CN105775141A - Ice condition monitoring system on basis of unmanned aerial vehicles - Google Patents
Ice condition monitoring system on basis of unmanned aerial vehicles Download PDFInfo
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- CN105775141A CN105775141A CN201610220682.6A CN201610220682A CN105775141A CN 105775141 A CN105775141 A CN 105775141A CN 201610220682 A CN201610220682 A CN 201610220682A CN 105775141 A CN105775141 A CN 105775141A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/20—Means for detecting icing or initiating de-icing
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Abstract
The invention relates to an ice condition monitoring system on the basis of unmanned aerial vehicles, belongs to the field of monitoring, and particularly belongs to the field of ice condition monitoring.The ice condition monitoring system on the basis of the unmanned aerial vehicles comprises a monitoring unmanned aerial vehicle system and a ground station system.The monitoring unmanned aerial vehicle system comprises a monitoring unmanned aerial vehicle or a plurality of monitoring unmanned aerial vehicles.Each monitoring unmanned aerial vehicle is the corresponding unmanned aerial vehicle carried with a type of ice condition observation load or a plurality of types of ice condition observation load, and comprises an unmanned aerial vehicle body and the ice condition observation load.The ground station system comprises a ground wireless flight control system, a wireless data receiving system, a data processing system, a data storage and management system, a displaying and publishing system, an unmanned aerial vehicle controller, a decision maker and the like.The ice condition monitoring system on the basis of the unmanned aerial vehicles has the advantages of speediness, flexibility, comprehensiveness, accuracy, high coverage rate, safety and the like.
Description
Technical field
The present invention relates to monitoring field, more specifically, belong to the ice condition supervising system based on unmanned plane.
Background technology:
All can there is seawater icing phenomenon annual winter in China's Bohai Sea and north Yellow Sea.Bohai Sea and Yellow Sea sea ice is one of important Oceanic disasters of China.Impact by winter climate changes in temperature, the light and heavy degree of annual offshore ice is different, time serious, sea ice can push over offshore platform, destroys port facilities, block fairway, damage naval vessel, make maritime traffic transport paralysis, and Offshore Units causes considerable damage and loss；Particularly to the ocean primary industry based on sea fishery, sea is ice-bound causes that Marine Fishing Industry stops production, and mariculture industry is disaster-stricken, and ship is damaged in a large number, the orthobiosis having had a strong impact on maritime people is the safety ensureing ice formation operation, carries out ice forecast and monitoring is very necessary.
The especially disastrous sea ice monitoring mode of current ice condition mainly adopts is observed, with ground bank station, the comprehensive monitoring combined by manned aviation, satellite remote sensing.But the cost of manned aviation is high, by the impact of flying condition and flight number, it is impossible to complete high frequency time, the ice condition supervising of high-timeliness；Satellite remote sensing is passed by by satellite and orbital period property and satellite data process and issues ageing impact, generally can not meet the ice condition supervising of high-timeliness, and it is by impact of observation imaging resolution, and little yardstick ice condition key element cannot be obtained effective information；Along bank station or islands and reefs website often away from disaster-stricken or target observation region, and it is limited by the restriction of equipment, environment, it is impossible to obtain high accuracy and comprehensive ice condition and environmental information.
In order to obtain the sea ice ice condition key element of Sea Ice Disasters scene and Adjacent Sea Area thereof accurately and in time, effectively formulate Sea Ice Disasters emergency preplan, thering is provided the effective firsthand information for disaster prevention and control decision-making section, the ice condition supervising system have quick movement, monitoring greatly area coverage, accurately sea ice ice condition collection of data and data process&analysis is necessary.
The present invention proposes a kind of ice condition supervising system based on unmanned plane, and it has the advantage such as timely, flexible, comprehensive, accurate, high coverage rate and safety.The ice condition supervising system of the present invention can be collected the ice condition key element of process and be included the thickness of ice, ice concentration, ice total amount, ice type, ice-like and ice surface temperature etc..Solve conveniently, accurately, carry out the technical problem of ice condition supervising in time.
