CN105676861A - Unmanned aerial vehicle-based straw burning monitoring system and measurement method - Google Patents
Unmanned aerial vehicle-based straw burning monitoring system and measurement method Download PDFInfo
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- CN105676861A CN105676861A CN201610180517.2A CN201610180517A CN105676861A CN 105676861 A CN105676861 A CN 105676861A CN 201610180517 A CN201610180517 A CN 201610180517A CN 105676861 A CN105676861 A CN 105676861A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses an unmanned aerial vehicle-based straw burning monitoring system and a measurement method. The monitoring system comprises an unmanned aerial vehicle and an application terminal, wherein the unmanned aerial vehicle comprises a satellite navigation module for positioning the self three-dimensional position information, a visible light collection system and an infrared collection system for collecting a ground image, and a position sensitive detector for judging a straw burning area; and the application terminal comprises a control device for controlling flight of the unmanned aerial vehicle and an image display module for displaying the image of the monitoring area and the three-dimensional position information of the unmanned aerial vehicle. The monitoring system has the advantages that the structure is simple; the operation is convenient; the measurement process is simplified; the measurement cost is reduced; the efficiency is high; use by a practical engineer is facilitated; and practical application on straw burning monitoring in areas such as cities, counties, towns and villages is also facilitated; and the monitoring method has the advantages that the straw burning monitoring is simplified; the measurement process is simplified; the measurement cost is reduced; the efficiency is high; and use by the practical engineer is facilitated.
Description
Technical field
The present invention relates to a kind of aerial survey of unmanned aerial vehicle technical field, monitor system and measuring method particularly to a kind of crop straw burning based on unmanned plane.
Background technology
Currently, the air environmental pollution problem caused because of the unordered burning of agricultural crop straw, cause showing great attention to of the whole society and governments at all levels. A large amount of gases and particulate pollutant that crop straw burning produces can cause regional air pollution, and harm human body is healthy, can reduce air visibility, causes vehicle accident time serious. According to statistics, annual China crop straw burning amount is about 140Tg (million tons), there are about half from crop straw burning in the CO discharge capacity of whole nation biomass combustion. The annual 6-10 month gathers in the crops season, and Open Burning Crop Residue phenomenon all can occur in nationwide, has largely increased the weight of atmospheric pollution level. For this, within 2008, the General Office of the State Council has issued " suggestion about accelerating to advance agricultural crop straw comprehensive utilization ", and within 2009 and 2012, the ministries and commissions such as National Development and Reform Committee and the Ministry of Agriculture combine again issue " notice about printing and distributing establishment stalk comprehensive utilization planning instruction ", " " 12 " agricultural crop straw comprehensive utilization embodiment ". Hereafter, governments at all levels have also put into effect a series of straw taboo burning policy. But in recent years, in agricultural production, the phenomenon of straw centralized burning remains incessant after repeated prohibition, because Open Burning Crop Residue causes the output of a large amount of particulate matter to cause domestic regional air pollution episode too numerous to enumerate, it has also become the society of public's close attention, environmental problem.
Satellite remote sensing technology is mainly utilized to be monitored currently for crop straw burning monitoring, having important advantages in that of Satellite Remote Sensing technology: this technology burns in field monitoring the reversibility with accuracy, objectivity and data for a long time in large area, and can monitor offer data support for the crop straw burning of comprehensive broad perspectives. But, owing to satellite transit track is limit, its remote sensing monitoring repeated measures time is only 1-2 day/time, is subject to monitoring every day that number of times is limited, less burns that point catches difficulty, cloud and mist weather affect the objective factors such as monitoring result and restricts, and directly resulting in observed result has following deficiency:
1) breakthrough of not own key technology, currently used data process and the burning scene exceeding certain area and certain time can only be detected by analysis method, test data are affected more by objective factor, particularly cloudy and cannot obtain good effect in situation night;
2) related data is excessively professional, and test data need can carry out burning some identification after processing in a large number, and the intuitive of data is not strong, and monitoring resolution has limitation, it is impossible to be directly used in the burning monitoring management of routine;
3) it is of limited application, the data resource of satellite remote sensing observation and process, based on cost and technology, generally can only rest in provincial or national meteorological department, and the regions such as city, county, town, township are only crop straw burning intensively, these departments utilize satellite remote sensing carry out monitoring targetedly and crop straw burning is intensively processed rapidly the very difficult very first time, and therefore the range of application of satellite remote sensing technology monitoring crop straw burning is fairly limited;
The existence of the problems referred to above, greatly reduces the economy of straw monitoring technology practical application, social and ecological benefit. Therefore the novel straw that the present invention is simple based on unmanned plane development structure, easy to use, monitoring efficiency is high burns monitoring system.
