CN106534811A - Unmanned aerial vehicle monitoring system for monitoring floating objects in water - Google Patents
Unmanned aerial vehicle monitoring system for monitoring floating objects in water Download PDFInfo
- Publication number
- CN106534811A CN106534811A CN201710022207.2A CN201710022207A CN106534811A CN 106534811 A CN106534811 A CN 106534811A CN 201710022207 A CN201710022207 A CN 201710022207A CN 106534811 A CN106534811 A CN 106534811A
- Authority
- CN
- China
- Prior art keywords
- monitoring
- flight
- floating thing
- unmanned plane
- area
- 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.)
- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention provides an unmanned aerial vehicle monitoring system for monitoring floating objects in water. The system comprises a UAV (unmanned aerial vehicle) cruise module and a ground monitoring processing module. By using the UAV cruise module to carry out monitoring, most water areas can be reached, the implementation difficulty of monitoring is small, a UAV does not carry monitoring personnel, the UAV cruise module reaches an observation point in the air, the disadvantages of power safety reliability and the interference of water area velocity and water flow direction by using an observation ship are overcome, the possibility of accidents is little, the reliability and safety of monitoring are improved, the floating objects in a large water area can be monitored in a short time, the monitoring efficiency is improved, a lot of manpower and resources are saved, the energy consumption of monitoring personnel is reduced, a monitoring area and a water area floating object area can be accurately calculated, the density of the water area floating objects is accurately calculated, and the analysis decision and further measures are facilitated according to provided detailed monitoring data.
Description
Technical field
The present invention relates to a kind of monitoring unmanned system, more particularly to a kind of unmanned plane prison for the monitoring of waters floating thing
Control system, belongs to unmanned air vehicle technique field.
Background technology
The waters such as the Changjiang river have a large amount of floating things to be formed every year, particularly before Three Gorges Dam and the region such as Three Gorges Reservoir, long
Phase is perplexed by floating thing, both affects to generate electricity, opens the navigation or air flight, the safety of flood discharge, and the water quality of watershed produces severe contamination.Floating owner
Rubbish to be had and water plant, such as freely float the water hyacinth of the water surface, are bred by stolon, suitable condition lower edge riverbank water
Face surge line germination and growth.In recent years, industrialization improves rivers and lakes water quality deterioration, Eutrophic Extent, and water hyacinth is therefore
Spread rapidly, overflow, cover the water surface, current are hindered in flood season.Dense water hyacinth also reduces light and water body is worn
Ability, the growth of impact benthon thoroughly, and increase the concentration of carbon dioxide in water, output of aquatic products is reduced, increases the steaming of water
Amount is sent out, is provided for mosquito class and suitable is grown place.In addition, the house refuse for having millions of tons every year is poured into the Changjiang river, add aquatic
These floating deposits such as plant seriously plug the unit water inlet in power station, and block the fairway.As can be seen here, it is a large amount of to float
The presence of float is caused to generating, fishery, shipping etc. and is had a strong impact on, and needs the means of high efficient and reliable to carry out waters floating thing
Monitoring, in order to take further step.
Unmanned plane has the advantages that high-resolution, large scale, small area, high Up-to-date state, is particularly suitable for obtaining banding
Regional aerial images (river, reservoir, coastline etc.), unmanned plane take off landing limited less by place, playground, highway or its
Its openr ground can landing, its stability, security be good, and transition etc. is very easy to, and has the wide market demand.
The unmanned plane monitoring of prior art is mainly used in national ecological environmental protection, land use survey, water money
It is source exploitation, crop growth monitoring and the yield by estimation, agricultural operation, Natural calamity monitoring and assessment, urban planning and municipal administration, gloomy
The field such as the protection of woods pest and disease damage and monitoring, public safety, Defence business, digital earth and advertisement photography, floats for waters
Thing monitoring is also more rare.