Summary of the invention:
It is an object of the invention to provide a kind of ice condition supervising system based on unmanned plane, the monitoring of the especially disastrous sea ice ice condition of ice condition had the advantage such as quick, flexible, comprehensive, accurate, high coverage rate and safety, improve the efficiency of monitoring, it is possible within the shortest time, provide first hand data for decision-making section.
The ice condition key element that a kind of ice condition supervising system based on unmanned plane of the present invention can collect process includes the thickness of ice, ice concentration, ice total amount, ice type, ice-like and ice surface temperature etc., it is possible to meet sea ice and various river and the demand of ice condition of lake monitoring task.
It is an object of the invention to be achieved through the following technical solutions: a kind of ice condition supervising system based on unmanned plane of the present invention, including monitoring UAS and earth station system two parts.Described monitoring UAS includes one or more monitoring unmanned plane.Described monitoring unmanned plane refers to a unmanned plane being equipped with one or more ice regime observation load.One monitoring unmanned plane includes unmanned plane body and ice regime observation load.Described monitoring unmanned plane body includes fuselage, frame, protective cover and landing gear, the energy and power distribution equipment, Powerpush Unit, and navigation flies control device, wireless data transmission device.Wherein unmanned plane Landing Gear Design is amphibious type, the overboard damage of unmanned plane in case breaking in stagnant ice face.Described navigation flies control device and includes GLONASS (GNSS) positioner and attitude measuring etc..Described navigation flies control device can complete that unmanned aerial vehicle platform is autonomous or remote control distributor, completes to explain the function of the control instruction that response earth station sends.Described wireless data transmission device sets up the communications and data transmission link of unmanned plane and earth station system, realize monitoring unmanned plane to the wireless receiving of earth station's instruction, the monitoring wireless earth station that descends into of unmanned plane during flying status information, and the monitors load observation wireless function descending into earth station of data.Described ice regime observation load includes camera equipment and measuring of ice thickness equipment, and wherein camera equipment includes visible ray digital vedio recording camera installation, and/or infrared, and/or far infrared, and/or thermal infrared camera equipment.The wherein preferred small-sized visible ray high-definition digital picture pick-up device of visible ray digital vedio recording camera installation.Measuring of ice thickness equipment includes measuring of ice thickness electric drilling device, or sonar surveys ice thickness equipment.Described ice regime observation load includes visible ray digital vedio recording camera installation, infrared, far infrared, thermal infrared camera equipment, measuring of ice thickness electric drilling device, and sonar surveys ice thickness equipment one of which or several combination in any.Concrete load configuration is carried ability by mission requirements, unmanned aerial vehicle platform and the little microminiaturized situation of loading device determines.Its middle-size and small-size visible ray high-definition digital video camera, or it is infrared, or far infrared, or the image data that thermal infrared camera equipment obtained in the unmanned plane high cruise stage, image processing techniques can be passed through, obtaining closeness and the ice total amount of ice, the image data of low latitude or the acquisition of target ice face landing period can pass through image recognition technology and obtain the element information such as ice type and ice-like.Real-time video image can select measuring of ice thickness target ice face in place for ground control hands and decision-maker, and assisted unmanned plane target ice face to land and taken off.
Described ice regime observation load possesses one or more functional module configuration following:
(1) data storage function module.Start to store observation data before execution task is taken off, terminate to pass data back earth station system by storage medium or wired mode behind return ground until flight.
(2) data storage function module and wireless data communication function module.Described data storage function module can store the observation data of load when the task of execution, terminates to pass data back earth station system by storage medium or wired mode behind return ground until flight.Described wireless data communication function module completes the communication of earth station system and load by wireless data communication function module, it is achieved the Remote to load.
