CN105159318B - Conservation culture monitoring device and system - Google Patents
Conservation culture monitoring device and system Download PDFInfo
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- CN105159318B CN105159318B CN201510610872.4A CN201510610872A CN105159318B CN 105159318 B CN105159318 B CN 105159318B CN 201510610872 A CN201510610872 A CN 201510610872A CN 105159318 B CN105159318 B CN 105159318B
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Abstract
The present invention relates to a kind of conservation culture to monitor flight instruments, including：Control device, communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus, flight judgment means and sampling apparatus；Wherein：Positioner is connected with communicator and control device respectively, for being positioned to conservation culture monitoring flight instruments, and sends positioning signal to communicator and control device；Communicator is used to send positioning signal and realized and outside communication；Filming apparatus is used to carry out video capture or take pictures, and voice collection device is used to gather ambient sound；Electric quantity detection apparatus is used for the electric quantity of power supply for detecting conservation culture monitoring flight instruments；Communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means are controlled by the overall operation of control device control conservation culture monitoring flight instruments.The present apparatus has monitoring range wide, monitors the characteristics of accurate.
Description
Technical field
The present invention relates to a kind of conservation culture monitoring device, more particularly to a kind of natural, ecological civilization monitoring flight instruments and
System.
Background technology
Conservation culture is a new stage of Development of Human Civilization, i.e. civilization form after industrial civilization；Ecological text
Bright is that the mankind follow people, nature, this objective law of social harmonious development and the material and the summation of spiritual achievements obtained；Ecology
Civilization is using man and nature, person to person, the symbiosis of people and society harmony, benign cycle, development in an all-round way, continuous prosperity as basic purpose
Social pattern.
However as industrialized development, the natural, ecological of some areas is by excessive and random lumbering, immoderate blowdown, water and soil
The infringement of loss, some area ecological environments deteriorate seriously, and forest, river, lake, pasture pollution, degeneration are serious, although
The work of ecological protection is carried out, but how to have fully understanded local area ecological situation, detected ecological protection situation, be conservation culture
The important topic of construction.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of conservation culture monitoring flight dress
Put, more particularly to natural, ecological civilization monitoring flight instruments and system, monitoring in real time can be realized to the natural region monitored,
Monitored area image is recorded, extracts sample, there is the characteristics of monitoring range is wide, monitoring is accurate.
To realize the purpose of the present invention, it is achieved using following technical scheme：
A kind of conservation culture monitors flight instruments, including：Control device, communicator, positioner, filming apparatus, sound
Sound harvester, route judgment means, electric quantity detection apparatus, flight judgment means and sampling apparatus；Wherein：
Positioner is connected with communicator and control device respectively, for determining conservation culture monitoring flight instruments
Position, and send the geographic location signal of positioning to communicator and control device；
Communicator is used to send geographical location information and realize to be used to carry out video bat with outside communication, filming apparatus
Take the photograph or take pictures, voice collection device is used to gather ambient sound, and electric quantity detection apparatus is used to detect conservation culture monitoring flight dress
The electric quantity of power supply put, sampling apparatus are used to sample the sample objects of monitored area；
The overall operation of control device control conservation culture monitoring flight instruments, is filled to communicator, positioner, shooting
Put, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means are controlled.
Described flight instruments, preferably：
Communicator receives the flight directive of control centre and the instruction is sent into control device, and control device is according to this
Instruction parses target point geographical location information, and the geographical location information of the geographical location information of target point and flight instruments is sent out
Give route judgment means；
Route judgment means calculate target point and flight instruments distance therebetween and plan flight path, by flight road
Line and flying distance are sent to control device, and flying distance is sent into flight judgment means；
Flight judgment means are according to the flying distance received and the flight instruments sent from electric quantity detection apparatus
Battery electric quantity situation, judge whether flight instruments can fly to target point and whether can return to nearest home port,
And it will determine that result is sent to control device；
After control device receives the signal of the "Yes" of flight judgment means transmission, control aircraft flies to destination,
After the signal of "No" of flight judgment means transmission is received, control aircraft is sent by communicator to control centre to fly
Walking along the street line, distance, electricity and the signal that can not be flown to, while without flight operation.
Described flight instruments, preferably：
In flight instruments flight course, target point geography position that communicator real-time reception control centre or target point are sent
Confidence ceases, the flight instruments that control device in real time measures the target point geographical location information of the reception and positioner in real time
Geographical location information is sent to route judgment means, and flight path, control are planned according to weather, special case by route judgment means
Device processed adjusts the flight path of flight instruments, route judgment means also real-time judge and target point according to the flight path in real time
The distance between and the distance is sent to control device and flight judgment means in real time.
Described flight instruments, preferably：
Conservation culture monitors flight instruments before target point is flown to, and filming apparatus and voice collection device are in and close shape
State, do not work；
For flight instruments after the open command that control centre sends is received, control device opens corresponding filming apparatus
And/or whether voice collection device or control device reach default distance according to the distance with target point and automatically turn on bat
Take the photograph device and/or voice collection device.
Described flight instruments, preferably：
When flying to target point preset distance, control device sends the instruction of unlatching filming apparatus receiving control centre
After open filming apparatus, or control device automatically turns on filming apparatus；The signal of filming apparatus shooting is real-time by communicator
Send the communication system of control centre, the shooting signal that control centre is received using storage device storage to, and pass through control
The display device at center shows the signal；Flight instruments is self-contained storage device, the signal of real-time storage shooting.