Summary of the invention
It is an object of the invention to overcome in prior art the repeated observation cycle based on Satellite Remote Sensing long, use cost is high, correlation technique is complicated, the problems such as monitoring effect is affected by environment greatly, be of limited application, a kind of crop straw burning based on unmanned plane is provided to detect system, additionally provide a kind of crop straw burning based on unmanned plane simultaneously and monitor the measuring method of system, this monitoring system structure is simple, easy to operate, simplify measurement procedure, reducing measurement cost, efficiency is higher, the generous use of Practical Project personnel.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
A kind of crop straw burning based on unmanned plane monitors system, including:
Unmanned plane, described unmanned plane is provided with the satellite positioning module for positioning self three dimensional local information, for gathering visible ray acquisition system and the infrared collecting system of ground image, for judging the Position-Sensitive Detector in crop straw burning region;
Application terminal, including the image display controlling device and image and no-manned plane three-dimensional positional information for showing monitored area for controlling unmanned plane during flying.
A kind of crop straw burning based on unmanned plane of the present invention monitors system, wherein unmanned plane Satellite navigation module is for the navigation route information in Input Monitor Connector region and for the flight path of unmanned plane is navigated, infrared collecting system and visible ray acquisition system are for gathering the image information of monitored area, wherein infrared collecting system is for the Infrared Image Information of Anomaly in heat source in monitored area, Position-Sensitive Detector is used for judging infrared anomaly region direction, unmanned plane adjusts unmanned plane during flying attitude according to the testing result of Position-Sensitive Detector, visible ray acquisition system is for carrying out imaging to the overall region at place, infrared anomaly region, make visible ray acquisition system and infrared collecting system just to infrared anomaly region, it is easy to gather image information clearly, the display module of application terminal is for showing complete visible images and infrared image, and operator carry out distinguishing of crop straw burning region according to visible images and infrared image, and utilize the flight controlling device control without extension set, should based on the crop straw burning monitoring mode of unmanned plane, avoid traditional monitoring system and depend on remote sensing monitoring satellite, avoid repeated observation cycle length, use cost is high, correlation technique complicated, the monitoring effect drawback such as big affected by environment, utilize unmanned plane as monitoring carrier, utilize the image information of visible ray acquisition system and infrared collecting systematic collection monitored area, position sensitive detector detected value is utilized to control unmanned plane during flying attitude, realize the picture rich in detail collection in infrared anomaly region, utilize dynamical image joining technology to realize monitored area image and completely show, this monitoring system structure is simple, easy to operate, simplifies measurement procedure, reduces measurement cost, and efficiency is higher, greatly facilitates the use of Practical Project personnel, also allows for relating to the practical application of the region crop straw burning monitorings such as city, county, town, township.
Preferably, described visible ray acquisition system is coaxial image capturing system with infrared collecting system, and described coaxial image capturing system is for shooting infrared image and visible images when same image imaging simultaneously, and imaging is convenient and simple.
