CN106197380A - Aquatic vegetation monitoring method based on unmanned plane and system - Google Patents
Aquatic vegetation monitoring method based on unmanned plane and system Download PDFInfo
- Publication number
- CN106197380A CN106197380A CN201610800824.6A CN201610800824A CN106197380A CN 106197380 A CN106197380 A CN 106197380A CN 201610800824 A CN201610800824 A CN 201610800824A CN 106197380 A CN106197380 A CN 106197380A
- Authority
- CN
- China
- Prior art keywords
- waters
- unmanned plane
- monitoring
- aquatic vegetation
- radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention discloses a kind of aquatic vegetation monitoring method based on unmanned plane and system.Method comprises the steps: that (10) water plant is generally investigated: unmanned plane flies along setting path above waters, gather millimeter-wave radiation data on the way, and the water plant radiation data in radiation data on the way and positional information are transmitted to ground control cabinet；(20) water plant detailed survey: ground control cabinet is according to water plant radiation data and positional information, the most slightly judge emphasis monitoring waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept, and obtain the radiation image in this waters, shoot the optical imagery in this waters simultaneously, and by radiation image and optical image transmission to ground control cabinet；(30) aquatic vegetation analyze: radiation image is processed by ground control cabinet, and with optical imagery relative analysis, determine the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.System includes the information collecting device (2) being mounted on unmanned plane (1) and is positioned at the control station (3) on ground.The method and system of the present invention, round-the-clock, all weather operations, monitoring accuracy is high.
Description
Technical field
The invention belongs to monitoring water environment technical field, a kind of aquatic vegetation monitoring method based on unmanned plane and
System.
Background technology
Large area region water pollution condition is monitored in real time, is that prevention is illegal, discharges stain disease in violation of rules and regulations, administers in time
Water pollutes, if the water plant of the fast-growth such as cyanophyceae is to one of effective means of pollution of water environment.
Large area region water pollution monitoring is mainly used remote sensing monitoring and unmanned plane monitoring mode.
Water Pollution Monitoring Using Remote Sensing has quick, macroscopical, real-time feature, and its data can intuitively reflect that water pollutes on region
Distribution situation, be the effective way that is monitored of the pollution condition to water field of big area.But there is use cost height, fixed point in it
The problem that monitoring accuracy is inadequate.
Take up an area little, to landform low, the advantages such as ocean weather station observation of can aloft hovering of requirement, in recent years owing to unmanned plane has landing
Coming, water pollution monitoring based on unmanned plane starts application.Such as 2012, total according to maritime patrol Guangdong Province of China by South China Science & Engineering University
The maritime patrol depopulated helicopter of China's first frame independent research that the requirement of team is developed comes into operation, mainly carry photographic head, photographing unit,
The videos such as microwave and image acquisition transmission equipment, carry out real-time aerial image and data dissemination, then relies on data to perform point
The tasks such as ocean law enforcement supervision, environmental monitoring, the environmental conservation in analysis coastal waters, Guangdong.Shanghai Institute of Technical Physics of the Chinese Academy of Sciences designs
Compact Multispectral Imager for UAV so that it is be mounted in unmanned plane SE-1 (ocean explores No. 1) platform, become a kind of flexibly
Motor-driven marine monitoring instrument, for the monitoring of the important events such as marine pollution, red tide discovery, crude oil leakage.
But, existing water pollution monitoring based on unmanned plane all uses light to the pollution condition of the aquatic vegetation of fast-growth
Learn or IR interface.This mode is due to the high-resolution of optical pickocff, higher in sunny precision in daytime, but black
Night, overcast and rainy, haze weather, its monitoring accuracy then declines to a great extent, it is difficult to meets the aquatic vegetation to fast-growth and monitors in real time
Demand.
Summary of the invention
It is an object of the invention to provide a kind of aquatic vegetation monitoring method based on unmanned plane, round-the-clock, round-the-clock work
Making, monitoring accuracy is high.
Another object of the present invention is to provide a kind of aquatic vegetation based on unmanned plane to monitor system, can round-the-clock, complete
Weather, precision height monitoring aquatic vegetation.
