CN106135188A - A kind of Intelligent Composite bird-repeller system based on depopulated helicopter and method - Google Patents
A kind of Intelligent Composite bird-repeller system based on depopulated helicopter and method Download PDFInfo
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- CN106135188A CN106135188A CN201510140515.6A CN201510140515A CN106135188A CN 106135188 A CN106135188 A CN 106135188A CN 201510140515 A CN201510140515 A CN 201510140515A CN 106135188 A CN106135188 A CN 106135188A
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- bird
- depopulated helicopter
- flight
- bird dispelling
- flight control
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Abstract
The present invention relates to a kind of Intelligent Composite bird-repeller system based on depopulated helicopter, including depopulated helicopter, flight control system, airborne compound bird-repeller system, radio remote controller and ground command system；Depopulated helicopter is provided with flight control system, airborne compound bird-repeller system, with ground command system radio communication；Radio remote controller and flight control system radio communication；Its method includes: ground command system controls ground command system after depopulated helicopter arrives appointment region and controls depopulated helicopter hovering or autonomous cruise; and the video image of real-time reception airborne combination flooding bird system acquisition, and send bird dispelling order to flight control system according to the birds classification in video image and surrounding enviroment；Flight control system controls bird dispelling controller according to bird dispelling order and drives airborne compound bird-repeller system sounding, luminescence, transmitting ultrasound wave.The advantages such as the present invention has intelligent height, and bird dispelling scope is big, and maneuverability is strong, and bird dispelling is thorough.
Description
Technical field
The present invention relates to a kind of Intelligent Composite bird-repeller system and method, specifically with unmanned helicopter system
For bird dispelling signal vehicle, integrate the intelligent bird-repeller system of the multiple bird dispelling means such as sound, light and ultrasound wave
System and method.
Background technology
At present, a kind of energy is not the most also had to solve full spatial domain, the hands of the all-round bird dispelling of full time period
Section.Domestic and international existing scarecrow device is mostly ground scarecrow device, and ground scarecrow device has the disadvantage that
The scope of bird dispelling is extremely limited, and the particularly traffic altitude of bird dispelling is the lowest, and better purifying space is extremely limited；Drive
It is slow that bird equipment moves comparison, underaction, and intelligent poor；When ground, bird-repeller system just begins to use
Time, effect is preferable, but As time goes on, birds can gradually adapt to, and now, effect on driving birds is very
Undesirable；During the bird-repeller system work of ground, birds can leave ground certain altitude, owing to not having Driving Birds in Air
System, when ground bird-repeller system quits work, birds can come back to again ground, simultaneously as birds
The height stopped is the highest, adds the probability that bird is hit on the contrary.Therefore, a kind of aerial Intelligent Composite of invention is driven
Bird system is the trend of the times of bird dispelling technology trend.
Summary of the invention
For the above-mentioned problems in the prior art, the technical problem to be solved in the present invention is to provide a kind of base
In Intelligent Composite bird-repeller system and the method for depopulated helicopter, having intelligent height, bird dispelling scope is big, motor-driven
The advantages such as motility is strong, and bird dispelling is thorough.
The technical scheme is that a kind of intelligence based on depopulated helicopter of the present invention
Compound bird-repeller system, including depopulated helicopter, flight control system, airborne compound bird-repeller system, radio
Remote controller and ground command system；Flight control system, airborne compound bird-repeller system are arranged at nobody and go straight up to
On machine, with ground command system radio communication；Radio remote controller and flight control system radio communication；
Flight control system is used for controlling depopulated helicopter landing and flight, and by ground command system transmission
Bird dispelling order sends to airborne compound bird-repeller system；
Airborne compound bird-repeller system be used for gathering video image and according to bird dispelling order carry out sounding, luminescence,
Launch ultrasound wave；
Ground command system, for monitoring the state of flight of depopulated helicopter, sends flight to flight control system
Instruction, and the video image of real-time reception airborne combination flooding bird system acquisition, and according in video image
Birds classification and surrounding enviroment launch bird dispelling order to flight control system.
