unmanned plane, monitor while surpassing peak value to the dust concentration of engineering site, unmanned plane rises in its position the position that terrain clearance is at least 10 meters, and in uphill process, records the dust concentration of each position on vertical direction.Adopt above-mentioned design, it can measure the dust concentration of each position in numerical value direction, same project site, thereby learns extending influence of dust.
As a modification of the present invention, in described step 4), the method that unmanned plane inspected object is fallen is, by the camera head carrying above unmanned plane, the engineering site in unmanned plane course line is carried out to Real-Time Monitoring.
As a modification of the present invention, described unmanned plane cruises in process, when unmanned plane execution step 2.1) time, camera head is in closed condition; When unmanned plane execution step 2.2) time, camera head is in running order, and is right against the top of unmanned plane.Adopt above-mentioned design, it can avoided under the prerequisite of unnecessary work, effectively detects the falling object from high altitude phenomenon that in engineering site, higher facility may exist.
Adopt the above-mentioned municipal engineering method of environmental monitoring based on unmanned plane, it can effectively detect the noise in engineering site and dust concentration in city, and obtain by remote sensing equipment the view data that noise and dust concentration exceed the engineering phenomenon of peak value, be convenient to it to supervise; Meanwhile, the falling object from high altitude that unmanned plane can monitoring works scene in the process of cruising may exist, and personnel point out earthward, thus guarantee ground surface works personnel's safety.
Embodiment
Below in conjunction with embodiment, further illustrate the present invention, should understand following embodiment and only for the present invention is described, is not used in and limits the scope of the invention.
A municipal engineering method of environmental monitoring based on unmanned plane, it comprises following concrete grammar:
1) according to engineering site environment, the course line of unmanned plane is planned;
2) unmanned plane is set and cruises according to the course line of setting in step 1), by unmanned plane and lift-launch, noise level monitor and the dust detector on unmanned plane carries out Real-Time Monitoring to the dust concentration in the noise of engineering site and engineering site air simultaneously;
3) for step 2) in, unmanned plane carries out in Real-Time Monitoring process, when the noise of engineering site and the dust concentration in engineering site air surpass peak value, records the view data of engineering site by carrying remote sensing equipment on unmanned plane;
4) for step 2) in, unmanned plane carries out in Real-Time Monitoring process, when detecting, exists while existing object to fall in engineering site, by the voice device carrying on unmanned plane, points out.
As a modification of the present invention, in described step 1), the concrete grammar that unmanned plane is carried out to flight course planning is:
2.3) by the Region Segmentation lower than unmanned plane during flying height in engineering site, be a plurality of rectangular areas, a plurality of the first anchor points are set in each rectangular area, unmanned plane is set successively by above-mentioned the first anchor point;
2.4) in engineering site higher than the region of unmanned plane during flying height, central apparatus or the building in this region of take is the center of circle, in this edges of regions, a plurality of the second anchor points that are positioned in same level annular region are set, unmanned plane are set successively by the second anchor point.
Adopt above-mentioned design, it can be by being cruised respectively in differing heights region in engineering site, touches to Architectural Equipment, thereby cause both sides' damage thereby avoid unmanned plane to cruise in process.
As a modification of the present invention, the flying height of described unmanned plane is at least 5 meters, it can avoid unmanned plane in the process of cruising, ground staff or equipment to be impacted, and can detect high aerial floating dust, thereby obtains more accurate dust concentration numerical value.
As a modification of the present invention, in rectangular area, the quantity of anchor point is 3 arbitrarily; In annular region, the quantity of anchor point is 5 arbitrarily, adopts above-mentioned design, and it can guarantee that unmanned plane cruises to the regional in engineering site, avoids occurring the dead angle of cruising.
As a modification of the present invention, in described step 3), in engineering site, noise peak is 75 decibels; In engineering site, dust concentration peak value is 10mg/m
3.