Described flight instruments, preferably：
If the signal ambiguity of shooting, the control system of control centre is monitored by communication system to conservation culture flies
Device sends shooting adjustment signal, and control device adjusts the acquisition parameters of filming apparatus according to the adjustment signal；
The control system of control centre monitors flight dress according to the shooting signal received from communication system to conservation culture
Put and send further winged height, fly low, winged near or winged remote position control instruction, control device is literary according to instruction control ecology
The flight of bright monitoring flight instruments.
Described flight instruments, preferably：
Filming apparatus is installed on flight instruments by angular adjustment apparatus；
Flight instruments is additionally provided with lighting apparatus, when aircraft local environment dark, the control system of control centre
System sends the instruction for opening searchlight by communication system, and the control device of flight instruments opens searchlighting after the instruction is received
Lamp, to be illuminated.
Described flight instruments, preferably：
Conservation culture monitoring flight instruments also includes infrared ray sensing device, for receiving the charging equipment of home port
The infrared signal that infrared ray sensor is sent, and send the signal to control device；
The conservation culture that control device is sent according to electric quantity detection apparatus monitors the information about power of flight instruments power supply, judges
Whether electricity is sufficient, such as inadequate, then starts automatic charging pattern：Route judgment means are by default home port interior layout
Information is sent to control device, and control device monitors the setting of the location of flight instruments according to the information and conservation culture and gone
Route is walked, control conservation culture monitors flight instruments and advanced along the setting path, while opens infrared ray sensor and receive charging
The infrared signal that equipment is sent, after the infrared signal that the infrared ray sensor for receiving charging equipment is sent, control dress
Put and conservation culture monitoring flight instruments is moved to by charging equipment according to the direction of the signal charged.
Described flight instruments, preferably：Conservation culture monitoring flight instruments is additionally provided with running gear, walking dress
It is the wheel or undercarriage for driving head driving to put.
Described flight instruments, preferably：Sampling apparatus is one or a combination set of hollow boring bit, crawl hand, needle tubing.
Described flight instruments, preferably：When needing that harder sample objects are sampled, control centre is according to display
The image for the sample objects that device is shown, control signal is sent by remote control, control flight instruments flies nearly sample objects, controlled
System sends the instruction of drill bit extraction, and after flight instruments receives the instruction, control device control hollow boring bit drills through sampling pair
As after drilling through preset distance, control device control hollow boring bit is withdrawn.
Described flight instruments, preferably：If necessary to be sampled to the object of softer sampling, control centre is according to aobvious
The image for the sample objects that showing device is shown, control signal is sent by remote control, control flight instruments flies nearly sample objects, controlled
System processed sends the portable instruction taken of crawl, after flight instruments receives the instruction, control device control crawl hand crawl sampling
Object, after crawl terminates, control device control crawl hand is withdrawn.
Described flight instruments, preferably：If necessary to be sampled to water sample, control centre shows according to display device
Sample objects image, control signal is sent by remote control, control flight instruments flies nearly sample objects, and control system is sent
The instruction of needle tubing extraction, after flight instruments receives the instruction, control device controls needle tubing to draw knot by needle aspirate water sample
Needle tubing is withdrawn in Shu Hou, control device control.
A kind of conservation culture monitoring flight instruments control centre, including：Control system, communication system, display device, flight
Apparatus remote control, system of geographic location, wherein：
Flight instruments is monitored to described conservation culture by communication system from control system and sends flight directive, the instruction
Include target point geographical location information；
System of geographic location is used for the geographical location information for detecting control centre, and is sent to flight dress by communication system
Put；
Flight instruments remote control is used for remote control distributor device；
After flight instruments takes off, the communication system real-time reception flight instruments transmit in real time its residing for geographical position
Information, control system judge whether flight instruments flies to target point predetermined distance range according to the information, when flying to the pre- spacing
From control system sends the instruction for opening filming apparatus by communication system；The control device of flight instruments is opened according to the instruction
Open filming apparatus to be shot, and the signal of shooting is led to by communicator real-time Transmission to control centre, control centre
The signal for the filming apparatus shooting that letter system real-time reception flight instruments is sent, stores the shooting signal received, and pass through control
The display device at center processed shows the signal, if the signal ambiguity of shooting, control system monitors flight dress to conservation culture
Put and send shooting adjustment signal, adjust the acquisition parameters of filming apparatus；
The control system of control centre is sent into one according to the shooting signal received to conservation culture monitoring flight instruments
The winged height of step, fly low, winged near or fly remote position control instruction, after shooting, control system sends instruction of making a return voyage.
Described conservation culture monitoring flight instruments control centre, preferably：
Flight instruments remote control has handle, and by adjusting the handle, simulated flight device moves and sends mobile letter
Number, the movable signal is admitted to control system, and control system sends the signal by communication system and monitors flight to conservation culture
The communicator of device；Also include keyboard on remote control, button thereon represents front, back, left, right, up, down movement flight respectively
Device, unlatching/closing filming apparatus and voice collection device, the operation of unlatching/closing searchlight.
Described conservation culture monitoring flight instruments control centre, preferably：
The angle of the also adjustable flight instruments angular adjustment apparatus of the moving handle, by moving handle, by angle adjustment
Signal is sent to flight instruments, after the control device of flight instruments receives the signal, controls the anglec of rotation of angular adjustment apparatus
Degree, and then adjust the shooting angle of filming apparatus.