The technical solution realizing the object of the invention is:
A kind of aquatic vegetation monitoring method based on unmanned plane, it is characterised in that comprise the steps:
(10) water plant generaI investigation: unmanned plane flies along setting path above waters, gathers millimeter-wave radiation number on the way
According to, and the water plant radiation data in radiation data on the way and positional information are transmitted to ground control cabinet；
(20) water plant detailed survey: ground control cabinet, according to water plant radiation data and positional information, the most slightly judges weight
Point monitoring waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept, and obtain the radiation image in this waters, shoot simultaneously
The optical imagery in this waters, and by radiation image and optical image transmission to ground control cabinet；
(30) aquatic vegetation analyze: radiation image is processed by ground control cabinet, and with optical imagery relative analysis, really
Determine the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
The technical scheme realizing another object of the present invention is:
A kind of aquatic vegetation based on unmanned plane monitoring system, including the information collecting device being mounted on unmanned plane (1)
And be positioned at the control station (3) on ground (2), it is characterised in that:
Described information collecting device (2) gathers millimeter-wave radiation data on the way, and aquatic in radiation data is on the way planted
Thing radiation data and positional information transmit to ground control cabinet；Emphasis monitoring waters is carried out cone sweep；Obtain the radiation in this waters
Image, shoots the optical imagery in this waters simultaneously, and by radiation image and optical image transmission to ground control cabinet；
Described control station (3) ground control cabinet, according to water plant radiation data and positional information, the most slightly judges emphasis prison
Survey waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept；Radiation image is processed, and contrasts with optical imagery
Analyze, determine the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
Compared with prior art, its remarkable advantage is the present invention:
1, round-the-clock, round-the-clock: passive millimeter wave penetration capacity is strong, the present invention uses 3mm radiant image, not by weather and
The impact of period, can round-the-clock, round-the-clock monitoring aquatic vegetation；
2, precision is high: the present invention uses the mode that general census combines with fixed point monitoring, and not only efficiency is high, and precision
The highest.
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the flow chart of present invention aquatic vegetation based on unmanned plane monitoring method.
Fig. 2 is the structured flowchart of present invention aquatic vegetation based on unmanned plane monitoring system.
In figure, unmanned plane 1, information collecting device 2, control station 3,
Millimeter wave radiometer 21, video camera 22, GPS module 23, memorizer 24, on-air radio transport module 25 and aerial control
Molding block 26,
Ground-based wireless transmissions module 31, flight control modules 32, data processing module 33 and display 34.
Detailed description of the invention
As it is shown in figure 1, present invention aquatic vegetation based on unmanned plane monitoring method, it comprises the steps:
(10) water plant generaI investigation: unmanned plane flies along setting path above waters, gathers millimeter-wave radiation number on the way
According to, and the water plant radiation data in radiation data on the way and positional information are transmitted to ground control cabinet；
(20) water plant detailed survey: ground control cabinet, according to water plant radiation data and positional information, the most slightly judges weight
Point monitoring waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept, and obtain the radiation image in this waters, shoot simultaneously
The optical imagery in this waters, and by radiation image and optical image transmission to ground control cabinet；
(30) aquatic vegetation analyze: radiation image is processed by ground control cabinet, and with optical imagery relative analysis, really
Determine the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
Preferably, in described (10) water plant generaI investigation step, millimeter-wave radiation data acquisition 3mm wave band radiometer on the way
Gather.
In described (10) water plant generaI investigation step, water plant radiation data be according to radiation data on the way with build in advance
The Millimeter Wave Radiometric Characteristic data of vertical typical water polluter compare and draw.
Preferably, in described (30) aquatic vegetation analytical procedure, radiation image is carried out process and includes morphology composite filter
Ripple denoising, image enhaucament, image restoration, to obtain characteristics of image.
As in figure 2 it is shown, present invention aquatic vegetation based on unmanned plane monitoring system, including the letter being mounted on unmanned plane 1
Breath harvester 2 and the control station 3 being positioned at ground.