From the point of view of many-side, prior art is primarily present following a few point defects：One is the monitoring of current waters floating thing
Artificial naked-eye observation is adopted mainly, part water-surface areas observation personnel cannot reach, and monitoring enforcement difficulty is very big, monitoring reliability
It is very low；Although two is that the part monitoring water surface can be arrived at using observation vessel, exercising safety in different waters by observation vessel can
It is poor by property, easily cause security incident, and the vehicles interfere to the flow velocity in waters and flow direction, affect Monitoring Data
Quality, reduce the reliability of observation；Three is that the vehicles translational speed that current techniques are used is slow, it is impossible at short notice
The floating thing of water field of big area is monitored, monitoring means falls behind, is monitored second-rate；Four is that the currently monitored needs employ big
Amount manpower and materials, personnel's energy consume big, and monitoring cost is very high；Five is that current waters floating thing is monitored based on qualitative analysis,
Monitoring area and waters floating thing area cannot accurately be calculated, it is impossible to accurately calculate the density of waters floating thing, lack quantitative prison
The basis surveyed and analyze, the monitoring of waters floating thing are of poor quality, are not easy to take further step.
The content of the invention
For the deficiencies in the prior art, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided
System, it is main to be monitored using unmanned plane cruise module, most of water-surface areas can be reached, personnel's arrival need not be observed, monitoring is real
Apply difficulty little, unmanned plane does not carry monitoring personnel, unmanned plane cruise module arrives at observation station from the air, overcome by observing shipping agency
Make security reliability poor, easily cause security incident, and the vehicles can be to lacking that the flow velocity in waters and flow direction are interfered
Point, the reliability of monitoring and security are improved, and at short notice the floating thing of water field of big area can be monitored, monitoring effect
Rate is high, can save a large amount of manpower and materials, reduces the energy consumption of monitoring personnel, and monitoring cost is low, can accurately calculate monitoring
Area and waters floating thing area, can accurately calculate the density of waters floating thing, the basis with Quantitative Monitoring and analysis, carry
For detailed Monitoring Data be conducive to analysis decision and taking further measures, be provided with unmanned plane landing platform and automatic cruising mould
Formula, the intelligence degree of monitoring unmanned system are further improved, and are operated and are used and be more convenient.
To reach above technique effect, the technical solution adopted in the present invention is as follows：
A kind of monitoring unmanned system for the monitoring of waters floating thing, including at unmanned plane cruise module and ground monitoring
Reason module, unmanned plane cruise module include flight control assemblies, state of flight sensing device, aeroplane photography device and unmanned plane letter
Number transmitting device, ground monitoring processing module include unmanned plane remote controller, ground signal transmitting device, image processor,
Touching display screen and monitoring process computer；
Unmanned plane cruise module is arranged on unmanned plane, and state of flight sensing device includes flight tachymeter, flying height
Measuring appliance, big-dipper satellite positioner, flight inclination angle measurer, aeroplane photography device include navigate photography/videography head, camera angle
Adjusting means, camera angle measuring appliance, unmanned plane signal transmitting apparatus include that flight directive recipient, Flight Condition Data are passed
Send device, view data conveyer；
Ground monitoring processing module is arranged on the ground, and unmanned plane remote controller is instructed to flight according to flight operation and referred to
Recipient is made to send signal, ground signal transmitting device receives the Flight Condition Data of Flight Condition Data conveyer transmission respectively
The aerial map transmitted with view data conveyer transmits aerial map picture to image processor as data, ground signal transmitting device,
Image processor is processed to aerial map picture, and touching display screen is connected with image processor and shows aerial map picture, prison
Survey process computer to be connected with image processor, touching display screen and ground signal transmitting device respectively.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, flight tachymeter passes through flight shape
Earthward signal transmitting apparatus transmit flying speed data to state data transmitter, and measurement of flight altitude device passes through Flight Condition Data
Earthward signal transmitting apparatus transmission altitude data, big-dipper satellite positioner are transmitted conveyer by Flight Condition Data
Earthward signal transmitting apparatus transmission flight coordinate data, flight inclination angle measurer pass through Flight Condition Data conveyer to ground to device
Face signal transmitting apparatus transmission flight inclination data.