A kind of home port of conservation culture monitoring flight instruments, including：Controller, communication module and locating module, its
In：
Locating module is used for the geographical position for detecting home port, and the geographical location information of detection is sent into communication mould
Block；
Communication module is used to communicate with control centre, conservation culture monitoring flight instruments, other home ports, and send out in real time
Send the geographical location information；
Controller is used for the work for controlling home port；
Home port main body includes multiple side walls, retractable roof and automatic open-close mechanism, and multiple side walls, which interconnect, encloses
Into home port main body, retractable roof is located above multiple side walls, for closing the top of home port main body；
Retractable roof includes multi-disc roofing board, when conservation culture monitoring flight instruments makes a return voyage, is flown when close to destination
Behind base, the control device of conservation culture monitoring flight instruments sends approaching signal by communicator to home port, flies
After base receives the signal, automatic open-close mechanism is controlled to work by controller, automatic open-close mechanism is more by retractable roof
Piece roofing board is opened；
Conservation culture monitoring flight instruments land after, conservation culture monitoring flight instruments control device or control centre to
Home port sends the signal for closing roof, after home port receives the signal, controls automatic open-close mechanism will by controller
The multi-disc roofing board on retractable roof is closed.
Described home port, preferably：
The roofing board is solar energy collecting plate.
Described home port, preferably：
Home port also includes infrared ray sensing device, charging equipment, electric power detection module, wherein, infrared ray sensor
On charging equipment, infrared signal is sent, identifies the position of charging equipment.
Described home port, preferably：
Internally landing point sets approaching signal device to home port, launches landing position signal.
A kind of flight system of conservation culture monitoring flight instruments, including one of the as above conservation culture monitoring flight dress
Put, one of as above described in conservation culture monitoring flight instruments control centre and one of as above described in conservation culture monitoring flight
The home port of device.
Brief description of the drawings
Fig. 1 is that conservation culture monitors flight instruments schematic diagram；
Fig. 2 is control centre's schematic diagram；
Fig. 3 is that conservation culture monitors flight system schematic diagram；
Fig. 4 is home port main body schematic diagram；
Fig. 5 is home port charging system schematic diagram；
Fig. 6 is home port control system schematic diagram.
Embodiment
As shown in figure 1, conservation culture monitoring flight instruments is a kind of SUAV, especially a kind of more rotor flyings
Device, it includes：Control device, the communicator being connected respectively with control device, positioner, filming apparatus, sound collection dress
Put, route judgment means, electric quantity detection apparatus, flight judgment means and sampling apparatus.Positioner respectively with communicator and
Control device is connected, for conservation culture monitoring flight instruments position, and by positioning signal send to communicator and
Control device.Communicator is used to send positioning signal to control centre and communicated with remote control center, the positioning
Device can be GPS positioning device or Big Dipper positioner.The overall fortune of control device control conservation culture monitoring flight instruments
OK, communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus, flight are sentenced
Disconnected device, sampling apparatus are controlled.
Filming apparatus is video camera or camera, for carrying out video capture or taking pictures；Voice collection device can be wheat
Gram wind, for gathering ambient sound；Electric quantity detection apparatus is used for the electric quantity of power supply for detecting conservation culture monitoring flight instruments, the electricity
Source can be rechargeable battery.
As shown in Fig. 2 control centre includes control system, communication system, display device, flight instruments remote control, geography
Position system.The control system of control centre monitors flight instruments to conservation culture by communication system and sends monitored area geography
The trace instruction of positional information (being referred to as aiming spot information).Target point is flown to by conservation culture monitoring flight instruments to be seen
Survey.System of geographic location is used for the geographical location information for detecting control centre, and is sent to flight instruments by communication system, flies
Device can fly back control centre according to the information.
Before flight instruments flight, control centre sends flight directive to flight instruments, and the communicator of flight instruments receives
The instruction is simultaneously sent to control device by the instruction of control centre, and control device parses target point geographical position according to the instruction
Etc. information, by target point geographical location information and the geographical location information of its own (the positioning letter for detecting to obtain by positioner
Number) route judgment means are sent to, route judgment means calculate distance therebetween, it is however generally that, route judgment means meeting
Air line distance therebetween is calculated, but there ought be the region that aircraft is difficult to leap therebetween, such as overcast and rainy minefield, no-fly
Area, turbulent region, high mountain etc., the route judgment means can be according to the geographical environment between aircraft and target point, atmospheric environment, taboos
Fly the optimal flight path of the planning such as region setting, and calculate flying distance, the flight path planned and flying distance are sent out
Control device is given, flying distance is sent to flight judgment means.
Flight judgment means are according to the flying distance received and the aircraft sent from electric quantity detection apparatus
Battery electric quantity situation, judges whether aircraft can fly to target point and whether can return to nearest home port.And will
Judged result is sent to control device.
After control device receives the signal of the "Yes" of flight judgment means transmission, control aircraft flies to destination,
After the signal of "No" of flight judgment means transmission is received, control aircraft is sent by communicator to control centre to fly
Walking along the street line, flying distance, electric quantity of power supply and the signal that can not be flown to, while without flight operation.Control centre receives
After the signal, if still adhering to flying, sent to conservation culture monitoring flight instruments and force flight directive, received this and refer to
After order, target point geographical location information of the control device according to entrained by the instruction and the instruction flies to target point.