Preferably, described Position-Sensitive Detector is four-quadrant Position-Sensitive Detector, the i.e. left at center, relative position sensing detector visual angle, right, four quadrant position of front and back, have employed four photodetectors to carry out detection infrared anomaly district respectively and be imaged on the position at visual angle, when its image space is not on optical axis, amplitude and position to this imaging signal judge, automatically control unmanned plane to do the infrared anomaly district image-forming information that position adjustment makes to detect and adjust optical axis center position, even if the imaged viewing angle of visible ray acquisition system and infrared collecting system is just to infrared anomaly region.
Preferably, described Position-Sensitive Detector front is provided with visible ray edge filter, and for being filtered by visible ray, infrared light passes through, and the shooting effect in crop straw burning region is better.
Preferably, the image processing module for being undertaken splicing by visible images and infrared image being located in unmanned plane or image display is also included.
This image processing module can utilize dynamical image joining technology to realize separation visible images and infrared image are spliced into a complete image respectively, and complete visible images and infrared image can be shown at display module, operator carry out distinguishing of crop straw burning region according to visible images and infrared image. When image processing module is integrated in application terminal, the photo of visible ray acquisition system with infrared collecting system photographs is transmitted to application terminal by unmanned plane, realizes the dynamic splicing of image in application terminal.
Preferably, described unmanned plane also includes the height sensor for measuring its relative ground level, for the measurement of relative ground level, when being used for showing crop straw burning region of ultra-red image, the coordinate information of display shooting height.
Present invention also offers a kind of crop straw burning based on unmanned plane and monitor the measuring method of system, including using above-mentioned a kind of crop straw burning based on unmanned plane to monitor system, its measuring method comprises the following steps:
Step one, setting unmanned plane during flying speed and interval time of taking pictures, starting described unmanned plane, unmanned plane is according to pre-set navigational path flight to original position of navigating;
Step 2, the visible ray acquisition system started on described unmanned plane and infrared collecting system, unmanned plane is along guidance path flight forward, unmanned plane during flying attitude is adjusted according to the infrared anomaly region that Position-Sensitive Detector detects, make described visible ray acquisition system and infrared collecting system just to infrared anomaly region, when arriving interval time of taking pictures, taken pictures in infrared anomaly region by described visible ray acquisition system and infrared collecting system respectively;
Step 3, unmanned plane continue on pre-set navigational path flight, repeating said steps two, flight course detects the result in infrared anomaly region according to Position-Sensitive Detector, constantly adjust unmanned plane during flying attitude, and when arriving interval time of taking pictures, start described visible ray acquisition system to start to take pictures with infrared collecting system, and visible images and infrared image are transmitted separately to application terminal, and display in application terminal;
After step 4, unmanned plane complete guidance path flight, unmanned plane drop to takeoff setting, and system completes the crop straw burning monitoring in region to be measured.
The measuring method of system should be monitored based on the crop straw burning of unmanned plane, have employed above-mentioned monitoring system, the mode combined with image procossing by unmanned plane realizes crop straw burning monitoring, unmanned plane is installed satellite navigation module, treat monitored area according to pre-set navigational path to be monitored, take pictures according to setting interval, it is possible to reduce amount of image information, improve processing speed and real-time response performance; When taking pictures, start infrared collecting system and visible ray acquisition system, for gathering Infrared Image Information and the infrared anomaly area peripheral edge entirety imaging of Anomaly in heat source in monitored area, wherein Position-Sensitive Detector is used for judging infrared anomaly region direction, and the testing result according to Position-Sensitive Detector adjusts unmanned plane during flying attitude, convenient collection image information comparatively clearly at any time; The image of shooting is delivered to the display module of application terminal, and operator carry out distinguishing of crop straw burning region according to visible images and infrared image, and utilize the flight controlling device control without extension set; Should based on the crop straw burning monitoring method of unmanned plane, it is achieved that crop straw burning monitoring summary, simplify measurement procedure, reduce measurement cost, efficiency is higher, greatly facilitates the use of Practical Project personnel.