Described information collecting device 2 gathers millimeter-wave radiation data on the way, and by the water plant in radiation data on the way
Radiation data and positional information transmit to ground control cabinet；Emphasis monitoring waters is carried out cone sweep；Obtain the radiation diagram in this waters
Picture, shoots the optical imagery in this waters simultaneously, and by radiation image and optical image transmission to ground control cabinet；
Described control station 3 ground control cabinet, according to water plant radiation data and positional information, the most slightly judges emphasis monitoring
Waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept；Radiation image is processed, and with optical imagery to score
Analysis, determines the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
Preferably, described information collecting device 2 includes millimeter wave radiometer 21, video camera 22, GPS module 23, memorizer
24, on-air radio transport module 25 and aerial control module 26, described aerial control module 26 respectively with millimeter wave radiometer 21,
Video camera 22, GPS module 23, memorizer 24, on-air radio transport module 25 signal are connected；
Described millimeter wave radiometer 21, for gathering the millimeter-wave radiation data in monitoring waters；Gather emphasis monitoring waters
Radiation image；
Described video camera 22, for shooting the optical imagery in emphasis monitoring waters；
Described GPS module 23, for obtaining the positional information of water plant；
Described memorizer 24, is used for storing millimeter-wave radiation data, radiation image and optical imagery on the way；
On-air radio transport module 25, is used for and control station 3 telecommunication, transmission data and flight directive；
Described aerial control module 26, for according to flight directive, makes unmanned plane fly along setting path above waters
Or around emphasis monitoring waters flight or hovering.
Preferably, described millimeter wave radiometer 21 is 3mm wave band radiometer.
Water pollutes imaging and uses 3mm wave band radiometer system with test system, and radiometer requires: wherein 3mm wave band antenna,
Beam angle 0.8 °, antenna aperture 300mm, circular polarisation, sweep limits 180 ° × 120 °；W-waveband radiofrequency low-noise is used to put, frequency
Scope 90-100GHz, noise coefficient 8dB；；Low-frequency amplifier uses DC mode to amplify low frequency signal；Robot scaling equipment uses height
Cold temperature source turns to temperature signal voltage signal；Utilizing the cone mode of sweeping to be scanned imaging, the most often the circle scanning imagery time is little
In 1 second.
Preferably, described control station 3 includes ground-based wireless transmissions module 31, flight control modules 32, data processing module
33 and display 34, described data processing module 33 respectively with ground-based wireless transmissions module 31, flight control modules 32 and display
Device 34 signal is connected；
Described wireless transport module 31, for and information collecting device 2 telecommunication, receive data and send flight and refer to
Order；
Described flight control modules 32, for monitoring waters according to setting path or emphasis, produces flight directive；
Described data processing module 33, for according to water plant radiation data and positional information, the most slightly judges emphasis prison
Survey waters；Radiation image is processed, and with optical imagery relative analysis, determine the distribution, impurely of aquatic vegetation
Point, pollution level；
Described display (34), is used for showing waters map, unmanned plane during flying track, radiometric characteristic control result, optics
Image, the distribution of aquatic vegetation, contaminated sites, pollution level.
The work process of apparatus of the present invention is as follows:
First: before take-off radiometer is carried out high/low temperature calibration；
Second step: unmanned plane takes off to the water surface, after flying height rises to 100m, flies along setting path and starts to gather
Radiation data；
3rd step: whenever the radiation data that the data collected are water plants, wirelessly passed back at that time
GPS position location is to ground control cabinet；
4th step: control station, according to the GPS location received, substantially judges the place needing emphasis to monitor, controls unmanned plane
Flight, to this place, starts that this waters is carried out cone and sweeps, obtain the radiation image in this waters, shoot the optical picture in this waters simultaneously
Picture；
5th step: the optical imagery that the radiation image recorded and shooting obtain is saved in storage system, passes through simultaneously
It is transmitted wirelessly to ground control cabinet；
Data in storage system are derived, power-off power cut-off by the 6th step: unmanned plane flies back ground control cabinet；
Last: comprehensive second step and the 4th step as a result, it is possible to determine contaminated sites and its distribution of aquatic vegetation
Scope and area information, reach the purpose monitored in real time；
Thus study, for management unit, processing method and measure that on the water surface, aquatic vegetation pollutes further and provide section
Learn foundation, and there is feature all-time anf all-weather, normally can work in the case of various poisonous and low visibility.
The effect of the present invention is the method using unmanned aerial vehicle platform to carry millimeter wave radiometer, it is possible to round-the-clock is round-the-clock right
Large area aquatic vegetation pollution condition is monitored in real time, and monitoring information feeds back to control end in time, and controlling end can basis
Water is polluted and adopts an effective measure by the data passed back in real time, in case there is large-area pollution, works the mischief water environment.For inciting somebody to action
The water pollution control come provides scientific basis and experiment to support.This invention is reasonable in design, it is achieved that quick, complete to monitored area
Face, accurately monitoring function, improve the efficiency of monitoring and the real-time of monitoring and intuitive, have in terms of water environment protection
Important social reality meaning and great Applied economy are worth.