Conservation culture monitors flight instruments in flight course, to save the energy, typically can all close filming apparatus harmony
Sound harvester.Afterwards after the open command that control centre sends is received, control device just opens corresponding filming apparatus
And/or voice collection device, whether control device also can reach default distance according to the distance with target point is such as less than equal to
500 meters, and automatically turn on filming apparatus and/or voice collection device.Communicator real-time reception control centre or target point hair
The target point geographical position come, the life that control device measures the target point geographical location information of the reception and positioner in real time
The geographical location information of state civilization monitoring flight instruments is sent to route judgment means in real time, by route judgment means according to day
Situations such as gas, space, plans flight path in real time, and control device adjusts conservation culture monitoring flight in real time according to the flight path
The flight path of device.The distance is simultaneously sent to control by the distance between route judgment means also real-time judge and target point in real time
Device processed and flight judgment means, flight judgment means transmitted according to the flying distance received and from electric quantity detection apparatus
The battery electric quantity situation of the aircraft come, judges whether aircraft can fly to target point and whether can return to nearest fly
Row base.And will determine that result is sent to control device, control device is to continue with destination of flying to according to judged result selection
(judged result is can to fly to destination and can return to the home port nearest from destination) still makes a return voyage or flies to and fly
Luggage puts closest home port, and (judged result is can not to fly to destination or enable to fly to destination but can not return
The home port nearest from destination).
When flight instruments flies to such as 500 meters of target point preset distance, control device is sent out receiving control centre
Filming apparatus and/or voice collection device are opened after opening the instruction of filming apparatus and/or voice collection device, or by control device
Automatically turn on filming apparatus and/or voice collection device.The signal of filming apparatus shooting and/or the letter of voice collection device collection
The communication system of control centre number is real-time transmitted to by communicator, control centre utilizes storage device (not shown in Fig. 2)
The signal received is stored, and shows and/or play the signal by the display device of control centre, it is preferred that flight dress
Put it is self-contained have a storage device, the signal of real-time storage shooting and the voice signal of collection, to save electric power, control device can
Communicator timing is controlled to send the signal of shooting, such as in such as 1 minute one frame of transmission of predetermined interval or the letter of multiframe shooting
Number and/or collection voice signal.If the signal ambiguity of shooting, control system is sent to conservation culture monitoring flight instruments
Shooting adjustment signal, control device adjust focal length, zoom multiple, the aperture of filming apparatus, shutter according to the adjustment signal
Deng acquisition parameters.Filming apparatus can shoot video or shoot photo.Control centre can be sent out unlatching sound and adopt
The instruction of acquisition means, or voice collection device is automatically turned on by control device.Control centre according to the shooting signal received, to
Conservation culture monitors flight instruments and sends further winged height, flies low, winged near or winged remote position control instruction, control device root
Fly close-target point according to instruction control conservation culture monitoring flight instruments or fly remote (remote) target point.After monitoring, control
Center sends instruction of making a return voyage, and control device controls conservation culture monitoring flight instruments to make a return voyage according to the instruction.Filming apparatus passes through
Angular adjustment apparatus is installed on flight instruments, and control centre can send angular adjustment instruction, and control device is adjusted according to the instruction
The anglec of rotation of angular adjustment apparatus is saved, and then adjusts the shooting angle of filming apparatus.Flight instruments is additionally provided with lighting apparatus,
Such as miniature searchlight, when aircraft local environment dark, the control system of control centre is sent by communication system beats
The instruction of searchlight is opened, the control device of flight instruments is opened searchlight after the instruction is received, to be illuminated, managed
The shooting effect thought.
Control centre is provided with the remote control of the flight instruments with handle, and monitoring personnel can arbitrarily adjust the movement hand
Handle, the movement (such as front, back, left, right, up, down is flown) of simulated flight device simultaneously send movable signal, related movable signal
Control system is admitted to, control system sends the signal by communication system and filled to the communication of conservation culture monitoring flight instruments
Put, control device controls the flight of aircraft according to the movable signal received.Also include keyboard on remote control, pressing thereon
Key represents front, back, left, right, up, down movement aircraft, unlatching/closing filming apparatus and voice collection device, unlatching/pass respectively
Close the operation such as searchlight.
The movement of the moving handle also adjustable angle adjusting apparatus, operating personnel are in observation display screen real-time display
While observing picture, moving handle is operated, angle adjustment signal is sent to flight instruments, the control device of flight instruments connects
After receiving the signal, the anglec of rotation of angular adjustment apparatus is controlled, and then adjust the shooting angle of filming apparatus.
Control centre can monitor ecological feelings of the graphical information to monitored area of flight instruments shooting according to conservation culture
Condition is analyzed, can discover whether in time excessive and random lumbering, hunt unlawfully, illegal blowdown, pest and disease damage, vegetation deterioration etc., while energy
It is enough that IMAQ is carried out to same area in different time and contrasted, to obtain the ecological environment active development of monitored area
Information.The device is utilized simultaneously, control centre can also be monitored to emphasis monitoring object, such as water head site, forest, protect
It is protected not to be damaged.