It is a kind of for waters floating thing monitoring monitoring unmanned system, further, camera angle adjusting means with
Boat photography/videography head is fixedly connected and adjusts the camera angle of boat photography/videography head, and camera angle measuring appliance passes through Flight Condition Data
Earthward signal transmitting apparatus transmit camera angle data, boat photography/videography head erect when camera angle is 0 degree to conveyer
Downwards, the horizontally toward head side of boat photography/videography head when camera angle is 90 degree.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, unmanned plane cruise module monitoring work
Horizontal flight when making, flying speed and constant height, flight tachymeter measure speed v, and measurement of flight altitude device measures height h,
Big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures flight inclination angle a, and camera angle measuring appliance is surveyed
Camera angle b is obtained, angle of visual field d of the photography/videography head that navigates, monitoring time t, when monitoring processes computer calculating monitoring
Interior air cover domain area s, the floating thing in image processor identification air cover domain, and floated by monitoring process computer calculating
Float region area c, can draw the floating thing area density of monitored area by c/s.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, monitoring processes computer by nobody
Flying height h of machine, camera angle b, angle of visual field d of boat photography/videography head calculate the width m of aerial map picture, by flight speed
Degree v and monitoring time t calculates length n of aerial map picture, calculates the air cover domain area s=in the monitoring time
mn。
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, monitoring processes computer by nobody
Flying height h of machine, camera angle b, the floating thing area p in angle of visual field d and aerial map picture of boat photography/videography head are calculated
Go out true area q of floating thing, the true area of each floating thing is added and obtains floating thing region area c.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, the number of floating thing arranges someone
Work statistical model, shows whole aerial map picture by touching display screen, manually number r of floating thing is counted, at monitoring
Reason computer calculates the air cover domain area s in the monitoring time, has r/s to obtain the floating thing number density of monitored area.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, is additionally provided with unmanned plane landing platform,
The position coordinates of unmanned plane landing platform is stored in state of flight sensing device, and unmanned plane can pass through the position coordinates of landing platform
Realize landing automatically.
A kind of monitoring unmanned system for the monitoring of waters floating thing, further, unmanned plane cruise module is provided with
Automatic cruise mode, by flight path coordinate and height are stored in state of flight sensing device, unmanned plane passes through the Big Dipper
Satellite positioning device flies along set path, completes automatic cruising.
Compared with prior art, it is an advantage of the current invention that：
1. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, ground monitoring processing module
Arrange on the ground, unmanned plane remote controller is instructed to flight directive recipient according to flight operation and sends signal, ground letter
Number transmitting device receives the Flight Condition Data of Flight Condition Data conveyer transmission and the transmission of view data conveyer respectively
Aerial map is as data, main to be monitored using unmanned plane cruise module, can reach most of water-surface areas, and the personnel that need not observe arrive
Reach, monitoring enforcement difficulty is little, monitoring reliability is high.
2. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, unmanned plane do not carry monitoring people
Member, unmanned plane cruise module arrive at observation station from the air, and it is poor by observation vessel enforcement security reliability to overcome, and easily causes peace
Full accident, and the shortcoming that the vehicles can be interfered to the flow velocity in waters and flow direction, the Quality advance of Monitoring Data, monitoring
Reliability and security improve.
3. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, unmanned plane during flying speed can
Up to 20 meter per seconds, flight translational speed is fast, flying radius up to 10 kms, floating that can at short notice to water field of big area
Thing is monitored, and monitoring efficiency is high, and monitoring means is advanced, and monitoring quality is good.
4. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, makes full use of unmanned plane to supervise
Control has the advantages that high-resolution, large scale, small area, high Up-to-date state, and landing of taking off is limited less by place, flight stability
Good with security, transition etc. is very easy to, and use cost is low and the cruise of flexible unmanned plane, can save a large amount of manpower and materials,
The energy consumption of monitoring personnel is reduced, monitoring cost is low.
5. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, the flight by unmanned plane are high
Degree h, camera angle b, angle of visual field d of boat photography/videography head calculate the width m of aerial map picture, by flying speed v and monitoring
Working time t calculates length n of aerial map picture, can calculate the air cover domain area s=mn in the monitoring time, figure
As processor recognizes the floating thing in the domain of air cover, and computer calculating floating thing region area c is processed by monitoring, can by c/s
To draw the floating thing area density of monitored area, monitoring area and waters floating thing area can be accurately calculated, can be accurate
Calculate waters floating thing density, with Quantitative Monitoring and analysis basis, waters floating thing monitoring quality it is good, there is provided it is detailed
Monitoring Data is conducive to analysis decision and takes further measures.
6. a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, is provided with unmanned plane landing
Platform, can realize landing automatically by the position coordinates of landing platform, be provided with automatic cruise mode, and unmanned plane passes through big-dipper satellite
Positioner flies along set path, can complete automatic cruising, and the intelligence degree of monitoring unmanned system is further improved,
Operate and using more convenient.
Description of the drawings
Fig. 1 is a kind of structure chart of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided.
Specific embodiment
Below in conjunction with the accompanying drawings, a kind of skill of the monitoring unmanned system for the monitoring of waters floating thing for the present invention being provided
Art scheme is conducted further description, and those skilled in the art is better understood from the present invention and can be practiced.
Referring to Fig. 1, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, including unmanned plane
Cruise module and ground monitoring processing module, unmanned plane cruise module include flight control assemblies, state of flight sensing device, boat
Empty camera and unmanned plane signal transmitting apparatus, flight control assemblies mainly provide flying power and for control of flying, and fly
Row state aware device is implemented to determine the data such as flying speed, height, and ground monitoring processing module includes unmanned plane operation remote control
Device, ground signal transmitting device, image processor, touching display screen and monitoring process computer；
Unmanned plane cruise module is arranged on unmanned plane, and the state of flight sensing device on unmanned plane cruise module includes flying
Row tachymeter, measurement of flight altitude device, big-dipper satellite positioner, flight inclination angle measurer, aeroplane photography device include that boat is taken the photograph
Camera, camera angle adjusting means, camera angle measuring appliance, unmanned plane signal transmitting apparatus include that flight directive receives
Device, Flight Condition Data conveyer, view data conveyer；
Ground monitoring processing module arrange on the ground, the unmanned plane remote controller in ground monitoring processing module according to
The flight operation of operating personnel is instructed to flight directive recipient and sends signal, controls the flight of unmanned plane, ground signal transmission
Device receives the aerial map of the Flight Condition Data of Flight Condition Data conveyer transmission and the transmission of view data conveyer respectively
As data, Flight Condition Data includes flying speed, height, flight inclination angle, satellite positioning coordinate and path etc., and ground signal is passed
Defeated device transmits aerial map picture to image processor, and image processor processed to aerial map picture, touching display screen and figure
As processor is connected and shows aerial map picture, monitoring process computer respectively with image processor, touching display screen and ground
Face signal transmitting apparatus are connected.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit flying speed data to flight tachymeter, and flying height is surveyed
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit altitude data, big-dipper satellite positioner to measuring device
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit flight coordinate data, flight inclination angle measurer by flying
Earthward signal transmitting apparatus transmit flight inclination data to row status data conveyer.
A kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, it is main to be cruised using unmanned plane
Module monitors, can reach most of water-surface areas, need not observe personnel's arrival, and monitoring enforcement difficulty is little, and monitoring reliability is high.
Unmanned plane does not carry monitoring personnel, and unmanned plane cruise module arrives at observation station from the air, overcomes by observing shipping agency
Make security reliability poor, easily cause security incident, and the vehicles can be to lacking that the flow velocity in waters and flow direction are interfered
Point, the Quality advance of Monitoring Data, the reliability of monitoring and security are improved.
, up to 20 meter per seconds, flight translational speed is fast, and flying radius, can be short up to 10 kms for unmanned plane during flying speed
The floating thing of water field of big area is monitored in time, monitoring efficiency is high, monitoring means is advanced, monitoring quality is good.