As a modification of the present invention, in described step 3), when unmanned plane, monitor while surpassing peak value to the dust concentration of engineering site, unmanned plane rises in its position the position that terrain clearance is at least 10 meters, and in uphill process, records the dust concentration of each position on vertical direction.Adopt above-mentioned design, it can measure the dust concentration of each position in numerical value direction, same project site, thereby learns extending influence of dust.
As a modification of the present invention, in described step 4), the method that unmanned plane inspected object is fallen is, by the camera head carrying above unmanned plane, the engineering site in unmanned plane course line is carried out to Real-Time Monitoring.
As a modification of the present invention, described unmanned plane cruises in process, when unmanned plane execution step 2.1) time, camera head is in closed condition; When unmanned plane execution step 2.2) time, camera head is in running order, and is right against the top of unmanned plane.Adopt above-mentioned design, it can avoided under the prerequisite of unnecessary work, effectively detects the falling object from high altitude phenomenon that in engineering site, higher facility may exist.
Adopt the above-mentioned municipal engineering method of environmental monitoring based on unmanned plane, it can effectively detect the noise in engineering site and dust concentration in city, and obtain by remote sensing equipment the view data that noise and dust concentration exceed the engineering phenomenon of peak value, be convenient to it to supervise; Meanwhile, the falling object from high altitude that unmanned plane can monitoring works scene in the process of cruising may exist, and personnel point out earthward, thus guarantee ground surface works personnel's safety.The disclosed technological means of the present invention program is not limited only to the disclosed technological means of above-mentioned embodiment, also comprises the technical scheme being comprised of above technical characterictic combination in any.
Claims (8)
1. the municipal engineering method of environmental monitoring based on unmanned plane, is characterized in that, the described municipal engineering method of environmental monitoring based on unmanned plane comprises following concrete grammar:
1) according to engineering site environment, the course line of unmanned plane is planned;
2) unmanned plane is set and cruises according to the course line of setting in step 1), by unmanned plane and lift-launch, noise level monitor and the dust detector on unmanned plane carries out Real-Time Monitoring to the dust concentration in the noise of engineering site and engineering site air simultaneously;
For step 2) in, unmanned plane carries out in Real-Time Monitoring process, when the noise of engineering site and the dust concentration in engineering site air surpass peak value, records the view data of engineering site by carrying remote sensing equipment on unmanned plane;
3) for step 2) in, unmanned plane carries out in Real-Time Monitoring process, when detecting, exists while existing object to fall in engineering site, by the voice device carrying on unmanned plane, points out.
2. according to the municipal engineering method of environmental monitoring based on unmanned plane claimed in claim 1, it is characterized in that, in described step 1), the concrete grammar that unmanned plane is carried out to flight course planning is:
2.1) by the Region Segmentation lower than unmanned plane during flying height in engineering site, be a plurality of rectangular areas, a plurality of the first anchor points are set in each rectangular area, unmanned plane is set successively by above-mentioned the first anchor point;
2.2) in engineering site higher than the region of unmanned plane during flying height, central apparatus or the building in this region of take is the center of circle, in this edges of regions, a plurality of the second anchor points that are positioned in same level annular region are set, unmanned plane are set successively by the second anchor point.
3. according to the municipal engineering method of environmental monitoring based on unmanned plane claimed in claim 2, it is characterized in that, the flying height of described unmanned plane is at least 5 meters.
4. according to the municipal engineering method of environmental monitoring based on unmanned plane described in claim 2 or 3, it is characterized in that, in rectangular area, the quantity of anchor point is at least 3 arbitrarily; In annular region, the quantity of anchor point is at least 5 arbitrarily.
5. according to the municipal engineering method of environmental monitoring based on unmanned plane claimed in claim 1, it is characterized in that, in described step 3), in engineering site, noise peak is at least 75 decibels; In engineering site, dust concentration peak value is at least 10mg/m
3.