Claims (8)
1. an aquatic vegetation monitoring method based on unmanned plane, it is characterised in that comprise the steps:
(10) water plant generaI investigation: unmanned plane flies along setting path above waters, gathers millimeter-wave radiation data on the way, and
Water plant radiation data in radiation data on the way and positional information are transmitted to ground control cabinet；
(20) water plant detailed survey: ground control cabinet, according to water plant radiation data and positional information, the most slightly judges emphasis prison
Survey waters, and control unmanned plane emphasis monitoring waters is carried out cone is swept, and obtain the radiation image in this waters, shoot this water simultaneously
The optical imagery in territory, and by radiation image and optical image transmission to ground control cabinet；
(30) aquatic vegetation analyze: radiation image is processed by ground control cabinet, and with optical imagery relative analysis, determine water
The distribution of raw vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
Aquatic vegetation monitoring method the most according to claim 1, it is characterised in that described (10) water plant generaI investigation step
In, millimeter-wave radiation data acquisition 3mm wave band radiometer gathers on the way.
Aquatic vegetation monitoring method the most according to claim 1, it is characterised in that described (10) water plant generaI investigation step
In, water plant radiation data is the Millimeter Wave Radiometric Characteristic according to radiation data on the way with the typical water polluter set up in advance
Data compare and draw.
Aquatic vegetation monitoring method the most according to claim 1, it is characterised in that described (30) aquatic vegetation analytical procedure
In, radiation image is carried out process and includes morphology compound filter denoising, image enhaucament, image restoration, to obtain characteristics of image.
5. aquatic vegetation based on a unmanned plane monitoring system, including the information collecting device (2) being mounted on unmanned plane (1)
With the control station (3) being positioned at ground, it is characterised in that:
Described information collecting device (2) gathers millimeter-wave radiation data on the way, and by the water plant spoke in radiation data on the way
Penetrate data and positional information transmits to ground control cabinet；Emphasis monitoring waters is carried out cone sweep；Obtain the radiation image in this waters,
Shoot the optical imagery in this waters simultaneously, and by radiation image and optical image transmission to ground control cabinet；
Described control station (3) ground control cabinet, according to water plant radiation data and positional information, the most slightly judges emphasis monitoring water
Territory, and control unmanned plane emphasis monitoring waters is carried out cone is swept；Radiation image is processed, and with optical imagery to score
Analysis, determines the distribution of aquatic vegetation, contaminated sites, pollution level, it is achieved monitor in real time.
Aquatic vegetation the most according to claim 5 monitoring system, it is characterised in that:
Described information collecting device (2) includes millimeter wave radiometer (21), video camera (22), GPS module (23), memorizer
(24), on-air radio transport module (25) and aerial control module (26), described aerial control module (26) respectively with millimeter wave
Radiometer (21), video camera (22), GPS module (23), memorizer (24), on-air radio transport module (25) signal are connected；
Described millimeter wave radiometer (21), for gathering the millimeter-wave radiation data in monitoring waters；Gather emphasis monitoring waters
Radiation image；
Described video camera (22), for shooting the optical imagery in emphasis monitoring waters；
Described GPS module (23), for obtaining the positional information of water plant；
Described memorizer (24), is used for storing millimeter-wave radiation data, radiation image and optical imagery on the way；
On-air radio transport module (25), is used for and control station (3) telecommunication, transmission data and flight directive；
Described aerial control module (26), for according to flight directive, make unmanned plane above waters along setting path flight or
Around emphasis monitoring waters flight or hovering.
Aquatic vegetation the most according to claim 6 monitoring system, it is characterised in that: described millimeter wave radiometer (21) is
3mm wave band radiometer.