Make full use of monitoring unmanned that there is high-resolution, large scale, small area, high Up-to-date state, landing of taking off
Limited less by place, flight stability and security are good, transition etc. is very easy to, use cost is low and flexible unmanned plane is patrolled
Boat, can save a large amount of manpower and materials, and the energy for reducing monitoring personnel consumes big, and monitoring cost is low.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Camera angle adjusting means is fixedly connected and adjusts the camera angle of boat photography/videography head with boat photography/videography head, and camera angle is surveyed
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit camera angle data to measuring device, and camera angle is 0
Boat photography/videography head erect when spending downwards, the horizontally toward head side of boat photography/videography head when camera angle is 90 degree.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Horizontal flight, flying speed and constant height during unmanned plane cruise module monitoring, flight tachymeter measure speed v, flight
Height measuring gauge measures flying height h, and big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures flight
Inclination angle a, during horizontal flight, flight inclination angle a is 0 degree, and camera angle measuring appliance measures camera angle b, and navigate photography/videography head erect
When downwards, camera angle is 0 degree, angle of visual field d of the photography/videography head that navigates, and monitoring time t, monitoring process computer and calculate prison
The air cover domain area s surveyed in the working time, the floating thing in image processor identification air cover domain, and calculating is processed by monitoring
Machine calculates floating thing region area c, can draw the floating thing area density of monitored area by c/s.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Monitoring processes computer and is calculated to sail and taken the photograph by angle of visual field d of flying height h of unmanned plane, camera angle b, boat photography/videography head
The width m of image, a kind of specific scheme is camera angle b=0, camera straight down, the angle of visual field of the photography/videography head that navigates
For d, then the width m of aerial map picture can directly be derived according to geometrical relationship by angle of visual field d, flying height h, by flying speed v and
Monitoring time t calculates length n of aerial map picture, calculates the air cover domain area s=mn in the monitoring time.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Monitoring processes computer by flying height h of unmanned plane, camera angle b, angle of visual field d and aerial map picture of boat photography/videography head
Floating thing area p, calculate true area q of floating thing, a kind of specific scheme is camera angle b=0, camera
Straight down, the angle of visual field of boat photography/videography head is d, then can be closed according to the geometry of similar polygon by angle of visual field d, flying height h
System, draws the true area of each floating thing, the true area of each floating thing by the floating thing areal calculation on aerial map picture
Addition obtains floating thing region area c.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
The number of floating thing is provided with artificial statistical model simultaneously, shows whole aerial map picture by touching display screen, and artificial control is touched
Formula display screen is touched, number r of floating thing is counted, monitoring processes computer and calculates the air cover domain in the monitoring time
Area s, has r/s to obtain the floating thing number density of monitored area.
A kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, can accurately calculate monitoring surface
Product and waters floating thing area, can accurately calculate the density of waters floating thing, the basis with Quantitative Monitoring and analysis, waters
Floating thing monitoring quality is good, there is provided detailed Monitoring Data be conducive to analysis decision and taking further measures.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Unmanned plane landing platform is additionally provided with, the position coordinates of unmanned plane landing platform is stored in state of flight sensing device, unmanned function
The big-dipper satellite positioner of itself is combined by the position coordinates of landing platform enough, realizes landing automatically.
As a kind of preferred version, a kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided,
Unmanned plane cruise module is provided with automatic cruise mode, by flight path coordinate and flying height are stored in state of flight sense
In knowing device, unmanned plane is flown along set path by big-dipper satellite positioner, completes automatic cruising.
A kind of monitoring unmanned system for the monitoring of waters floating thing that the present invention is provided, is provided with unmanned plane landing
Platform, can realize landing automatically by the position coordinates of landing platform, be provided with automatic cruise mode, and unmanned plane passes through big-dipper satellite
Positioner flies along set path, can complete automatic cruising, and the intelligence degree of monitoring unmanned system is further improved,
Operate and using more convenient.