Described airborne compound bird-repeller system includes video acquisition device, bird dispelling controller and connected drives
Bird sound-producing device, bird dispelling light-emitting device, bird dispelling ultrasonic transmission device；
Video acquisition device is installed on the open The Cloud Terrace that depopulated helicopter carries, for ground control being
System is acquired being wirelessly transferred of image；
Bird dispelling controller controls bird dispelling sound-producing device for the order transmitted according to flight control system and sends sound
Sound, bird dispelling light-emitting device are luminous, bird dispelling ultrasonic transmission device launches ultrasound wave.
Equipped with GPS/ magnetic compass module, Inertial Measurement Unit, body on described depopulated helicopter body
State monitoring module and radio data-transmission equipment, be all connected with flight control system；Wherein GPS/ magnetic compass
Module is installed on the afterbody of depopulated helicopter, and IMU module is installed on the position of centre of gravity of depopulated helicopter.
A kind of Intelligent Composite bird dispelling method based on depopulated helicopter, comprises the following steps:
Start flight control system and ground command system, open wireless data link between the two；
Confirm GPS/ magnetic compass transmission module, IMU module, fuselage state monitoring modular and radio data-transmission equipment work
Make normal；
Ground command system controls depopulated helicopter and takes off, and flies to bird dispelling region and by ground control be
System monitors the state of depopulated helicopter in real time；
Arrive and complete depopulated helicopter by manual offline mode to half independently by Digiplex after specifying region
Switching between offline mode, depopulated helicopter enters floating state；By ground command system real-time reception
The video image of airborne compound bird dispelling system acquisition, and according to the birds classification in video image and appointment region
Environment launch bird dispelling order to flight control system；Flight control system controls bird dispelling control according to bird dispelling order
The airborne compound bird-repeller system sounding of device processed, luminescence, transmitting ultrasound wave.
The unmanned helicopter flight flight path set according to ground command system, completes nothing by ground command system
People's helicopter is carried out independently by the switching half autonomous flight pattern to autonomous flight pattern, depopulated helicopter
Flight, flight control system controls the airborne compound bird-repeller system of bird dispelling controller according to the bird dispelling order set
Sounding, luminescence, transmitting ultrasound wave.
The invention have the advantages that and advantage:
1, the system of the present invention is Driving Birds in Air system, is possible not only to birds are expelled ground, it is also possible at sky
In birds are dispersed, bird dispelling scope is big, and bird dispelling is thorough.
2, the carrier of native system is depopulated helicopter, has that stability is strong, maneuverability good, it is possible to achieve
Aerial autonomous hovering, cruise, safe and reliable in flight course, it is possible to adapt to environment complicated and changeable.
The flapping action of rotor itself can also cause the change of peripheral gas flow, reaches the purpose of bird dispelling.
3, compound bird-repeller system includes multiple bird dispelling signal generation apparatus, can tackle various complex external situation,
Take different combination bird dispelling plans, birds are realized three-dimensional and drives away.
4, the present invention has multiple steer mode, it is possible to achieve over the horizon autonomous flight, intelligence degree completely
Height is low to manipulation personnel requirement.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the structural representation of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
Intelligent Composite bird-repeller system based on depopulated helicopter, mainly includes that depopulated helicopter, flight control system
System, airborne compound bird-repeller system, radio remote controller and ground command system.Intelligent Composite bird-repeller system
Including manually flying, Semi-automatic flight, three kinds of mode of operations of autonomous flight.Switching between three kinds of mode of operations
Jointly completed by radio remote controller and ground command system.Wherein depopulated helicopter can use rotor unmanned
Helicopter.
Flight control system and compound bird-repeller system are installed on depopulated helicopter.Wherein flight control system peace
Being loaded on the medium position of depopulated helicopter, compound bird-repeller system is installed on the forward position of depopulated helicopter.
Be provided with on depopulated helicopter body GPS/ magnetic compass module, IMU module (Inertial Measurement Unit),
Fuselage state monitoring modular and radio data-transmission equipment.Described GPS/ magnetic compass module, IMU module, machine
Body state monitoring module and radio data-transmission equipment are connected with flight control system by serial communication interface,
Described flight control system can realize the Real-time Collection to unmanned helicopter flight data.
Flight control system carries out communication with ground command system by radio data-transmission equipment, and flight controls
System can by Real-time Collection to flying quality be transferred to ground command system, thus realize nobody is gone straight up to
The state of flight monitoring of machine.