Conservation culture monitoring flight instruments can be carried out by sampling apparatus to monitoring object, the sample objects of monitored area
Sampling.Sampling apparatus includes：Hollow boring bit, crawl hand, needle tubing.When needing to sample sampled object, control centre's root
The image of the sample objects shown according to display device, control signal is sent by remote control, control flight instruments flies nearly sampling pair
As even landing, if sampled to the harder sample objects such as rock, soil, trees, control system sends drill bit extraction
Instruction, after flight instruments receives the instruction, control device control hollow boring bit drills through soil or rock, trees etc., drills through pre-
After set a distance such as 3cm, control device control hollow boring bit is withdrawn, and the hollow position of hollow boring bit is the sample sampled；If need
Humus, mud etc. are sampled, control system sends the portable instruction taken of crawl, and flight instruments receives the instruction
Afterwards, control device control crawl hand crawl humus, mud etc., after crawl terminates, control device control crawl hand is withdrawn, and is collected
Crawl hand grabs the sample of sampling；If necessary to be sampled to water samples such as river, lakes, control system sends needle tubing extraction
Instruction, after flight instruments receives the instruction, control device controls needle tubing by needle aspirate water sample etc., after absorption terminates,
Needle tubing is withdrawn in control device control, is then the water sample of collection in needle lumen body.Sampling apparatus include it is multiple, identify unique generation respectively
Code, control system can send the sampling apparatus for requiring different respectively according to code and more parts of different samples gathered in multiple places
Instruction, control device control flight instruments to fly to related place, control corresponding sampling apparatus to be sampled according to the instruction.No
Sampling apparatus is arranged in sampling cabin when use, and when it is desired to be used, control device control sampling hatch door is opened, same to time control
Sampling apparatus processed is sampled from hatch door is protruding, and sampling terminates rear control device control sampling apparatus recovery and enters sampling
Cabin, and close hatch door.
Below, with reference to accompanying drawing 1,3, conservation culture of the present invention monitoring flight system is illustrated：Carrying out conservation culture
In monitoring process, due to monitored area more in the wild, range base or research center such as control centre are distant, therefore are holding
During row conservation culture monitoring, conservation culture monitoring flight instruments in most cases cannot be guaranteed to come back to the base or grind in time
Study carefully center, it is therefore necessary to invent a kind of conservation culture monitoring flight system.The system includes multiple home ports, conservation culture
Monitor flight instruments, control centre.The home port is arranged in target point monitored area, and is uniformly distributed, and distributed areas are most
Amount covering monitored area.Home port passes through power network such as mains-supplied, there is provided power supply, can also have other power supplys such as wind-power electricity generation
Equipment and/or solar power plant.
As shown in fig. 6, home port includes controller, communication module and locating module, locating module is used to determine to fly
The geographical position in base, and the positional information is sent to communication module, communication module is used to supervise with control centre, conservation culture
Flight instruments, the communication of other home ports are surveyed, and sends the positional information of its own in real time.Locating module can be GPS location
Device or Big Dipper positioner.
Home port can be that Attended mode base can also be unattended base, be provided with Attended mode base winged
Row device landing level ground, for the landing of aircraft, in unattended base, as shown in figure 4, the unattended base overall structure bag
Include multiple side walls 2, retractable roof 1 and automatic open-close mechanism (not shown).Multiple side walls interconnect and surround flight base
Ground main body, retractable roof are located above multiple side walls, and for closing the top of home port main body, retractable roof includes more
Piece roofing board, retractable roof are closed in general, to avoid wind and weather, into animal etc. to flight base
Ground inner facility, equipment damage.The multi-disc roofing board on retractable roof is opened or closed by automatic open-close mechanism, is opened automatically
The controller for closing mechanism and home port connects.Conservation culture monitoring flight instruments is when making a return voyage, when close to destination home port
When afterwards, such as 1000 meters of distance, the control device of conservation culture monitoring flight instruments is sent by communicator to home port
Land signal, after home port receives the signal, the work of automatic open-close mechanism is controlled by controller, automatic open-close mechanism can open
The multi-disc roofing board for closing roof 2 is opened.Conservation culture monitoring flight instruments both can automatic identification under control of the control means
The landing position of home port is dropped in home port from the roof of opening automatically, and its landing can be also controlled by control centre.
The control device of conservation culture monitoring flight instruments or control centre send the signal for closing roof to home port after landing, fly
After row base receives the signal, automatic open-close mechanism is controlled to close the multi-disc roofing board on retractable roof 2 by controller.On
Solar power plant such as solar energy collecting plate can be used as by stating roof, had either on or off concurrently and gathered the work(of solar power generation
Energy.The retractable roofing board of multi-disc can be opened and closed by the way of turnover, can also be opened and closed by the way of flexible.
The situation that flight instruments lands inside home port is described below in detail：
Firstth, automatic Landing：Space-time on home port is flown to when conservation culture monitors flight instruments, is sent to home port
Land and ask, after home port is connected to the signal, control home port roofing board to open by the controller of home port, flight base
Internally landing point sets approaching signal device on ground, such as infrared signal emitter, launches landing position signal upward, such as infrared
Signal, flight instruments have approaching signal receiver, such as infrared signal receiving apparatus, when receiver receives the approaching signal
Afterwards, receiver delivers it to control device, and control device judges landing orientation and adjusts the air position of flight instruments,
When confirming to have arrived at the position in scheduled landing position overhead (such as face landing position), control device control aircraft drop
Fall, with the height apart from ground that is detected of height detecting device of timed unit real-time reception flight instruments itself, work as height
Spend for 0 when, control device close flight motor, stop the flight of flight instruments, send close roofing board instruction, home port
Roofing board is closed according to the instruction.