Preferably, when in described step 2, taken pictures in infrared anomaly region by visible ray acquisition system and infrared collecting system, described unmanned plane is in floating state or regular flight condition, and according to actual photographed imaging needs, unmanned plane is controlled by operator according to controlling device.
Preferably, described step 3 is carrying out visible images and infrared image is spliced by image processing module, when described image processing module is arranged in unmanned plane, stitching image is transmitted to application terminal after visible images and infrared image being spliced by described image processing module again; When described image processing system is arranged in application terminal, after then visible images and infrared image being transmitted separately to application terminal, carried out image mosaic by the image processing system in described application terminal, and the image display on application terminal displays.
Compared with prior art, beneficial effects of the present invention:
1, a kind of crop straw burning based on unmanned plane of the present invention monitors system, have employed unmanned plane as carrier, using visible ray acquisition system and infrared collecting system as information collecting device, wherein visible ray acquisition system can realize overall region imaging, unmanned plane during flying attitude is adjusted with Position-Sensitive Detector, realize infrared anomaly region and the blur-free imaging in crop straw burning district, it is simple to the analysis of operator and use; This monitoring system, overcomes in prior art the repeated observation cycle based on Satellite Remote Sensing long, and use cost is high, correlation technique is complicated, the monitoring effect shortcoming such as big affected by environment, develops the crop straw burning based on unmanned plane and detects system, additionally provides a kind of crop straw burning based on unmanned plane simultaneously and monitors the measuring method of system, this monitoring system structure is simple, easy to operate, simplify measurement procedure, reduce measurement cost, efficiency is higher, the generous use of Practical Project personnel;
2, a kind of crop straw burning based on unmanned plane of the present invention monitors system, is provided with visible ray edge filter before the camera lens of Position-Sensitive Detector, and for being filtered by visible ray, infrared light passes through, and the shooting effect in crop straw burning region is better;
3, a kind of crop straw burning based on unmanned plane of the present invention monitors system, including the image processing module for being undertaken splicing by visible images and infrared image being located in unmanned plane or image display, this image processing module can utilize dynamical image joining technology to realize separation visible images and infrared image are spliced into a complete image respectively, and complete visible images and infrared image can be shown at display module, operator carry out distinguishing of crop straw burning region according to visible images and infrared image;
4, a kind of crop straw burning based on unmanned plane of the present invention monitors the measuring method of system, have employed above-mentioned monitoring system, the mode combined with image procossing by unmanned plane realizes crop straw burning monitoring, unmanned plane is installed satellite navigation module, treat monitored area according to pre-set navigational path to be monitored, take pictures according to setting interval, it is possible to reduce amount of image information, improve processing speed and real-time response performance; When taking pictures, start infrared collecting system and visible ray acquisition system, for gathering Infrared Image Information and the infrared anomaly area peripheral edge entirety imaging of Anomaly in heat source in monitored area, wherein Position-Sensitive Detector is used for judging infrared anomaly region direction, and the testing result according to Position-Sensitive Detector adjusts unmanned plane during flying attitude, convenient collection image information comparatively clearly at any time; The image of shooting is delivered to the display module of application terminal, and operator carry out distinguishing of crop straw burning region according to visible images and infrared image, and utilize the flight controlling device control without extension set; Should based on the crop straw burning monitoring method of unmanned plane, it is achieved that crop straw burning monitoring summary, simplify measurement procedure, reduce measurement cost, efficiency is higher, greatly facilitates the use of Practical Project personnel.
Accompanying drawing illustrates:
Fig. 1 is the monitoring flow chart that a kind of crop straw burning based on unmanned plane of the present invention monitors system.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail. But this should not being interpreted as, the scope of the above-mentioned theme of the present invention is only limitted to below example, and all technology realized based on present invention belong to the scope of the present invention.