Ground command system under Intelligent Composite bird-repeller system is operated in Semi-automatic flight and autonomous flight pattern,
The control to depopulated helicopter is realized by radio data-transmission equipment.Radio remote controller in manually flight and
Under Semi-automatic flight mode of operation, depopulated helicopter is controlled.
Compound bird-repeller system includes that video acquisition device, bird dispelling controller, bird dispelling sound-producing device, bird dispelling are luminous
Device, bird dispelling ultrasonic transmission device.Video acquisition device is installed on the open cloud that depopulated helicopter carries
On platform, can 360 degree of rotations, video acquisition device by image wireless transmission equipment by image transmitting to ground
Command system, and intuitively shown by the display screen on ground command system.
Bird dispelling controller can control bird dispelling sound-producing device, bird dispelling light-emitting device, bird dispelling ultrasonic transmission device.
Described bird dispelling controller is connected with flight control system by serial communication interface, and control command is integrated into ground
In wireless data link between command system and flight control system.
Real time imaging can be transferred to ground control by video acquisition device by airborne compound bird-repeller system
System, ground command system is by the surrounding enviroment information obtained and drives away the classification of birds by bird dispelling controller
Start corresponding bird dispelling signal generation apparatus, reach the purpose of bird dispelling.
As it is shown in figure 1, Intelligent Composite bird-repeller system based on depopulated helicopter mainly include depopulated helicopter,
Flight control system, airborne compound bird-repeller system, radio remote controller and ground command system.Wherein,
Airborne compound bird-repeller system includes that video acquisition device, bird dispelling controller, bird dispelling sound-producing device, bird dispelling are luminous
Device, bird dispelling ultrasonic transmission device.
Flight control system is communicated wirelessly by radio data-transmission equipment with ground command system, flight
Control system can by Real-time Collection to flying quality be transferred to ground control by radio data-transmission equipment
System, and intuitively shown by the display screen being equipped with on ground command system, thus realize unmanned
The real-time monitoring of the state of flight of helicopter.Ground command system again may be by radio data-transmission equipment
Send control command to flight control system, reach to control the purpose of depopulated helicopter.Flight control system is also
Log equipment (flight recorder) is installed, the flying quality of depopulated helicopter can be recorded, work as system
When occurring abnormal, can research and analyse for the data of record.
Intelligent Composite bird-repeller system possesses three kinds of mode of operations: manually flight, Semi-automatic flight, autonomous flight.
Switching between three kinds of mode of operations is completed jointly by radio remote controller and ground command system.Wireless remotecontrol
Device controls depopulated helicopter under manual offline mode, the manual offline mode of radio remote controller completion system and
Switching between Semi-automatic flight pattern.Under Semi-automatic flight pattern, depopulated helicopter can independently hover in
In the air, now depopulated helicopter all can be controlled by radio remote controller and ground command system.Ground refers to
Wave the switching between system completion system Semi-automatic flight pattern and autonomous flight pattern.Ground command system leads to
Cross wireless data link and assign aerial mission to flight control system, control depopulated helicopter and carry out autonomous flight,
Including autonomous landing, over the horizon autonomous flight.
As in figure 2 it is shown, flight control system 3 is installed on the medium position of depopulated helicopter, airborne combination flooding
Bird system 4～8 is installed on the forward position of depopulated helicopter.
Equipped with GPS/ magnetic compass module 1, IMU module 2, fuselage state monitoring mould on depopulated helicopter body
Block and radio data-transmission equipment.GPS/ magnetic compass module 1, IMU module 2, fuselage state monitoring modular and
Radio data-transmission equipment is all connected with flight control system by serial communication interface.Wherein GPS/ magnetic compass
Module 1 is installed on the afterbody of depopulated helicopter, and IMU module is installed on depopulated helicopter position of centre of gravity.Body shape
State monitoring modular 2 includes liquid level sensor, temperature sensor and speed probe, can measure unmanned in real time
The oil mass of helicopter, temperature, engine speed.GPS/ magnetic compass transmission module 1, IMU module 2, body shape
The real-time flight data collected is sent to flight control system by serial communication by state monitoring modular.