Secondth, controlled landing：Space-time on home port is flown to when conservation culture monitors flight instruments, is sent to home port
Land and ask, after home port is connected to the signal, control home port roofing board to open by the controller of home port, in control
The control system of the heart sends the instruction for opening filming apparatus by communication system, and the communicator of flight instruments receives the instruction
Afterwards, open filming apparatus under instruction control by control device and send the picture of shooting to control centre, control centre
Display device shows the picture received, and staff sends the instruction of regulation shooting angle, acquisition parameters etc. according to the picture,
Untill the shooting picture returned from flight instruments meets the requirements, now, by adjusting the handle of flight instruments remote control, make
Aircraft is flown to directly over roof, i.e., directly over landing site, is slowly declined by manipulating remote control control aircraft therewith, directly
To landing.Control system sends the instruction for closing roofing board, and home port closes roofing board according to the instruction.
Home port can monitor flight instruments charging to conservation culture.4,5 fill to home port below in conjunction with the accompanying drawings
Electric system illustrates.Home port also includes：Infrared ray sensing device, charging equipment, electric power detection module.Infrared ray sensing
Device is arranged on charging equipment, is sent infrared signal, is identified the position of charging equipment.Conservation culture monitoring flight instruments also includes
Infrared ray sensing device, the infrared signal that the infrared ray sensor for receiving charging equipment is sent, and the signal is sent
To control device.After conservation culture monitoring flight instruments enters home port, control device is sent according to electric quantity detection apparatus
The information about power of conservation culture monitoring flight instruments power supply (such as rechargeable battery), judges whether electricity is sufficient, such as inadequate, then opens
Dynamic automatic charging pattern：Default home port interior layout information (is storable in the control of flight instruments by route judgment means
In the internal memory of system processed, internal memory is the storage devices such as nonvolatile memory) control device is sent to, control device is according to the letter
Cease and conservation culture monitors the location of flight instruments setting track route, control conservation culture monitoring flight instruments edge is somebody's turn to do
Setting path is advanced, while is opened infrared ray sensor and received the infrared signal that charging equipment is sent, and is set when receiving charging
After the infrared signal that standby infrared ray sensor is sent, conservation culture is monitored and flown by control device according to the direction of the signal
Device is moved to charging equipment and charged.
For the mobile conservation culture monitoring flight instruments inside home port, conservation culture monitoring flight instruments is also set
It is equipped with running gear, it is however generally that multi-rotor aerocraft does not possess walking mechanism, but of the invention in order to realize automatic charging,
Conservation culture monitoring flight instruments bottom sets multiple wheels, for supporting the flight instruments, while sets the driving machines such as motor
Structure driving wheel rotation.Or undercarriage is set, for supporting whole frame conservation culture monitoring flight instruments, when conservation culture monitors
After flight instruments takes off, undercarriage, when landing, drop are packed up.When charging, control device opens movable motor,
The rotation of the wheel of wheel or undercarriage is driven, flight instruments is monitored to selected position to move conservation culture.Home port
Charging equipment can provide electric power with external mains supply, can also external wind power plant and/or solar power plant.
Due to being typically difficult to external electricity network in field, home port, generally depend on wind power plant and/or
Solar power plant generate electricity, now charging equipment be rechargeable battery for example lead-acid accumulator, nickel-cadmium cell, lithium ion battery,
Lithium polymer battery etc., the electric energy sent for storing wind power plant and/or solar power plant.Each home port
The electric energy of storage has and had less more, and differs, therefore home port also has electric quantity detection apparatus, for detecting charging equipment
Electricity, below in conjunction with the accompanying drawings 6, home port internal control system is illustrated.Home port includes controller, communication mould
Block, locating module, charging equipment, electric power detection module, infrared ray sensor.Controller and communication module, locating module, electricity
Detection module connects, for the work of home port and its control system all parts, electric power detection module and charging equipment phase
Even, for detecting the electricity of charging equipment, infrared ray sensor is installed on charging equipment, sends infrared signal, and mark is filled
The position of electric equipment.
When conservation culture monitoring flight instruments needs to make a return voyage to home port, its control device is by the ground of multiple home ports
Reason positional information (information can be stored in advance in conservation culture monitoring flight instruments built in memory in or
The geographical location information that the home port received is sent in real time, the geographical location information are examined by the locating module of the home port
Through being sent by the communication module of the home port after survey) fly with the conservation culture monitoring that the positioner of flight instruments measures in real time
Luggage puts the positional information of itself and is sent to route judgment means, plans flight path by route judgment means, calculates the two it
Between flying distance, it is however generally that, route judgment means can calculate air line distance therebetween, but ought exist therebetween
Aircraft is difficult to the region leapt, and when such as overcast and rainy minefield, no-fly zone, turbulent region, the route judgment means can be according to aircraft
The optimal flight paths of planning such as geographical environment, atmospheric environment, no-fly zone setting between each home port, and calculate and fly
Row distance, the flight path between each home port (target point) and flying distance are sent to control device, control device
Electricity request signal is mass-sended to all home ports, after the communication module of each home port receives electricity request signal, is flown
For the controller in row base according to the signal enabling electric power detection module, electric power detection module detects the electricity of charging equipment, and will
Information about power is sent to controller, and controller monitors flight instruments to conservation culture by communication module and sends the electricity of its own
Information (information about power that the base can be identified by the unique ID of each home port itself), conservation culture monitoring flight instruments
After receiving the information about power that each home port is sent, the information about power and flying distance are sent to flight judgment means,
The electric quantity detection apparatus that flight judgment means monitor flight instruments according to the flying distance received and from conservation culture transmits
The aircraft charge condition to come over, judges whether aircraft can fly to the home port of sufficient electricity.And it will determine that result
It is sent to control device.If only a home port meets to require, control device is according to corresponding with the home port
Flight path control conservation culture monitoring flight instruments flies to the base, if multiple home ports for meeting condition, then controls
The nearest home port of device chosen distance processed simultaneously controls conservation culture monitoring according to flight path corresponding with the home port
Flight instruments flies to the base, if all home ports are unsatisfactory for charge condition, control device chosen distance is nearest
Home port simultaneously controls conservation culture monitoring flight instruments to fly to the base according to flight path corresponding with the home port.
