CN106526116A - Water area environment monitoring aircraft and monitoring method thereof - Google Patents
Water area environment monitoring aircraft and monitoring method thereof Download PDFInfo
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- CN106526116A CN106526116A CN201610988710.9A CN201610988710A CN106526116A CN 106526116 A CN106526116 A CN 106526116A CN 201610988710 A CN201610988710 A CN 201610988710A CN 106526116 A CN106526116 A CN 106526116A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 62
- 238000012544 monitoring process Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims description 23
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000000498 cooling water Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 7
- 239000003643 water by type Substances 0.000 claims description 6
- 238000013480 data collection Methods 0.000 claims description 3
- 238000007654 immersion Methods 0.000 claims description 3
- 239000007789 gas Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004078 waterproofing Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000012773 Laboratory assay Methods 0.000 description 1
- 239000005422 algal bloom Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K2219/00—Thermometers with dedicated analog to digital converters
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Medicinal Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Food Science & Technology (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a water area environment monitoring aircraft and a monitoring method thereof. The water area environment monitoring aircraft comprises an aircraft body, wherein the aircraft body is provided with an attitude sensor and a digital compass, a control module and a wireless transmission module are arranged at the upper portion of the aircraft body, an environment data acquisition module and a waterproof camera are arranged at the lower portion of the aircraft body, and a floating plate is further installed at the lower portion of the aircraft body. The attitude sensor, the digital compass, the wireless transmission module, the environment data acquisition module and the waterproof camera are connected with the control module, and the waterproof camera is connected with the wireless transmission module. An air pressure gauge is further installed on the aircraft body and is connected with the control module. The water area environment monitoring aircraft is simple in structure, convenient to control and capable of efficiently, flexibly and economically achieving water area environment monitoring.
Description
Technical field
The invention belongs to environmental monitoring technology field, more particularly to a kind of water environment monitoring aircraft and its monitoring side
Method.
Background technology
Water is one of indispensable important substance resource that the mankind depend on for existence and development, but recently as social Jing
The development and industrialization of Ji, the quickening of urbanization process, human simple pursues the activity of economic interests makes rivers and lakes just meet with
Destroyed by different degrees of by severe contamination, aquatic ecosystem, algal bloom, water transparency decline, aquatic plant
Thing is gradually withered away, and with serious pollution lake there is also water body and black or wawter bloom occur.Water environment pollution has had influence on people's life
Every aspect living, and the increasingly enhanced environmental consciousness of people is put forward higher requirement to fwaater resources protection, therefore, control source is cut
Dirt, strengthens environment monitoring capability, lifts rivers and lakes management level to safeguard river lake healthy life, ensures the sustainable profit of water resource
With being a urgent vital task.
At this stage, conventional water area monitoring means have：Artificial sample, laboratory assays, remote sensing monitoring technology, aquatic organism
Monitoring water quality technology, unmanned plane etc..These monitoring methods respectively have pluses and minuses, wherein for artificial sample, lab analysis
Method, there are problems that data acquisition is slow, monitoring process is loaded down with trivial details and；Remote sensing technology has that detection accuracy is low, expense
The problems such as using high；Aquatic organism is monitored, the water quality situation being only capable of near reaction test website；Unmanned plane, with flexible, motor-driven
Performance, but environmental monitoring can only be carried out from visual angle.
The content of the invention
The purpose of the present invention is for above-mentioned deficiency, there is provided a kind of water environment monitoring aircraft and its monitoring method.
For solving upper problem, the technical solution adopted in the present invention is：A kind of water environment monitors aircraft, including flight
Device main body, the aircraft body carry attitude transducer and digital compass, and the top of the aircraft body is provided with control
Module and wireless transport module, the bottom of the aircraft body are provided with environmental data collecting module and water-proof CCD camera, institute
The bottom for stating aircraft body is also equipped with kickboard；The attitude transducer, digital compass, wireless transport module, environmental data
Acquisition module and water-proof CCD camera are connected with control module, and the water-proof CCD camera is connected with wireless transport module；It is described to fly
Barometer is also equipped with row device main body, and the barometer is connected with control module.
Further, the wireless transport module is by wireless data transfer module, wireless image-sound transport module and wireless
Communication module is constituted, and the wireless data transfer module and wireless communication module are connected with control module, the wireless image-sound
Transport module is connected with water-proof CCD camera.
Further, the environmental data collecting module includes cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensing
Device.
Further, the control module and wireless transport module are arranged in waterproof sealing cabin, the waterproof sealing cabin
It is fixed on the top of aircraft body.