(3) wireless data transmission function module and wireless data communication function module.Described wireless data transmission function module completes the load observation data High Data Rate one-way transmission to earth station system by wireless data transmission function module.Described wireless data communication function module completes the communication of earth station system and load by wireless data communication function module, it is achieved the Remote to load.Described wireless data transmission function module possesses one-way wireless transmission link, it is possible to high data rate transfers；Wireless data communication function module possesses bidirectional communication link, and data transfer rate rate is low.
(4) with the interface module of unmanned plane body circuit.The navigation of unmanned plane body can be utilized to fly control device and wireless data transmission device for load and earth station system is set up and controlled communications and data transmission link.Load flies control device and wireless data transmission device and is connected by interface circuit is wired with the navigation of unmanned plane.
Described earth station system includes terrestrial wireless flight control system, wireless data receives system, data handling system, data storage and management system, shows and delivery system, and unmanned plane manipulation hands and decision-maker etc..
Described wireless control system completes following function:
(1) planning before flight monitoring task starts, to monitoring UAS flight track and operation；
(2) communication link between described earth station system and monitoring UAS is set up；
(3) described earth station system receives the state of flight information from monitoring UAS, positions information, attitude information, power state information and unmanned aerial vehicle platform health status information etc. including GNSS；
(4) decision-making according to planning or manipulation hands, timing or complete in real time instruction generate with described earth station system to monitoring UAS instruction wireless transmit, described instruction includes flight control instruction and other control instruction, it is achieved the Remote to monitoring UAS unmanned aerial vehicle platform or ice regime observation load.
Described wireless data receives system can in real time or time delay, and mode wirelessly or non-wirelessly receives the ice condition original observed data monitoring UAS；Described data handling system completes the post processing of above-mentioned ice regime observation original observed data, obtains the thickness including ice, the ice condition key element such as ice concentration, ice total amount, ice type, ice-like and ice surface temperature；
Described data storage and management system completes above-mentioned ice at ground-based server end and asks storage and the data management of original observed data, post processing data and state of flight information, and wherein data management includes the functions such as access rights are arranged；
The visualization that described display and delivery system complete data at ground-based server end is issued with Web or APP；
Described unmanned plane manipulation hands is to complete, at unmanned plane, the personnel that unmanned plane distance flight controls when completing automatic mission phase or manual control flight.
The implementation of radio communication and data transmission link that the described wireless data transmission function module of monitoring unmanned plane body and the wireless control system of earth station system or wireless data receive system foundation includes mobile radio communication system, short-distance wireless transmission mode and middle and long distance wireless transmission method.Described mobile communication includes but not limited to GPRS, 3G and 4G communication pattern, described short-distance wireless transmission mode includes but not limited to that the wireless communications mode such as WIFI, ZigBee and bluetooth, described middle and long distance radio transmission mode include but not limited to that ZigBee middle and long distance is wirelessly transferred and the mode such as middle and long distance digital radio station is wirelessly transferred.
Described earth station may be replaced by vehicle-mounted or boat-carrying, for instance, it is possible to selecting ship or warship is earth station, so can realize the area observation of off-lying sea bank, be applied to the aspects such as marine ecology, environmental protection, fishery, safety, tourism.
Advantages of the present invention and good effect:
1, a kind of ice condition supervising system based on unmanned plane of the present invention, the monitoring of the especially disastrous sea ice ice condition of ice condition had the advantage such as timely, flexible, comprehensive, accurate, high coverage rate and safety, improve the efficiency of monitoring, first hand data can be provided within the shortest time for decision-making section, investigate in ice condition, scientific research and the field such as prevent and reduce natural disasters play an important role.
2, a kind of ice condition supervising system based on unmanned plane of the present invention can real-time collecting large area, high-resolution, Small and Medium Sized multiple ice condition key element, thickness including ice, ice concentration, ice total amount, ice type, ice-like and ice surface temperature etc., it is possible to meet the sea ice of various regional scale and the demand of river or ice condition of lake monitoring task.