Claims (9)
1. it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Including unmanned plane cruise module and
Ground monitoring processing module, the unmanned plane cruise module include flight control assemblies, state of flight sensing device, aeroplane photography
Device and unmanned plane signal transmitting apparatus, the ground monitoring processing module include that unmanned plane remote controller, ground signal are passed
Defeated device, image processor, touching display screen and monitoring process computer；
The unmanned plane cruise module is arranged on unmanned plane, and the state of flight sensing device includes flight tachymeter, flight
Height measuring gauge, big-dipper satellite positioner, flight inclination angle measurer, the aeroplane photography device include boat photography/videography head, take the photograph
As head angle regulator, camera angle measuring appliance, the unmanned plane signal transmitting apparatus include flight directive recipient, fly
Row status data conveyer, view data conveyer；
The ground monitoring processing module is arranged on the ground, and the unmanned plane remote controller is instructed to institute according to flight operation
State flight directive recipient and send signal, the ground signal transmitting device receives the transmission of Flight Condition Data conveyer respectively
, as data, the ground signal transmitting device is to described image for the aerial map of Flight Condition Data and the transmission of view data conveyer
Processor transmits aerial map picture, and described image processor is processed to aerial map picture, at the touching display screen and image
Reason device is connected and shows aerial map picture, the monitoring process computer respectively with described image processor, touching display screen
It is connected with ground signal transmitting device.
2. it is according to claim 1 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
State flight tachymeter and flying speed data transmitted to the ground signal transmitting device by the Flight Condition Data conveyer,
The measurement of flight altitude device is high to ground signal transmitting device transmission flight by the Flight Condition Data conveyer
Degrees of data, the big-dipper satellite positioner are passed to the ground signal transmitting device by the Flight Condition Data conveyer
Flight coordinate data, the flight inclination angle measurer is sent to transmit to the ground signal by the Flight Condition Data conveyer
Device transmits flight inclination data.
3. it is according to claim 1 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
State camera angle adjusting means the camera angle of boat photography/videography head is fixedly connected and adjusts with the boat photography/videography head, it is described to take the photograph
As head angle measurement equipment transmits camera angle to the ground signal transmitting device by the Flight Condition Data conveyer
Data, boat photography/videography head erect when camera angle is 0 degree are downward, boat photography/videography head level when camera angle is 90 degree
Towards head side.
4. it is according to claim 1 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
Horizontal flight, flying speed and constant height when stating unmanned plane cruise module monitoring, flight tachymeter measure speed v, fly
Row height measuring gauge measures height h, and big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures flight and inclines
Angle a, camera angle measuring appliance measure camera angle b, angle of visual field d of the photography/videography head that navigates, monitoring time t, the prison
The air cover domain area s for processing that computer was calculated in the monitoring time is surveyed, in described image processor identification air cover domain
Floating thing, and computer calculating floating thing region area c is processed by monitoring, the floating object plane of monitored area can be drawn by c/s
Product density.
5. it is according to claim 4 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
State monitoring and process computer and calculated and sailed by angle of visual field d of flying height h of unmanned plane, camera angle b, boat photography/videography head
The width m of image is taken the photograph, length n of aerial map picture is calculated by flying speed v and monitoring time t, calculate monitoring
Air cover domain area s=mn in time.
6. it is according to claim 4 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
State monitoring computer is processed by flying height h of unmanned plane, camera angle b, angle of visual field d of boat photography/videography head and aerial map picture
On floating thing area p calculate true area q of floating thing, the true area of each floating thing is added and obtains floating thing area
Domain area c.
7. it is according to claim 4 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
The number for stating floating thing is provided with artificial statistical model, shows whole aerial map picture by touching display screen, manually to floating thing
Number r counted, it is described monitoring process computer calculate the monitoring time in air cover domain area s, have r/s to obtain
The floating thing number density of monitored area.
8. it is according to claim 1 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Also
Unmanned plane landing platform is provided with, the position coordinates of the unmanned plane landing platform is stored in state of flight sensing device, unmanned plane
Can realize landing automatically by the position coordinates of landing platform.