Further, the environmental data collecting module is connected with aircraft body by expansion link with water-proof CCD camera.
Further, also including support, the kickboard is connected with the lower end of aircraft body by support.
Further, LED is housed around the camera lens of the water-proof CCD camera, the LED is connected with control module.
The method that water area monitoring is carried out using above-mentioned water environment monitoring aircraft, the water area monitoring method are specially：
(1) when aircraft flight above waters, water-proof CCD camera carries out real time image collection to the water surface, and passes through nothing
Line audio-visual transmission module passes ground control centre back；
(2) after aircraft flies to specified waters, which lands in the water surface and water skiing flight, environmental data collecting module with it is anti-
In water photographic head immersion water, water-proof CCD camera carries out real-time underwater picture collection, and passes through wireless image-sound transport module by image
Pass control centre back, while cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensor carry out water quality data collection, and pass through
Wireless data transfer module passes data back control centre.
Beneficial effects of the present invention are as follows：The present invention by by environmental data collecting module, water-proof CCD camera, be wirelessly transferred
Module, kickboard are combined with quadrotor, and the sealed compartment using lightweight carries out the water-proofing treatment of electronic equipment, load knot
The stretching and compression of structure, realizes the water surface, underwater all-dimensional solid water environment monitoring.Present configuration is simple, easy to control,
The monitoring for realizing water environment that can efficiently, flexibly, economic.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the schematic diagram that the present invention lands on the ground；
Fig. 3 is the system composition structured flowchart of the present invention；
In figure：It is aircraft body 1, kickboard 2, support 3, environmental data collecting module and water-proof CCD camera 4, expansion link 5, close
Batten down 6.
Specific embodiment
The present invention is described in further details with reference to specific embodiment and accompanying drawing, but the present invention is not only limited to
It is secondary.
As Figure 1-3, the present invention provides a kind of water environment and monitors aircraft, including aircraft body 1 (including spiral
Oar, brshless DC motor, electricity are adjusted), the aircraft body 1 carries attitude transducer and digital compass, the aircraft body 1
Top be provided with control module and wireless transport module, the bottom of the aircraft body 1 is provided with environmental data collecting mould
Block and water-proof CCD camera 4, the bottom of the aircraft body 1 are also equipped with kickboard 2；The attitude transducer, digital compass, nothing
Line transport module, environmental data collecting module and water-proof CCD camera are connected with control module, the water-proof CCD camera with it is wireless
Transport module is connected；Barometer is also equipped with the aircraft body, and the barometer is connected with control module；The control mould
Block is microcontroller (MCU), can adopt the product of Fuji Tsu's MB9B120M models, but not limited to this；MCU passes through I2C
Bus is connected with attitude transducer, barometer, digital compass；Attitude transducer includes three axis accelerometer, three-axis gyroscope, can
With using MPU6050 model chips, but not limited to this；Barometer can adopt MS5611 model chips, but not limited to this；Numeral
Compass can adopt HMC5883L model chips, but not limited to this；Through attitude algorithm, MCU is passed through using Flight Control Algorithm
Electricity adjusts the brshless DC motor to aircraft to carry out real-time control, and receives ground control centre transmission by wireless communication module
Pulse position signal (PPM) constantly adjustment attitude and flight path, realize neatly water area monitoring.
Further, the wireless transport module is by wireless data transfer module, wireless image-sound transport module and wireless
Communication module is constituted, and the wireless data transfer module and wireless communication module are connected with control module, the wireless image-sound
Transport module is connected with water-proof CCD camera；Wherein wireless image-sound transport module is used for the transmission of water-proof CCD camera image, can adopt
With the 2.4G wireless transport modules of ANTEMA brands, but not limited to this；Wireless environment data transmission module be used for cooling-water temperature sensor,
The water quality data transmission that acidity-basicity sensor, dissolved oxygen sensor are measured, can adopt communications band for the CC1101 of 433MHz
Module, but not limited to this；Wireless communication module is used for underwater acoustic remote control of the ground control centre to aircraft, can adopt
NRF2401 wireless modules, but not limited to this.
Further, the environmental data collecting module includes cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensing
Device；Wherein cooling-water temperature sensor is connected with the common I/O port of MCU, can be popped one's head in using the DS18b20 water temperatures of good seal, but not
It is limited to this；Acidity-basicity sensor and dissolved oxygen sensor are connected with the ADC mouths of MCU, and wherein acidity-basicity sensor can adopt band
The pH value collection sensor of temperature-compensating, dissolved oxygen sensor can adopt DO sensors, but not limited to this；MCU obtains environment number
According to after the data that acquisition module is gathered, data are packed and the complete packet of header and telegram end composition is mixed, using without line number
Data are passed back ground control centre according to transport module.