3, a kind of ice condition supervising system based on unmanned plane of the present invention can be not only used for ice condition supervising field, it is also possible to is applied to each fields such as the navigation channel monitoring in rescue at sea, naval searching, Sea Ice Disasters situation, inshore marine ecology and environmental monitoring, inshore fishery and aquaculture monitoring, the monitoring of inshore oil leaking pollution and seashore tourism flow of the people monitoring.
Accompanying drawing explanation
Fig. 1 ice condition supervising system structure schematic diagram.
Described ice condition supervising system, including monitoring UAS (1) and earth station system (2) two parts.Wherein monitor UAS (1) and include monitoring unmanned plane (11).
Fig. 2 is the structural representation of monitoring unmanned plane (11).
Described monitoring unmanned plane (11) includes unmanned plane body (111), it is seen that light video camera (112), measuring of ice thickness electric drilling device (113).
Fig. 3 is the structural representation of earth station system (2).
Described earth station system (2) includes wireless flight control system (21), wireless data receives system (22), data handling system (23), data storage and management system (24), display and delivery system (25), unmanned plane manipulation hands and decision-maker etc. (26).
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment 1
With reference to shown in Fig. 1, a kind of ice condition supervising system based on unmanned plane of the present embodiment, including monitoring UAS (1) and earth station system (2) two parts.Wherein monitor UAS (1) and include monitoring unmanned plane (11).
With reference to shown in Fig. 2, described monitoring unmanned plane (11) includes unmanned plane body (111) and ice condition supervising load.Described ice condition supervising load can include visible light camera (112) and measuring of ice thickness electric drilling device (113).Described unmanned plane body (111) adopts rotary wind type unmanned aerial vehicle design, and Landing Gear Design is amphibious type, adopts battery supply, more than 1 hour cruising time, cruising speed 3～50km/h, relative altitude < 2km.
Described visible light camera (112) and measuring of ice thickness electric drilling device (113) possess and the interface module of unmanned plane body circuit, utilize the navigation of unmanned plane body (111) to fly control device and wireless data transmission device and earth station system is set up and controlled communications and data transmission link.Load flies control device with the navigation of unmanned plane and wireless data transmission device is connected by interface circuit wired mode.
With reference to shown in Fig. 3, described earth station system (2) includes wireless flight control system (21), wireless data receives system (22), data handling system (23), data storage and management system (24), and display and delivery system (25) and unmanned plane manipulate hands and decision-maker etc. (26).
Described terrestrial wireless flight control system (21), completes following functions:
(1) before flight monitoring task starts, decision-maker has participated in the mission planning of monitoring UAS flight track and operation；
(2) the Xtend wireless communication technology of ZigBee is adopted to set up communication link with the wireless data transmission device of monitoring unmanned plane body (111)；
(3) described earth station system receives the state of flight information from monitoring UAS, positions information, attitude information, power state information and unmanned aerial vehicle platform health status information etc. including GNSS；
(4) Real-time Decision according to planning or manipulation hands, timing or complete in real time instruction generate and to monitoring UAS wireless transmission instruction, described instruction includes flight control instruction and ice regime observation load control instruction, it is achieved the Remote to monitoring UAS unmanned aerial vehicle platform and ice regime observation load.
Described wireless data receives system (22) and the wireless data transmission device monitoring unmanned plane body (111) adopts distance high speed digital radio technology to realize the high speed data link of tens kilometer range, it is achieved the initial data ground receiver of monitors load visible light camera (112) and measuring of ice thickness electric drilling device (113)；Described data handling system (23) completes the raw image data of monitors load visible light camera (112) in ground-based server equipment and processes, adopt image data processing technique can obtain the ice condition information such as ice concentration, ice total amount, ice type and ice-like, and the original observed data of measuring of ice thickness electric drilling device (113) processes, obtain the information of on your marks observation station ice thickness.Described data storage and management system (24) utilizes database technology to complete storage and the data management of the information such as state of flight information, observation load original observed data and floor treatment result at ground-based server end；State of flight information (include GNSS and position information, attitude information, power state information and unmanned aerial vehicle platform health status information etc.) and load observation ice condition information (including in real time or delayed video information, ice thickness, ice concentration, ice total amount, ice type and ice-like etc.) are utilized GIS technology to combine with geography information by described display and delivery system (25), and visualization is shown in earth station's video wall equipment.