Aquatic vegetation the most according to claim 5 monitoring system, it is characterised in that:
Described control station (3) include ground-based wireless transmissions module (31), flight control modules (32), data processing module (33) and
Display (34), described data processing module (33) respectively with ground-based wireless transmissions module (31), flight control modules (32) and
Display (34) signal is connected；
Described wireless transport module (31), for and information collecting device (2) telecommunication, receive data and send flight and refer to
Order；
Described flight control modules (32), for monitoring waters according to setting path or emphasis, produces flight directive；
Described data processing module (33), for according to water plant radiation data and positional information, the most slightly judges emphasis monitoring
Waters；Radiation image is processed, and with optical imagery relative analysis, determine the distribution of aquatic vegetation, contaminated sites,
Pollution level；
Described display (34), be used for showing waters map, unmanned plane during flying track, radiometric characteristic control result, optical imagery,
The distribution of aquatic vegetation, contaminated sites, pollution level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800824.6A CN106197380A (en) | 2016-09-04 | 2016-09-04 | Aquatic vegetation monitoring method based on unmanned plane and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800824.6A CN106197380A (en) | 2016-09-04 | 2016-09-04 | Aquatic vegetation monitoring method based on unmanned plane and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106197380A true CN106197380A (en) | 2016-12-07 |
Family
ID=58066460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610800824.6A Pending CN106197380A (en) | 2016-09-04 | 2016-09-04 | Aquatic vegetation monitoring method based on unmanned plane and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106197380A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875636A (en) * | 2017-04-05 | 2017-06-20 | 南京理工大学 | Blue algae monitoring method for early warning and system based on unmanned plane |
| CN107449881A (en) * | 2017-06-17 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of water environment assessment system based on unmanned plane |
| CN107883927A (en) * | 2017-11-09 | 2018-04-06 | 陕西科技大学 | Quadrotor plant growth inspection system |
| CN109631860A (en) * | 2018-12-27 | 2019-04-16 | 南京理工大学 | Reservoir house refuse monitoring method and system based on unmanned plane |
| CN109668853A (en) * | 2017-10-13 | 2019-04-23 | 中国石油化工股份有限公司 | A kind of atmosphere pollution monitoring system |
| CN110208476A (en) * | 2019-06-01 | 2019-09-06 | 重庆工商大学融智学院 | A kind of Water resources data acquisition system for Ecological Environmental Data analysis |
| CN110683653A (en) * | 2019-11-21 | 2020-01-14 | 广州国苑规划设计有限公司 | Method for treating aquatic plant sewage |
| CN110850489A (en) * | 2019-11-15 | 2020-02-28 | 南京理工大学 | Electromagnetic wave detection method and device for underground metal pipeline |
| CN111122570A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle |
| CN111208574A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Snow target searching method and device based on unmanned aerial vehicle |
| CN111432634A (en) * | 2017-10-10 | 2020-07-17 | 巴斯夫欧洲公司 | Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system |
| CN114460099A (en) * | 2022-02-11 | 2022-05-10 | 软通智慧信息技术有限公司 | Unmanned aerial vehicle-based water hyacinth monitoring method and device, unmanned aerial vehicle and medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076810A (en) * | 2013-01-16 | 2013-05-01 | 上海大学 | Portable miniature ground mobile workstation for unmanned aerial vehicle |
| CN103630238A (en) * | 2013-11-22 | 2014-03-12 | 中国科学院南京地理与湖泊研究所 | Spectrum collecting system for water surface imaging of shallow lake and synchronous automatic monitoring method |
| CN104034270A (en) * | 2014-06-12 | 2014-09-10 | 江苏恒创软件有限公司 | Water surface oil fouling monitoring method and device based on unmanned plane |
| CN104168488A (en) * | 2014-08-29 | 2014-11-26 | 北京奇艺世纪科技有限公司 | Video transcoding method and device |
| CN104618689A (en) * | 2015-01-19 | 2015-05-13 | 环境保护部卫星环境应用中心 | Method and system for monitoring offshore oil spillage based on UAV |
-
2016
- 2016-09-04 CN CN201610800824.6A patent/CN106197380A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076810A (en) * | 2013-01-16 | 2013-05-01 | 上海大学 | Portable miniature ground mobile workstation for unmanned aerial vehicle |
| CN103630238A (en) * | 2013-11-22 | 2014-03-12 | 中国科学院南京地理与湖泊研究所 | Spectrum collecting system for water surface imaging of shallow lake and synchronous automatic monitoring method |
| CN104034270A (en) * | 2014-06-12 | 2014-09-10 | 江苏恒创软件有限公司 | Water surface oil fouling monitoring method and device based on unmanned plane |