9. it is according to claim 1 it is a kind of for waters floating thing monitoring monitoring unmanned system, it is characterised in that：Institute
State unmanned plane cruise module and be provided with automatic cruise mode, by flight path coordinate and height are stored in the state of flight
In sensing device, unmanned plane is flown along set path by big-dipper satellite positioner, completes automatic cruising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022207.2A CN106534811A (en) | 2017-01-12 | 2017-01-12 | Unmanned aerial vehicle monitoring system for monitoring floating objects in water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022207.2A CN106534811A (en) | 2017-01-12 | 2017-01-12 | Unmanned aerial vehicle monitoring system for monitoring floating objects in water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106534811A true CN106534811A (en) | 2017-03-22 |
Family
ID=58335460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710022207.2A Withdrawn CN106534811A (en) | 2017-01-12 | 2017-01-12 | Unmanned aerial vehicle monitoring system for monitoring floating objects in water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106534811A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271624A (en) * | 2017-05-27 | 2017-10-20 | 华北电力大学 | A kind of multifunctional long-distance measuring instrument |
| 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 |
| CN107678390A (en) * | 2017-10-20 | 2018-02-09 | 朱健雄 | A kind of river pollution detects communication system |
| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
| CN108572658A (en) * | 2018-03-10 | 2018-09-25 | 刘惠敏 | Drone flying height regulating system |
| CN109029366A (en) * | 2018-07-02 | 2018-12-18 | 中国科学院南京地理与湖泊研究所 | A method of measurement algae spot horizontal drift rate is shot by aircraft |
| CN109060016A (en) * | 2018-07-26 | 2018-12-21 | 王俊利 | Fish, shrimp aquatic products ecologic breeding intelligent measurement management equipment |
| CN110018162A (en) * | 2019-03-11 | 2019-07-16 | 绿桥(泰州)生态修复有限公司 | Water quality detecting device |
| CN110187714A (en) * | 2019-04-22 | 2019-08-30 | 西安电子科技大学 | A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane |
| CN110371279A (en) * | 2019-06-03 | 2019-10-25 | 中国水产科学研究院南海水产研究所 | A kind of fishing ground trapping information collecting device |
| CN111060079A (en) * | 2019-12-31 | 2020-04-24 | 华东理工大学 | River foreign matter identification method and river foreign matter monitoring platform system |
| CN111239148A (en) * | 2019-03-11 | 2020-06-05 | 绿桥(泰州)生态修复有限公司 | Water quality detection method |
| CN113419039A (en) * | 2021-06-01 | 2021-09-21 | 徐州工程学院 | Water quality monitoring device based on wireless communication |
| CN113447629A (en) * | 2020-06-03 | 2021-09-28 | 阮勤林 | Water environment early warning comprehensive emergency management platform |
| CN114220044A (en) * | 2021-11-23 | 2022-03-22 | 慧之安信息技术股份有限公司 | River course floater detection method based on AI algorithm |
-
2017
- 2017-01-12 CN CN201710022207.2A patent/CN106534811A/en not_active Withdrawn
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107271624A (en) * | 2017-05-27 | 2017-10-20 | 华北电力大学 | A kind of multifunctional long-distance measuring instrument |
| 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 |
| CN107678390A (en) * | 2017-10-20 | 2018-02-09 | 朱健雄 | A kind of river pollution detects communication system |
| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
| CN108572658A (en) * | 2018-03-10 | 2018-09-25 | 刘惠敏 | Drone flying height regulating system |
| CN109029366A (en) * | 2018-07-02 | 2018-12-18 | 中国科学院南京地理与湖泊研究所 | A method of measurement algae spot horizontal drift rate is shot by aircraft |
| CN109060016A (en) * | 2018-07-26 | 2018-12-21 | 王俊利 | Fish, shrimp aquatic products ecologic breeding intelligent measurement management equipment |
| CN111239148B (en) * | 2019-03-11 | 2020-12-04 | 青田县君翔科技有限公司 | Water quality detection method |
| CN111239148A (en) * | 2019-03-11 | 2020-06-05 | 绿桥(泰州)生态修复有限公司 | Water quality detection method |