Airborne compound bird-repeller system includes video acquisition device 4, bird dispelling controller, bird dispelling sound-producing device 5, drives
Bird light-emitting device 6, bird dispelling ultrasonic transmission device 7.Wherein, video acquisition device 4 is installed on nobody and goes straight up to
On the open The Cloud Terrace 8 that machine carries, this open The Cloud Terrace 8 can be with 360 degree of rotations, it is ensured that video acquisition fills
Put no visual dead angle.Real time imaging is transferred to ground by image wireless transmission equipment by video acquisition device 4
Command system, and real-time pictures is intuitively shown on the display screen of ground command system, to reach aloft
The purpose of the existence of monitoring ground and aerial birds in real time.Scarer controller control bird dispelling sound-producing device 5,
Bird dispelling light-emitting device 6, bird dispelling ultrasonic transmission device 7.Scarer controller by serial communication interface with
Flight control system connects, and control command is integrated into the data between flight control system and ground command system
In link.Image can be processed by ground command system according to the real-time video information obtained, it is judged that
Go out the specific category of birds to be driven away, choose different bird dispelling plans for the birds classification obtained, then
Send instruction to flight control system, thus started corresponding bird dispelling signal generation apparatus by bird dispelling controller,
To reach the purpose of bird dispelling.For example, it is possible to different according to monitoring the classification driving away birds, control bird dispelling and send out
Acoustic device sends the cry of this kind of birds natural enemy, to drive away birds.
Specific works process: first start flight control system and ground command system, open between the two
Wireless data link.The real time data of the depopulated helicopter shown according to ground command system confirms
GPS/ magnetic compass module, IMU module, fuselage state monitoring modular and radio data-transmission equipment are working properly.
Then start depopulated helicopter, monitored the state of depopulated helicopter by ground command system in real time, determine shape
After state is without exception, controls depopulated helicopter and take off, and fly to the region needing bird dispelling.Arrive and specify region
After, by Digiplex complete depopulated helicopter by manual offline mode to half autonomous flight pattern
Switching, now, depopulated helicopter enters floating state, and radio remote controller and ground command system can
Control the attitude of depopulated helicopter.At this moment can be by controlling depopulated helicopter and its open cloud carried
Platform carries out video acquisition operation, and by radio communication, the video collected is sent to ground command system,
Image can be processed in real time by ground command system according to the real-time video information obtained, according to driving away birds
The difference of classification chooses different bird dispelling plans, and starts different bird dispelling sound-producing device by ground command system,
Birds are driven away.
Further, it is also possible to formulated the autonomous Track In Track aerial mission of depopulated helicopter by ground command system
And draw out the flight path of required flight.Then depopulated helicopter is completed by ground command system autonomous by half
Offline mode, to the switching between autonomous flight pattern, controls depopulated helicopter and carries out autonomous Track In Track flight,
So can expand bird dispelling region area, strengthen effect on driving birds.Simultaneously need to it is real-time by ground command system
The state of flight of ground monitoring depopulated helicopter and flight position, when needs terminate autonomous Track In Track flight,
Carrying out terminated task by ground command system, now, depopulated helicopter enters floating state.When completing
After bird dispelling task, depopulated helicopter can be controlled by radio remote controller or ground command system and land.
Claims (5)
1. an Intelligent Composite bird-repeller system based on depopulated helicopter, it is characterised in that: include depopulated helicopter,
Flight control system, airborne compound bird-repeller system, radio remote controller and ground command system；Flight control
System processed, airborne compound bird-repeller system are arranged on depopulated helicopter, with ground command system radio communication；
Radio remote controller and flight control system radio communication；
Flight control system is used for controlling depopulated helicopter landing and flight, and by ground command system transmission
Bird dispelling order sends to airborne compound bird-repeller system；
Airborne compound bird-repeller system be used for gathering video image and according to bird dispelling order carry out sounding, luminescence,
Launch ultrasound wave；
Ground command system, for monitoring the state of flight of depopulated helicopter, sends flight to flight control system
Instruction, and the video image of real-time reception airborne combination flooding bird system acquisition, and according in video image
Birds classification and surrounding enviroment launch bird dispelling order to flight control system.
A kind of Intelligent Composite bird-repeller system based on depopulated helicopter the most according to claim 1, its feature exists
Include video acquisition device, bird dispelling controller in: described airborne compound bird-repeller system and connected drive
Bird sound-producing device, bird dispelling light-emitting device, bird dispelling ultrasonic transmission device；
Video acquisition device is installed on the open The Cloud Terrace that depopulated helicopter carries, for ground control being
System is acquired being wirelessly transferred of image；
Bird dispelling controller controls bird dispelling sound-producing device for the order transmitted according to flight control system and sends sound
Sound, bird dispelling light-emitting device are luminous, bird dispelling ultrasonic transmission device launches ultrasound wave.