Embodiment 1
A kind of crop straw burning based on unmanned plane monitors system, including:
Unmanned plane, is wherein provided with the satellite positioning module for positioning self three dimensional local information on this unmanned plane, for gathering visible ray acquisition system and the infrared collecting system of ground image, for judging the Position-Sensitive Detector in crop straw burning region;
Application terminal, including the image display controlling device and image and no-manned plane three-dimensional positional information for showing monitored area for controlling unmanned plane during flying.
Wherein, above-mentioned visible ray acquisition system is coaxial image capturing system with infrared collecting system, and this axle image capturing system is for shooting infrared image and visible images when same image imaging simultaneously, and imaging is convenient and simple. In order to make Position-Sensitive Detector better monitor infrared anomaly region, being provided with visible ray edge filter in Position-Sensitive Detector front, for being filtered by visible ray, infrared light passes through, and the shooting effect in crop straw burning region is better. In order to show more coordinate informations in infrared anomaly region, unmanned plane also includes the height sensor for measuring its relative ground level, for the measurement of relative ground level, when being used for showing crop straw burning region of ultra-red image, the coordinate information of display shooting height.
Above-mentioned Position-Sensitive Detector is four-quadrant Position-Sensitive Detector, this four-quadrant Position-Sensitive Detector, the i.e. left at center, relative position sensing detector visual angle, right, four quadrant position of front and back, it has been respectively adopted four photodetectors and has carried out detection infrared anomaly district respectively and be imaged on the position at visual angle, when its image space is not on optical axis, amplitude and position to this imaging signal judge, automatically control unmanned plane to do the infrared anomaly district image-forming information that position adjustment makes to detect and adjust optical axis center position, even if the imaged viewing angle of visible ray acquisition system and infrared collecting system is just to infrared anomaly region. concrete, when crop straw burning infrared anomaly region is positioned at the centre visual angle of Position-Sensitive Detector side to the left, feed back to its attitude of unmanned aerial vehicle (UAV) control and automatically carry out deflection adjustment towards the left side, make the optical axis center view position alignment crop straw burning infrared anomaly region of visible ray acquisition system and infrared collecting system, it is simple to imaging is clearly.
It addition, unmanned plane or image display are additionally provided with the image processing module for being undertaken splicing by visible images and infrared image. This image processing module can utilize dynamical image joining technology to realize separation visible images and infrared image are spliced into a complete image respectively, and complete visible images and infrared image can be shown at display module, operator carry out distinguishing of crop straw burning region according to visible images and infrared image. When image processing module is integrated in application terminal, the photo of visible ray acquisition system with infrared collecting system photographs is transmitted to application terminal by unmanned plane, realizes the dynamic splicing of image in application terminal.
A kind of crop straw burning based on unmanned plane of the present invention monitors system, wherein unmanned plane Satellite navigation module is for the navigation route information in Input Monitor Connector region and for the flight path of unmanned plane is navigated, infrared collecting system and visible ray acquisition system are for gathering the image information of monitored area, wherein infrared collecting system is for the Infrared Image Information of Anomaly in heat source in monitored area, Position-Sensitive Detector is used for judging infrared anomaly region direction, unmanned plane adjusts unmanned plane during flying attitude according to the testing result of Position-Sensitive Detector, visible ray acquisition system is for carrying out imaging to the overall region at place, infrared anomaly region, make visible ray acquisition system and infrared collecting system just to infrared anomaly region, it is easy to gather image information clearly, the display module of application terminal is for showing complete visible images and infrared image, and operator carry out distinguishing of crop straw burning region according to visible images and infrared image, and utilize the flight controlling device control without extension set, should based on the crop straw burning monitoring mode of unmanned plane, avoid traditional monitoring system and depend on remote sensing monitoring satellite, avoid repeated observation cycle length, use cost is high, correlation technique complicated, the monitoring effect drawback such as big affected by environment, utilize unmanned plane as monitoring carrier, utilize the image information of visible ray acquisition system and infrared collecting systematic collection monitored area, position sensitive detector detected value is utilized to control unmanned plane during flying attitude, realize the picture rich in detail collection in infrared anomaly region, utilize dynamical image joining technology to realize monitored area image and completely show, this monitoring system structure is simple, easy to operate, simplifies measurement procedure, reduces measurement cost, and efficiency is higher, greatly facilitates the use of Practical Project personnel, also allows for relating to the practical application of the region crop straw burning monitorings such as city, county, town, township.