Further, the control module and wireless transport module are arranged in waterproof sealing cabin, the waterproof sealing cabin 6
The top of aircraft body 1 is fixed on, the waterproof sealing cabin 6 is made up of light waterproof material.
Further, the environmental data collecting module passes through expansion link 5 and 1 phase of aircraft body with water-proof CCD camera
Even；Also include support 3, the kickboard 2 is connected with the lower end of aircraft body 1 by support 3；When aircraft flies in water surface water skiing
During row, kickboard 2 provides certain buoyancy for whole aircraft, reduces system energy consumption, under gravity, in whole system most
Bottom the position less than kickboard；When aircraft lands on ground, expansion link 5 compresses, by environmental data collecting module with take the photograph
As head is retracted to the position contour with kickboard 2, it is ensured that aircraft steadily can be stopped on the ground.
Further, LED is housed around the camera lens of the water-proof CCD camera, the LED is connected with control module, just
Shooting of the water-proof CCD camera to low light environment under water when aircraft water skiing flight, the pattern of water-proof CCD camera are controlled by MCU,
When shooting to the water surface, LED is gone out, and when shooting to underwater environment, LED is bright.
As shown in figure 3, the mode of operation of water environment monitoring aircraft is broadly divided into two kinds：
(1) water surface monitoring：When aircraft flight above waters, water-proof CCD camera carries out real time imaging to the water surface and adopts
Collection, and ground control centre is passed back by wireless image-sound transport module；
(2) underwater monitoring：After aircraft flies to specified waters, which lands in the water surface and water skiing flight, and environmental data is adopted
In collection module and water-proof CCD camera immersion water, water-proof CCD camera carries out real-time underwater picture collection, and is transmitted by wireless image-sound
Module passes image back control centre, while cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensor carry out water quality data
Collection, and control centre back is passed data by wireless data transfer module.
The present invention is by environmental data collecting module, water-proof CCD camera, wireless transport module, kickboard and aircraft are mutually tied
Close, and the sealed compartment using lightweight carries out the water-proofing treatment of electronic equipment and the stretching of support structures and compression, realizes water
Face, underwater all-dimensional solid water environment monitoring.Present configuration is simple, easy to control, reality that can efficiently, flexibly, economic
The monitoring of existing water environment, it is adaptable to environmental monitoring.
Claims (8)
1. a kind of water environment monitors aircraft, and including aircraft body, the aircraft body carries attitude transducer sum
Word compass, it is characterised in that the top of the aircraft body is provided with control module and wireless transport module, the aircraft
The bottom of main body is provided with environmental data collecting module and water-proof CCD camera, and the bottom of the aircraft body is also equipped with floating
Plate；The attitude transducer, digital compass, wireless transport module, environmental data collecting module and water-proof CCD camera with control
Module is connected, and the water-proof CCD camera is connected with wireless transport module；Barometer, the gas is also equipped with the aircraft body
Pressure meter is connected with control module.
2. water environment according to claim 1 monitors aircraft, it is characterised in that the wireless transport module is by wireless
Data transmission module, wireless image-sound transport module and wireless communication module composition, the wireless data transfer module and wireless
Communication module is connected with control module, and the wireless image-sound transport module is connected with water-proof CCD camera.
3. water environment according to claim 2 monitors aircraft, it is characterised in that the environmental data collecting module bag
Include cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensor.
4. water environment according to claim 3 monitors aircraft, it is characterised in that the control module and be wirelessly transferred
Module is arranged in waterproof sealing cabin, and the waterproof sealing cabin is fixed on the top of aircraft body.
5. water environment according to claim 4 monitors aircraft, it is characterised in that the environmental data collecting module with
Water-proof CCD camera is connected with aircraft body by expansion link.
6. water environment according to claim 5 monitors aircraft, it is characterised in that also including support, and the kickboard is led to
Cross support to be connected with the lower end of aircraft body.
7. water environment according to claim 6 monitors aircraft, it is characterised in that the camera lens week of the water-proof CCD camera
Enclose equipped with LED, the LED is connected with control module.
8. the method for carrying out water area monitoring using the water environment monitoring aircraft described in claim 3-7, it is characterised in that should
Water area monitoring method is specially：
(1) when aircraft flight above waters, water-proof CCD camera carries out real time image collection to the water surface, and passes through wireless shadow
Sound transport module passes ground control centre back.