A kind of ice condition supervising system based on unmanned plane of the present embodiment utilizes a monitoring unmanned plane can observe the ice condition situation of maximum 20km in 1 hour, earth station system can real-time exhibition ice condition situation, can in time, effectively, accurately completely visualize display ice condition state, provide the firsthand material for decision-maker.Meanwhile, the present embodiment can also be applied to the navigation channel monitoring in rescue at sea, naval searching, Sea Ice Disasters situation, inshore marine ecology and environmental monitoring, inshore fishery and the field such as aquaculture monitoring and inshore oil leaking pollution monitoring.
Embodiment 2
A kind of ice condition supervising system based on unmanned plane of the present embodiment, its basic structure is identical with embodiment 1, and it is different in that:
(1) monitoring UAS includes 5 monitoring unmanned planes, it is possible to carry out ice condition supervising operation in 5 directions simultaneously.
(2) monitoring the energy of unmanned plane and power distribution equipment adopts the dynamic electromotor of oil, its cruising time, load carries weight and energy resource supply ability can be obviously improved, and wherein cruising time was up to more than 3 hours.
(3) monitoring UAS load increases thermal infrared camera, it is possible to increases the ice condition supervising ability under night, haze and smoke condition, and can provide the observed quantity of ice surface temperature.
(4) earth station shows increases Web server and web access function with delivery system, with mobile phone A PP issuing function.User according to authority, can obtain ice condition information by internet with decision-maker, and mobile phone A PP issuing function can issue the information such as Ice Disaster early warning to related personnel simultaneously.
(5) monitor the radio communication between UAS and earth station system and data transmission link and make radio communication and the data transmission distance scope up to hundred kilometers by increasing the mode of transmitting antenna output.
A kind of ice condition supervising system based on unmanned plane of the present embodiment can effectively increase observation area, realize ice condition supervising timely, effective, accurate, hundred kilometers of areal extents, it is provided simultaneously with the observing capacity of round-the-clock 24 hours, and user and decision-maker can carry out Telnet and access acquisition ice condition and disaster early-warning information.Meanwhile, the present embodiment can also be applied to the navigation channel monitoring in rescue at sea, naval searching, Sea Ice Disasters situation, inshore marine ecology and environmental monitoring, inshore fishery and the field such as aquaculture monitoring and inshore oil leaking pollution monitoring.
Schematically the present invention and embodiment thereof being described above, this description does not have limited, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art is enlightened by it, when without departing from the invention objective, design the frame mode similar to this technical scheme and embodiment without creationary, protection scope of the present invention all should be belonged to.
Claims (19)
1. the ice condition supervising system based on unmanned plane, it is characterised in that include monitoring UAS and earth station system.
2. the ice condition supervising system described in claim 1, wherein said monitoring UAS includes one or more monitoring unmanned plane.
3. the ice condition supervising system described in claim 1, wherein said monitoring UAS includes unmanned plane body and one or more ice regime observation load.
4. the ice condition supervising system described in any one of claim 1-3, wherein said unmanned plane body includes fuselage, frame, protective cover and landing gear, the energy and power distribution equipment, Powerpush Unit, and navigation flies control device, wireless data transmission device.
5. the ice condition supervising system described in claim 4, the take-off and landing device of wherein said unmanned plane body is amphibious type.