Embodiment 2
As it is shown in figure 1, the present embodiment additionally provides a kind of crop straw burning based on unmanned plane monitors the measuring method of system, including using a kind of crop straw burning based on unmanned plane in embodiment 1 to monitor system, its measuring method comprises the following steps:
Step one, setting unmanned plane during flying speed and interval time of taking pictures, starting described unmanned plane, unmanned plane is according to pre-set navigational path flight to original position of navigating;
Step 2, the visible ray acquisition system started on described unmanned plane and infrared collecting system, unmanned plane is along guidance path flight forward, unmanned plane during flying attitude is adjusted according to the infrared anomaly region that Position-Sensitive Detector detects, make described visible ray acquisition system and infrared collecting system just to infrared anomaly region, when arriving interval time of taking pictures, taken pictures in infrared anomaly region by described visible ray acquisition system and infrared collecting system respectively;
Step 3, unmanned plane continue on pre-set navigational path flight, repeating said steps two, flight course detects the result in infrared anomaly region according to Position-Sensitive Detector, constantly adjust unmanned plane during flying attitude, and when arriving interval time of taking pictures, start described visible ray acquisition system to start to take pictures with infrared collecting system, and visible images and infrared image are transmitted separately to application terminal, and display in application terminal;
After step 4, unmanned plane complete guidance path flight, unmanned plane drop to takeoff setting, and system completes the crop straw burning monitoring in region to be measured.
Wherein, above-mentioned when stating that in step 2, taken pictures in infrared anomaly region by visible ray acquisition system and infrared collecting system, described unmanned plane is in floating state or regular flight condition, and according to actual photographed imaging needs, unmanned plane is controlled by operator according to controlling device.
Wherein, above-mentioned steps three is carrying out visible images and infrared image is spliced by image processing module, when described image processing module is arranged in unmanned plane, stitching image is transmitted to application terminal after visible images and infrared image being spliced by described image processing module again; When described image processing system is arranged in application terminal, after then visible images and infrared image being transmitted separately to application terminal, carried out image mosaic by the image processing system in described application terminal, and the image display on application terminal displays.
The measuring method of system should be monitored based on the crop straw burning of unmanned plane, have employed above-mentioned monitoring system, the mode combined with image procossing by unmanned plane realizes crop straw burning monitoring, unmanned plane is installed satellite navigation module, treat monitored area according to pre-set navigational path to be monitored, take pictures according to setting interval, it is possible to reduce amount of image information, improve processing speed and real-time response performance; When taking pictures, start infrared collecting system and visible ray acquisition system, for gathering Infrared Image Information and the infrared anomaly area peripheral edge entirety imaging of Anomaly in heat source in monitored area, wherein Position-Sensitive Detector is used for judging infrared anomaly region direction, and the testing result according to Position-Sensitive Detector adjusts unmanned plane during flying attitude, convenient collection image information comparatively clearly at any time; The image of shooting is delivered to the display module of application terminal, and operator carry out distinguishing of crop straw burning region according to visible images and infrared image, and utilize the flight controlling device control without extension set; Should based on the crop straw burning monitoring method of unmanned plane, it is achieved that crop straw burning monitoring summary, simplify measurement procedure, reduce measurement cost, efficiency is higher, greatly facilitates the use of Practical Project personnel.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (10)
1. the crop straw burning based on unmanned plane monitors system, it is characterised in that including:
Unmanned plane, described unmanned plane is provided with the satellite positioning module for positioning self three dimensional local information, for gathering visible ray acquisition system and the infrared collecting system of ground image, for judging the Position-Sensitive Detector in crop straw burning region;
Application terminal, including the image display controlling device and image and no-manned plane three-dimensional positional information for showing monitored area for controlling unmanned plane during flying.