| CN104168488A (en) * | 2014-08-29 | 2014-11-26 | 北京奇艺世纪科技有限公司 | Video transcoding method and device |
| CN104618689A (en) * | 2015-01-19 | 2015-05-13 | 环境保护部卫星环境应用中心 | Method and system for monitoring offshore oil spillage based on UAV |
Non-Patent Citations (1)
| Title |
|---|
| 李贝贝: "基于毫米波辐射特性的水面植被检测方法", 《计算机测量与控制》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106875636A (en) * | 2017-04-05 | 2017-06-20 | 南京理工大学 | Blue algae monitoring method for early warning and system based on unmanned plane |
| CN107449881A (en) * | 2017-06-17 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of water environment assessment system based on unmanned plane |
| CN111432634A (en) * | 2017-10-10 | 2020-07-17 | 巴斯夫欧洲公司 | Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system |
| CN109668853A (en) * | 2017-10-13 | 2019-04-23 | 中国石油化工股份有限公司 | A kind of atmosphere pollution monitoring system |
| CN107883927A (en) * | 2017-11-09 | 2018-04-06 | 陕西科技大学 | Quadrotor plant growth inspection system |
| CN109631860A (en) * | 2018-12-27 | 2019-04-16 | 南京理工大学 | Reservoir house refuse monitoring method and system based on unmanned plane |
| CN110208476A (en) * | 2019-06-01 | 2019-09-06 | 重庆工商大学融智学院 | A kind of Water resources data acquisition system for Ecological Environmental Data analysis |
| CN110850489A (en) * | 2019-11-15 | 2020-02-28 | 南京理工大学 | Electromagnetic wave detection method and device for underground metal pipeline |
| CN110683653A (en) * | 2019-11-21 | 2020-01-14 | 广州国苑规划设计有限公司 | Method for treating aquatic plant sewage |
| CN110683653B (en) * | 2019-11-21 | 2021-11-09 | 广州国苑规划设计有限公司 | Method and device for treating aquatic plant sewage |
| CN111122570A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle |
| CN111208574A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Snow target searching method and device based on unmanned aerial vehicle |
| CN114460099A (en) * | 2022-02-11 | 2022-05-10 | 软通智慧信息技术有限公司 | Unmanned aerial vehicle-based water hyacinth monitoring method and device, unmanned aerial vehicle and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106197380A (en) | Aquatic vegetation monitoring method based on unmanned plane and system | |
| CN106875636A (en) | Blue algae monitoring method for early warning and system based on unmanned plane | |
| CN107449780A (en) | Waterborne contaminant monitoring and pre-alarming method and system based on unmanned plane | |
| CN206113932U (en) | Aquatic vegetation monitoring system based on unmanned aerial vehicle | |
| CN107728136A (en) | A kind of airfield runway monitoring foreign bodies and removing guiding system and method | |
| CN105389921B (en) | A kind of monitoring system and method for airfield runway foreign matter | |
| CN106335646A (en) | Interference-type anti-UAV (Unmanned Aerial Vehicle) system | |
| CN104132830A (en) | Unmanned aerial vehicle-based air acquiring device and method | |
| KR102115542B1 (en) | Management system for pond of golf course using pilotless aircraft | |
| EA037035B1 (en) | Method for agricultural monitoring | |
| CN105046909A (en) | Agricultural loss assessment assisting method based on small-sized unmanned aerial vehicle | |
| CN104730005A (en) | Ground-air integrated agricultural monitoring system and method | |
| CN111562576A (en) | Airport runway foreign matter detection system and method | |
| CN206990108U (en) | A kind of fiery cigarette monitoring system based on unmanned plane | |
| CN109631860A (en) | Reservoir house refuse monitoring method and system based on unmanned plane | |
| US20180348760A1 (en) | Automatic Change Detection System | |
| CN111122570A (en) | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle | |
| CN106940734A (en) | A kind of Migrating Insects monitor recognition methods and device in the air | |
| CN105759838A (en) | Plant growth condition monitoring device and method based on unmanned aerial vehicle | |
| CN110889327A (en) | Intelligent detection method for sewage draining exit around water area based on thermal infrared image | |
| CN108801350A (en) | A kind of fruit tree growth monitoring system based on unmanned plane Technology of low altitude remote sensing | |
| CN110413002B (en) | Unmanned aerial vehicle remote sensing information acquisition method and device | |
| CN106290080A (en) | The meteorological air-ground supervising device of airborne dust | |
| CN211477203U (en) | Refined monitoring equipment system based on high-resolution remote sensing image | |
| CN205175455U (en) | Tobacco field remote sensing monitoring unmanned aerial vehicle system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Guangfeng Inventor after: Zhou Luyan Inventor after: Liu Jing Inventor before: Zhang Guangfeng Inventor before: Zhou Luyan Inventor before: Liu Jing |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161207 |