A kind of Intelligent Composite bird-repeller system based on depopulated helicopter the most according to claim 1, its feature exists
In: equipped with GPS/ magnetic compass module, Inertial Measurement Unit, body on described depopulated helicopter body
State monitoring module and radio data-transmission equipment, be all connected with flight control system；Wherein GPS/ magnetic compass
Module is installed on the afterbody of depopulated helicopter, and IMU module is installed on the position of centre of gravity of depopulated helicopter.
A kind of Intelligent Composite bird dispelling method based on depopulated helicopter the most according to claim 1, its feature exists
In comprising the following steps:
Start flight control system and ground command system, open wireless data link between the two；
Confirm GPS/ magnetic compass transmission module, IMU module, fuselage state monitoring modular and radio data-transmission equipment work
Make normal；
Ground command system controls depopulated helicopter and takes off, and flies to bird dispelling region and by ground control be
System monitors the state of depopulated helicopter in real time；
Arrive and complete depopulated helicopter by manual offline mode to half independently by Digiplex after specifying region
Switching between offline mode, depopulated helicopter enters floating state；By ground command system real-time reception
The video image of airborne compound bird dispelling system acquisition, and according to the birds classification in video image and appointment region
Environment launch bird dispelling order to flight control system；Flight control system controls bird dispelling control according to bird dispelling order
The airborne compound bird-repeller system sounding of device processed, luminescence, transmitting ultrasound wave.
A kind of Intelligent Composite bird dispelling method based on depopulated helicopter the most according to claim 1, its feature exists
In: the unmanned helicopter flight flight path set according to ground command system, complete nothing by ground command system
People's helicopter is carried out independently by the switching half autonomous flight pattern to autonomous flight pattern, depopulated helicopter
Flight, flight control system controls the airborne compound bird-repeller system of bird dispelling controller according to the bird dispelling order set
Sounding, luminescence, transmitting ultrasound wave.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510140515.6A CN106135188A (en) | 2015-03-27 | 2015-03-27 | A kind of Intelligent Composite bird-repeller system based on depopulated helicopter and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510140515.6A CN106135188A (en) | 2015-03-27 | 2015-03-27 | A kind of Intelligent Composite bird-repeller system based on depopulated helicopter and method |
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| CN106135188A true CN106135188A (en) | 2016-11-23 |
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| CN201510140515.6A Pending CN106135188A (en) | 2015-03-27 | 2015-03-27 | A kind of Intelligent Composite bird-repeller system based on depopulated helicopter and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106577625A (en) * | 2016-12-23 | 2017-04-26 | 广州市金稻农业科技有限公司 | Sound wave insect-expelling sterilizing virus-inhibiting and killing system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101192064A (en) * | 2006-11-24 | 2008-06-04 | 中国科学院沈阳自动化研究所 | Small-sized depopulated helicopter independent flight control system |
| CN203692294U (en) * | 2014-02-12 | 2014-07-09 | 冯伟 | Ultrasonic bird repelling unmanned aerial vehicle |
| CN104186458A (en) * | 2014-08-11 | 2014-12-10 | 江苏恒创软件有限公司 | Orchard bird trouble prevention and treatment method based on unmanned aerial vehicle |
-
2015
- 2015-03-27 CN CN201510140515.6A patent/CN106135188A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101192064A (en) * | 2006-11-24 | 2008-06-04 | 中国科学院沈阳自动化研究所 | Small-sized depopulated helicopter independent flight control system |
| CN203692294U (en) * | 2014-02-12 | 2014-07-09 | 冯伟 | Ultrasonic bird repelling unmanned aerial vehicle |
| CN104186458A (en) * | 2014-08-11 | 2014-12-10 | 江苏恒创软件有限公司 | Orchard bird trouble prevention and treatment method based on unmanned aerial vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106577625A (en) * | 2016-12-23 | 2017-04-26 | 广州市金稻农业科技有限公司 | Sound wave insect-expelling sterilizing virus-inhibiting and killing system |
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Application publication date: 20161123 |
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