2. a kind of crop straw burning based on unmanned plane according to claim 1 monitors system, it is characterised in that described satellite navigation module is any in GPS satellite navigation module, Beidou satellite navigation module or Galileo satellite navigation module.
3. a kind of crop straw burning based on unmanned plane according to claim 1 monitors system, it is characterized in that, described visible ray acquisition system is coaxial image capturing system with infrared collecting system, and described coaxial image capturing system is for shooting infrared image and visible images when same image imaging simultaneously.
4. a kind of crop straw burning based on unmanned plane according to claim 1 monitors system, it is characterised in that described Position-Sensitive Detector is four-quadrant Position-Sensitive Detector.
5. a kind of crop straw burning based on unmanned plane according to claim 4 monitors system, it is characterised in that described Position-Sensitive Detector front is provided with visible ray edge filter, and for being filtered by visible ray, infrared light passes through.
6. a kind of crop straw burning based on unmanned plane according to claim 1 monitors system, it is characterised in that also include the image processing module for being undertaken splicing by visible images and infrared image being located in unmanned plane or image display.
7. monitor system according to the arbitrary described a kind of crop straw burning based on unmanned plane of claim 1-6, it is characterised in that described unmanned plane also includes the height sensor for measuring the relative ground level of unmanned plane.
8. the crop straw burning based on unmanned plane monitors the measuring method of system, it is characterised in that uses as arbitrary in claim 1-7 as described in a kind of crop straw burning monitoring system based on unmanned plane, its measuring method comprises the following steps:
Step one, setting unmanned plane during flying speed and interval time of taking pictures, starting described unmanned plane, unmanned plane is according to pre-set navigational path flight to original position of navigating;
Step 2, the visible ray acquisition system started on described unmanned plane and infrared collecting system, unmanned plane is along guidance path flight forward, unmanned plane during flying attitude is adjusted according to the infrared anomaly region that Position-Sensitive Detector detects, make described visible ray acquisition system and infrared collecting system just to infrared anomaly region, when arriving interval time of taking pictures, taken pictures in infrared anomaly region by described visible ray acquisition system and infrared collecting system respectively;
Step 3, unmanned plane continue on pre-set navigational path flight, repeating said steps two, flight course detects the result in infrared anomaly region according to Position-Sensitive Detector, constantly adjust unmanned plane during flying attitude, and when arriving interval time of taking pictures, start described visible ray acquisition system to start to take pictures with infrared collecting system, and visible images and infrared image are transmitted separately to application terminal, and display in application terminal;
After step 4, unmanned plane complete guidance path flight, unmanned plane drop to takeoff setting, and system completes the crop straw burning monitoring in region to be measured.
9. a kind of crop straw burning based on unmanned plane according to claim 8 monitors the measuring method of system, it is characterized in that, when in described step 2, taken pictures in infrared anomaly region by visible ray acquisition system and infrared collecting system, described unmanned plane is in floating state or regular flight condition.
10. a kind of crop straw burning based on unmanned plane according to claim 8 monitors the measuring method of system, it is characterized in that, described step 3 is carrying out visible images and infrared image is spliced by image processing module, when described image processing module is arranged in unmanned plane, stitching image is transmitted to application terminal after visible images and infrared image being spliced by described image processing module again; When described image processing system is arranged in application terminal, after then visible images and infrared image being transmitted separately to application terminal, carried out image mosaic by the image processing system in described application terminal, and the image display on application terminal displays.
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| CN109029378A (en) * | 2018-08-13 | 2018-12-18 | 徐州飞梦电子科技有限公司 | It is a kind of based on the farmland fire monitoring method for being tethered at unmanned plane |
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