(2) after aircraft flies to specified waters, which lands in the water surface and water skiing flight, and environmental data collecting module is taken the photograph with waterproof
As, in head immersion water, water-proof CCD camera carries out real-time underwater picture collection, and passes image back by wireless image-sound transport module
Control centre, while cooling-water temperature sensor, acidity-basicity sensor and dissolved oxygen sensor carry out water quality data collection, and by wireless
Data transmission module passes data back control centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988710.9A CN106526116A (en) | 2016-11-10 | 2016-11-10 | Water area environment monitoring aircraft and monitoring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988710.9A CN106526116A (en) | 2016-11-10 | 2016-11-10 | Water area environment monitoring aircraft and monitoring method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106526116A true CN106526116A (en) | 2017-03-22 |
Family
ID=58350760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610988710.9A Pending CN106526116A (en) | 2016-11-10 | 2016-11-10 | Water area environment monitoring aircraft and monitoring method thereof |
Country Status (1)
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107560894A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned plane device to keep sample automatically for water quality and the method that keeps sample |
| CN108036816A (en) * | 2017-11-15 | 2018-05-15 | 佛山杰致信息科技有限公司 | A kind of unfixed point environmental monitoring system based on unmanned air vehicle technique |
| CN108802315A (en) * | 2018-06-15 | 2018-11-13 | 南通航运职业技术学院 | A kind of water environment monitoring device and its monitoring method |
| CN109541164A (en) * | 2018-12-11 | 2019-03-29 | 大连识汇岛科技服务有限公司 | A kind of unmanned plane water quality detecting device |
| CN110006826A (en) * | 2018-01-04 | 2019-07-12 | 中国科学院遥感与数字地球研究所 | Water transparency measurement method and device |
| CN110146675A (en) * | 2019-05-31 | 2019-08-20 | 甘肃省祁连山水源涵养林研究院 | A kind of hydrographic information monitoring system |
| CN111147711A (en) * | 2019-12-23 | 2020-05-12 | 智源亿航(北京)智能技术有限公司 | Unmanned aerial vehicle intelligence vision sensor |
| JPWO2020213198A1 (en) * | 2019-04-18 | 2020-10-22 | ||
| CN112384445A (en) * | 2019-03-26 | 2021-02-19 | 乐天株式会社 | Unmanned vehicles and waterproof container |
| CN113419039A (en) * | 2021-06-01 | 2021-09-21 | 徐州工程学院 | Water quality monitoring device based on wireless communication |
| CN114216510A (en) * | 2021-12-15 | 2022-03-22 | 陕西地建土地工程技术研究院有限责任公司 | Intelligent environment monitoring device |
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| CN107231181B (en) * | 2017-05-03 | 2021-01-01 | 上海交通大学 | Cross-medium communication air-sea cooperative monitoring system and use method thereof |
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107560894A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned plane device to keep sample automatically for water quality and the method that keeps sample |
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| CN112384445A (en) * | 2019-03-26 | 2021-02-19 | 乐天株式会社 | Unmanned vehicles and waterproof container |
| JPWO2020213198A1 (en) * | 2019-04-18 | 2020-10-22 | ||
| JP7316700B2 (en) | 2019-04-18 | 2023-07-28 | パナソニックＩｐマネジメント株式会社 | UNMANNED AIRCRAFT, CONTROL METHOD AND PROGRAM |
| CN110146675A (en) * | 2019-05-31 | 2019-08-20 | 甘肃省祁连山水源涵养林研究院 | A kind of hydrographic information monitoring system |
| CN111147711A (en) * | 2019-12-23 | 2020-05-12 | 智源亿航(北京)智能技术有限公司 | Unmanned aerial vehicle intelligence vision sensor |
| CN113419039A (en) * | 2021-06-01 | 2021-09-21 | 徐州工程学院 | Water quality monitoring device based on wireless communication |
| CN113419039B (en) * | 2021-06-01 | 2023-10-27 | 徐州工程学院 | Water quality monitoring device based on wireless communication |
| CN114216510A (en) * | 2021-12-15 | 2022-03-22 | 陕西地建土地工程技术研究院有限责任公司 | Intelligent environment monitoring device |
| CN114216510B (en) * | 2021-12-15 | 2024-02-23 | 陕西地建土地工程技术研究院有限责任公司 | Intelligent environment monitoring device |
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