6. according to the municipal engineering method of environmental monitoring based on unmanned plane claimed in claim 5, it is characterized in that, in described step 3), when unmanned plane is monitored while surpassing peak value to the dust concentration of engineering site, unmanned plane rises in its position the position that terrain clearance is at least 10 meters, and in uphill process, records the dust concentration of each position on vertical direction.
7. according to the municipal engineering method of environmental monitoring based on unmanned plane claimed in claim 1, it is characterized in that, in described step 4), the method that unmanned plane inspected object is fallen is, by the camera head carrying above unmanned plane, the engineering site in unmanned plane course line is carried out to Real-Time Monitoring.
8. according to the municipal engineering method of environmental monitoring based on unmanned plane described in claim 2 or 7, it is characterized in that, described unmanned plane cruises in process, when unmanned plane execution step 2.1) time, camera head is in closed condition; When unmanned plane execution step 2.2) time, camera head is in running order, and is right against the top of unmanned plane.
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Cited By (7)
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| CN104656658A (en) * | 2015-01-19 | 2015-05-27 | 环境保护部卫星环境应用中心 | Atmospheric pollution discharge remote sensing monitoring method and atmospheric emission remote sensing monitoring system based on unmanned aerial vehicle |
| CN105243878A (en) * | 2015-10-30 | 2016-01-13 | 杨珊珊 | Electronic boundary apparatus, unmanned flight system, unmanned aerial vehicle monitoring method |
| CN106568725A (en) * | 2016-11-02 | 2017-04-19 | 浙江水利水电学院 | Monitoring method of atmospheric environment in construction section of river bank revetment |
| CN111457874A (en) * | 2020-04-29 | 2020-07-28 | 厦门大学 | Refuse landfill displacement change monitoring system and control method thereof |
| CN111857178A (en) * | 2020-07-22 | 2020-10-30 | 江苏中润工程建设咨询有限公司 | Unmanned aerial vehicle system for safety inspection of construction site of building construction |
| CN111947603A (en) * | 2020-07-31 | 2020-11-17 | 湘潭大学 | Unmanned aerial vehicle balcony hazardous material identification system and method based on openmv |
| CN114414741A (en) * | 2022-01-24 | 2022-04-29 | 洛阳清源建筑工程有限公司 | Environment monitoring equipment and method applied to construction site of constructional engineering |
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Cited By (11)
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|---|---|---|---|---|
| CN104656658A (en) * | 2015-01-19 | 2015-05-27 | 环境保护部卫星环境应用中心 | Atmospheric pollution discharge remote sensing monitoring method and atmospheric emission remote sensing monitoring system based on unmanned aerial vehicle |
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| CN105243878A (en) * | 2015-10-30 | 2016-01-13 | 杨珊珊 | Electronic boundary apparatus, unmanned flight system, unmanned aerial vehicle monitoring method |
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| CN106568725A (en) * | 2016-11-02 | 2017-04-19 | 浙江水利水电学院 | Monitoring method of atmospheric environment in construction section of river bank revetment |
| CN111457874A (en) * | 2020-04-29 | 2020-07-28 | 厦门大学 | Refuse landfill displacement change monitoring system and control method thereof |
| CN111457874B (en) * | 2020-04-29 | 2021-08-31 | 厦门大学 | Refuse landfill displacement change monitoring system and control method thereof |
| CN111857178A (en) * | 2020-07-22 | 2020-10-30 | 江苏中润工程建设咨询有限公司 | Unmanned aerial vehicle system for safety inspection of construction site of building construction |
| CN111947603A (en) * | 2020-07-31 | 2020-11-17 | 湘潭大学 | Unmanned aerial vehicle balcony hazardous material identification system and method based on openmv |
| CN111947603B (en) * | 2020-07-31 | 2022-04-01 | 湘潭大学 | Unmanned aerial vehicle balcony hazardous material identification system and method based on openmv |
| CN114414741A (en) * | 2022-01-24 | 2022-04-29 | 洛阳清源建筑工程有限公司 | Environment monitoring equipment and method applied to construction site of constructional engineering |
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Application publication date: 20141119 |