| CN110018162A (en) * | 2019-03-11 | 2019-07-16 | 绿桥(泰州)生态修复有限公司 | Water quality detecting device |
| CN110187714A (en) * | 2019-04-22 | 2019-08-30 | 西安电子科技大学 | A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane |
| CN110371279A (en) * | 2019-06-03 | 2019-10-25 | 中国水产科学研究院南海水产研究所 | A kind of fishing ground trapping information collecting device |
| CN111060079A (en) * | 2019-12-31 | 2020-04-24 | 华东理工大学 | River foreign matter identification method and river foreign matter monitoring platform system |
| CN113447629A (en) * | 2020-06-03 | 2021-09-28 | 阮勤林 | Water environment early warning comprehensive emergency management platform |
| 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 |
| CN114220044A (en) * | 2021-11-23 | 2022-03-22 | 慧之安信息技术股份有限公司 | River course floater detection method based on AI algorithm |
| CN114220044B (en) * | 2021-11-23 | 2022-07-29 | 慧之安信息技术股份有限公司 | River course floater detection method based on AI algorithm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106534811A (en) | Unmanned aerial vehicle monitoring system for monitoring floating objects in water | |
| CN206313928U (en) | A kind of monitoring unmanned system for the monitoring of waters floating object | |
| Zmarz et al. | Application of UAV BVLOS remote sensing data for multi-faceted analysis of Antarctic ecosystem | |
| Wolanski et al. | Island wakes in shallow coastal waters | |
| CN107271627A (en) | A kind of visualization water quality information monitoring system based on Internet of Things and big data technology | |
| Zang et al. | Investigating small-scale water pollution with UAV remote sensing technology | |
| Weiss et al. | Lightning in the anvils of supercell thunderstorms | |
| Shelden et al. | Spatio-temporal Changes in Beluga Whale, Delphinapterus leucas, Distribution: Results from Aerial Surveys (1977-2014), Opportunistic Sightings (1975-2014), and Satellite Tagging (1999-2003) in Cook Inlet, Alaska. | |
| Carlson et al. | Surface ocean dispersion observations from the ship-tethered aerostat remote sensing system | |
| Novelli et al. | On the transport and landfall of marine oil spills, laboratory and field observations | |
| Zhang et al. | Autonomous tracking of an oceanic thermal front by a Wave Glider | |
| Shi et al. | Study on UAV remote sensing technology in irrigation district informationization construction and application | |
| Lee et al. | Creation of river terrain data using region growing method based on point cloud data from UAV photography | |
| Clark | Small unmanned aerial systems comparative analysis for the application to coastal erosion monitoring | |
| CN115060343A (en) | Point cloud-based river water level detection system, detection method and program product | |
| Burns et al. | Studies of ringed seals in the Alaskan Beaufort Sea during winter: impacts of seismic exploration | |
| Sundermeyer et al. | Dispersion in the open ocean seasonal pycnocline at scales of 1–10 km and 1–6 days | |
| 原一郎 | Shape and size of Japanese sardine school in the waters off the southeastern Hokkaido on the basis of acoustic and aerial surveys. | |
| CN208284101U (en) | A kind of range-measurement system of taking photo by plane for ship berthing management | |
| Miyao et al. | A combined balloon photography and buoy-tracking experiment for mapping surface currents in coastal waters | |
| Kobayashi et al. | Doppler radar observation of a tornado generated over the Japan Sea coast during a cold air outbreak | |
| Benbow et al. | Analysis of surface foam holes associated with depth-limited breaking | |
| CN107131871A (en) | One kind is based on big vast survey system in unmanned plane city | |
| Iyer et al. | Estimating turbulent kinetic energy dissipation rate using microstructure data from the ship-towed Surface Salinity Profiler | |
| Fatchurohman et al. | Identification of Rip Current Hazards Using Fluorescent Dye And Unmanned Aerial Vehicle (A Case Study Of Drini Beach, Gunungkidul, Indonesia) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170322 |