Each part in conservation culture monitoring flight system is conservation culture monitoring flight instruments, control centre, flown
Communication between row base uses communication, thus the communication equipment with communication capacity in each part, module,
System etc. is radio communication device, such as the communication equipment such as GSM, GPRS, 3G, 4G, LTE.
Conservation culture monitors flight instruments and system, being capable of easily real-time monitored, photographic objects point situation, and can be real
Existing field landing, maintenance, charging, the efficiency of target point observation is improved, good bar is provided for target point monitoring, protection
Part.
Claims (7)
1. a kind of conservation culture monitors flight instruments, including：Control device, communicator, positioner, filming apparatus, sound
Harvester, route judgment means, electric quantity detection apparatus, flight judgment means and sampling apparatus；It is characterized in that：
Positioner is connected with communicator and control device respectively, for being positioned to conservation culture monitoring flight instruments,
And send the geographic location signal of positioning to communicator and control device；
Communicator be used to sending geographical location information and realize with outside communication, filming apparatus be used to carrying out video capture or
Take pictures, voice collection device is used to gather ambient sound, and electric quantity detection apparatus is used to detect conservation culture monitoring flight instruments
Electric quantity of power supply, sampling apparatus are used to sample the sample objects of monitored area；
Control device control conservation culture monitoring flight instruments overall operation, to communicator, positioner, filming apparatus,
Voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means are controlled；
Communicator receives the flight directive of control centre and the instruction is sent into control device, and control device is according to the instruction
Target point geographical location information is parsed, the geographical location information of the geographical location information of target point and flight instruments is sent to
Route judgment means；
Route judgment means calculate target point and flight instruments distance therebetween and plan flight path, by flight path and
Flying distance is sent to control device, and flying distance is sent into flight judgment means：When being deposited between target point and flight instruments
In the region that aircraft is difficult to leap, including overcast and rainy minefield, no-fly zone, turbulent region, high mountain, the route judgment means are according to flight
Geographical environment, atmospheric environment, no-fly region between device and target point set planning flight path, and calculate flying distance, will
The flight path and flying distance planned are sent to control device, and flying distance is sent into flight judgment means；
Flight judgment means are according to the flying distance received and the electricity of the flight instruments sent from electric quantity detection apparatus
Pond charge condition, judges whether flight instruments can fly to target point and whether can return to nearest home port, and will
Judged result is sent to control device；
After control device receives the signal of the "Yes" of flight judgment means transmission, control flight instruments flies to destination, when
After the signal for receiving the "No" of flight judgment means transmission, control flight instruments is sent by communicator to control centre to fly
Walking along the street line, distance, electricity and the signal that can not be flown to, while without flight operation；
In flight instruments flight course, target point geographical position letter that communicator real-time reception control centre or target point are sent
Breath, the geography for the flight instruments that control device in real time measures the target point geographical location information of the reception and positioner in real time
Positional information is sent to route judgment means, and flight path, control dress are planned according to weather, special case by route judgment means
The flight path for adjusting flight instruments in real time according to the flight path is put, route judgment means are also between real-time judge and target point
Distance and the distance is sent to control device and flight judgment means in real time.
2. flight instruments according to claim 1, it is characterised in that：
Conservation culture monitors flight instruments before target point is flown to, and filming apparatus and voice collection device are closed, no
Work；
Flight instruments after the open command that control centre sends is received, control device open corresponding filming apparatus and/or
Whether voice collection device or control device reach default distance according to the distance with target point and automatically turn on shooting dress
Put and/or voice collection device.
3. flight instruments according to claim 1, it is characterised in that：
When flying to target point preset distance, control device opens filming apparatus and/or sound receiving control centre and send
Filming apparatus is opened after the instruction of harvester, or control device automatically turns on filming apparatus and/or voice collection device；Shooting
The signal of device shooting and/or the voice signal of voice collection device collection are real-time transmitted to control centre by communicator
Communication system, the signal that control centre is received using storage device storage, and shown by the display device of control centre and/
Or play the signal；The self-contained signal for having storage device, real-time storage shooting and/or collection of flight instruments.
4. flight instruments according to claim 3, it is characterised in that：
If the signal ambiguity of shooting, the control system of control centre monitors flight instruments by communication system to conservation culture
Shooting adjustment signal is sent, control device adjusts the acquisition parameters of filming apparatus according to the adjustment signal；
The control system of control centre is sent out according to the shooting signal received from communication system to conservation culture monitoring flight instruments
Go out further winged height, fly low, winged near or winged remote position control instruction, control device is supervised according to instruction control conservation culture
Survey the flight of flight instruments.