6. the ice condition supervising system described in claim 4, the navigation of wherein said unmanned plane body flies control device and includes GLONASS positioner and attitude measuring, described navigation flies control device can complete that unmanned aerial vehicle platform is autonomous or remote control distributor, completes to explain the function of the control instruction that response earth station sends.
7. the ice condition supervising system described in claim 4, the wireless data transmission device of wherein said unmanned plane body sets up the communications and data transmission link of unmanned plane and earth station system, realize monitoring unmanned plane to the wireless receiving of earth station's instruction, the monitoring wireless earth station that descends into of unmanned plane during flying status information, and the monitors load observation wireless function descending into earth station of data.
8. claim 3, the ice condition supervising system described in any one of 5-7, wherein said ice regime observation load includes camera equipment and/or measuring of ice thickness equipment or their combination；Wherein camera equipment includes visible ray digital vedio recording photographing unit, and/or infrared, and/or far infrared, and/or one or more in thermal infrared camera equipment, measuring of ice thickness equipment includes measuring of ice thickness electric drilling device, and/or sonar surveys one or more in ice thickness equipment.
9. the ice condition supervising system described in claim 8, the preferred small-sized visible ray high-definition digital video camera of wherein said visible ray digital vedio recording camera installation.
10. the ice condition supervising system described in claim 8, wherein said ice regime observation load possesses one or more functional module configuration following:
(1) data storage function module；
(2) data storage function module and wireless data communication function module；
(3) wireless data transmission function module and wireless data communication function module；
(4) with the interface module of unmanned plane body circuit.
11. the ice condition supervising system described in claim 4, wherein said earth station system includes terrestrial wireless flight control system, wireless data receives system, data handling system, data storage and management system, display and delivery system, and unmanned plane manipulation hands and decision-maker therein one or more.
12. claim 1-3,5-7, ice condition supervising system described in 9 and 10 any one, wherein said earth station system includes terrestrial wireless flight control system, wireless data receives system, data handling system, data storage and management system, display and delivery system, and unmanned plane manipulation hands and decision-maker therein one or more.
13. the ice condition supervising system described in claim 12, wherein said wireless data receives system in real time or time delay, and mode wirelessly or non-wirelessly receives the ice condition original observed data of monitoring UAS.
14. the ice condition supervising system described in claim 12, wherein said data handling system completes the post processing of ice regime observation original observed data, obtains the thickness of ice, ice concentration, ice total amount, ice type, ice-like and ice surface temperature.
15. the ice condition supervising system described in claim 12, wherein said data storage and management system completes ice at ground-based server end and asks storage and the data management of original observed data, post processing data and state of flight information.
16. the visualization that the ice condition supervising system described in claim 12, wherein said display and delivery system complete data at ground-based server end is issued with Web or APP.
17. the ice condition supervising system described in claim 12, wherein said unmanned plane manipulation hands is to complete, at unmanned plane, the personnel that unmanned plane distance flight controls when completing automatic mission phase or manual control flight.
18. the ice condition supervising system described in claim 11, the implementation that the wherein said wireless data transmission function module of monitoring unmanned plane body and the wireless control system of earth station system or wireless data receive the wireless communication link that system is set up includes mobile radio communication system, short-distance wireless transmission mode and middle and long distance wireless transmission method.
19. the ice condition supervising system described in claim 12, the implementation that the wherein said wireless data transmission function module of monitoring unmanned plane body and the wireless control system of earth station system or wireless data receive the wireless communication link that system is set up includes mobile radio communication system, short-distance wireless transmission mode and middle and long distance wireless transmission method.
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| CN114993270A (en) * | 2022-05-26 | 2022-09-02 | 中国科学院西北生态环境资源研究院 | Unmanned aerial vehicle thermal melting lake and pond hydrological monitoring system |
| CN114993270B (en) * | 2022-05-26 | 2024-02-02 | 中国科学院西北生态环境资源研究院 | Unmanned aerial vehicle hot melt lake pond hydrologic monitoring system |
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