5. a kind of conservation culture monitoring flight instruments control centre, including：Control system, communication system, display device, flight dress
Put remote control, system of geographic location, it is characterised in that：
From control system by communication system to as described in one of claim 1-4 conservation culture monitor flight instruments send it is winged
Row instruction, the instruction include target point geographical location information；
System of geographic location is used for the geographical location information for detecting control centre, and is sent to flight instruments by communication system；
Flight instruments remote control is used for remote control distributor device；
After flight instruments takes off, the communication system real-time reception flight instruments transmit in real time its residing for geographical position letter
Breath, control system judges whether flight instruments flies to target point predetermined distance range according to the information, when flying to the preset distance,
Control system sends the instruction for opening filming apparatus and/or voice collection device by communication system；The control dress of flight instruments
Put and filming apparatus and/or voice collection device is shot and/or sound collection is opened according to the instruction, and by the signal of shooting
And/or collection voice signal by communicator real-time Transmission to control centre, the communication system real-time reception of control centre
The signal for the filming apparatus shooting that flight instruments is sent and/or the signal of voice collection device collection, store the signal received,
And the signal is shown and/or played by the display device of control centre, if the signal ambiguity of shooting, control system is to life
State civilization monitoring flight instruments sends shooting adjustment signal, adjusts the acquisition parameters of filming apparatus；
The control system of control centre is sent further according to the shooting signal received to conservation culture monitoring flight instruments
Fly height, fly low, winged near or fly remote position control instruction, after shooting, control system sends instruction of making a return voyage.
6. conservation culture monitoring flight instruments control centre according to claim 5, it is characterised in that：
Flight instruments remote control has handle, and by adjusting the handle, simulated flight device moves and sends movable signal, should
Movable signal is admitted to control system, and control system sends the signal by communication system and monitors flight instruments to conservation culture
Communicator；Also include keyboard on remote control, button thereon represent respectively front, back, left, right, up, down movement flight instruments,
Unlatching/closing filming apparatus and voice collection device, the operation of unlatching/closing searchlight.
7. a kind of flight system of conservation culture monitoring flight instruments, including according to one of the claim 1-4 conservation cultures
Monitor flight instruments, the conservation culture monitoring flight instruments control centre according to one of claim 5-6 and ecology text
The home port of bright monitoring flight instruments, the home port include：Controller, communication module and locating module, wherein：
Locating module is used for the geographical position for detecting home port, and the geographical location information of detection is sent into communication module；
Communication module is used to communicate with control centre, conservation culture monitoring flight instruments, other home ports, and send institute in real time
State geographical location information；
Controller is used for the work for controlling home port；
Home port main body includes multiple side walls, retractable roof and automatic open-close mechanism, and multiple side walls interconnections surround winged
Row base main body, retractable roof is located above multiple side walls, for closing the top of home port main body；
Retractable roof includes multi-disc roofing board, when conservation culture monitoring flight instruments makes a return voyage, when close to destination home port
Afterwards, the control device of conservation culture monitoring flight instruments sends approaching signal, home port by communicator to home port
After receiving the signal, the work of automatic open-close mechanism is controlled by controller, automatic open-close mechanism is by the multi-disc room on retractable roof
Top plate is opened；
After conservation culture monitoring flight instruments lands, the control device of conservation culture monitoring flight instruments or control centre are to flight
Base sends the signal for closing roof, after home port receives the signal, controls automatic open-close mechanism to open by controller
The multi-disc roofing board for closing roof is closed；
Home port also includes infrared ray sensing device, charging equipment, electric power detection module, wherein, infrared ray sensor installation
On charging equipment, infrared signal is sent, identifies the position of charging equipment.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510610872.4A CN105159318B (en) | 2015-09-23 | 2015-09-23 | Conservation culture monitoring device and system |
| CN201810020958.5A CN108227741B (en) | 2015-09-23 | 2015-09-23 | Ecological civilization monitoring flight device |
| CN201810020977.8A CN108153333B (en) | 2015-09-23 | 2015-09-23 | Flight base of ecological civilization monitoring devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510610872.4A CN105159318B (en) | 2015-09-23 | 2015-09-23 | Conservation culture monitoring device and system |
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| CN201810020977.8A Division CN108153333B (en) | 2015-09-23 | 2015-09-23 | Flight base of ecological civilization monitoring devices |
| CN201810020958.5A Division CN108227741B (en) | 2015-09-23 | 2015-09-23 | Ecological civilization monitoring flight device |
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| CN105159318B true CN105159318B (en) | 2018-01-30 |
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| CN201810020958.5A Active CN108227741B (en) | 2015-09-23 | 2015-09-23 | Ecological civilization monitoring flight device |
| CN201810020977.8A Active CN108153333B (en) | 2015-09-23 | 2015-09-23 | Flight base of ecological civilization monitoring devices |
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| JP6927943B2 (en) * | 2018-10-30 | 2021-09-01 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Information processing equipment, flight control method and flight control system |
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Also Published As
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| CN108227741B (en) | 2021-03-05 |
| CN108227741A (en) | 2018-06-29 |
| CN108153333B (en) | 2020-12-01 |
| CN108153333A (en) | 2018-06-12 |
| CN105159318A (en) | 2015-12-16 |
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