CN108227741B - Ecological civilization monitoring flight device - Google Patents
Ecological civilization monitoring flight device Download PDFInfo
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- CN108227741B CN108227741B CN201810020958.5A CN201810020958A CN108227741B CN 108227741 B CN108227741 B CN 108227741B CN 201810020958 A CN201810020958 A CN 201810020958A CN 108227741 B CN108227741 B CN 108227741B
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Abstract
The invention discloses an ecological civilization monitoring flight device, which comprises: the device comprises a control device, a communication device, a positioning device, a shooting device, a sound acquisition device, a route judgment device, an electric quantity detection device, a flight judgment device and a sampling device; wherein: the positioning device is respectively connected with the communication device and the control device and is used for positioning the ecological civilization monitoring flying device and transmitting a positioning signal to the communication device and the control device; the communication device is used for sending a positioning signal and realizing communication with the outside; the shooting device is used for carrying out video shooting or photographing, and the sound collection device is used for collecting environmental sound; the electric quantity detection device is used for detecting the electric quantity of a power supply of the ecological civilization monitoring flight device; the control device controls the overall operation of the ecological civilization monitoring flight device, and controls the communication device, the positioning device, the shooting device, the sound acquisition device, the route judgment device, the electric quantity detection device and the flight judgment device. The device has the characteristics of wide monitoring range and accurate monitoring.
Description
The application is a divisional application of an invention patent application with the application number of "201510610872.4", the application date of 2015, 12 and 16 and the name of "ecological civilization monitoring device and system".
Technical Field
The invention relates to an ecological civilization monitoring device, in particular to a natural ecological civilization monitoring flying device and system.
Background
The ecological civilization is a new stage of human civilization development, namely the civilization form after the industrial civilization; the ecological civilization is the sum of substances and mental achievements obtained by human beings according to the objective rule of harmonious development of human beings, nature and society; the ecological civilization is a social form with the basic purposes of harmonious symbiosis, virtuous cycle, comprehensive development and continuous prosperity between people and nature, between people and society.
However, with the development of industrialization, the natural ecology in some regions is damaged by disorder cutting, pollution discharge without control and water and soil loss, the ecological environment in some regions is seriously deteriorated, and the pollution and degradation of forests, rivers, lakes and grasslands are serious.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an ecological civilization monitoring flying device, in particular to a natural ecological civilization monitoring flying device and a natural ecological civilization monitoring flying system, which can realize real-time monitoring on a monitored natural area, record images of the monitored area and extract samples and have the characteristics of wide monitoring range and accurate monitoring.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
an ecological civilization monitoring flying device, comprising: the device comprises a control device, a communication device, a positioning device, a shooting device, a sound acquisition device, a route judgment device, an electric quantity detection device, a flight judgment device and a sampling device; wherein:
the positioning device is respectively connected with the communication device and the control device and is used for positioning the ecological civilization monitoring flight device and transmitting a positioned geographic position signal to the communication device and the control device;
the communication device is used for sending geographic position information and realizing communication with the outside, the shooting device is used for carrying out video shooting or shooting, the sound collecting device is used for collecting environmental sound, the electric quantity detecting device is used for detecting the electric quantity of a power supply of the ecological civilization monitoring flight device, and the sampling device is used for sampling a sampling object in a monitoring area;
the control device controls the overall operation of the ecological civilization monitoring flight device, and controls the communication device, the positioning device, the shooting device, the sound acquisition device, the route judgment device, the electric quantity detection device and the flight judgment device.
The flying device is preferably:
the communication device receives a flight instruction of the control center and sends the instruction to the control device, the control device analyzes the geographical position information of a target point according to the instruction, and the geographical position information of the target point and the geographical position information of the flight device are sent to the route judgment device;
the route judgment device calculates the distance between the target point and the flight device, plans a flight route, sends the flight route and the flight distance to the control device, and sends the flight distance to the flight judgment device;
the flight judging device judges whether the flying device can fly to a target point and return to a nearest flight base or not according to the received flying distance and the battery electric quantity condition of the flying device transmitted from the electric quantity detecting device, and sends a judgment result to the control device;
and after receiving the 'no' signal sent by the flight judging device, the control device controls the aircraft to send a flight route, a distance, electric quantity and a signal which cannot be reached by flying to the control center through the communication device, and meanwhile, the control device does not carry out flying operation.
The flying device is preferably:
in the flying process of the flying device, the communication device receives the geographical position information of a target point sent by a control center or the target point in real time, the control device sends the received geographical position information of the target point and the geographical position information of the flying device measured by the positioning device in real time to the route judgment device, the route judgment device plans a flying route according to weather and space conditions, the control device adjusts the flying route of the flying device according to the flying route in real time, and the route judgment device also judges the distance between the target point and the control device and sends the distance to the control device and the flying judgment device in real time.
The flying device is preferably:
before the ecological civilization monitoring flying device flies to a target point, the shooting device and the sound collecting device are in a closed state and do not work;
after the flying device receives the opening instruction sent by the control center, the control device opens the corresponding shooting device and/or the sound collecting device or the control device automatically opens the shooting device and/or the sound collecting device according to whether the distance between the flying device and the target point reaches the preset distance or not.
The flying device is preferably:
when the distance between the target point and the flying target point is preset, the control device starts the shooting device after receiving an instruction of starting the shooting device sent by the control center, or the control device automatically starts the shooting device; the signal shot by the shooting device is transmitted to a communication system of the control center in real time through the communication device, and the control center stores the received shooting signal by using the storage device and displays the signal through a display device of the control center; the flying device carries a storage device to store the shot signals in real time.
The flying device is preferably:
if the shooting signal is fuzzy, the control system of the control center sends a shooting adjusting signal to the ecological civilization monitoring flying device through the communication system, and the control device adjusts the shooting parameter of the shooting device according to the adjusting signal;
and the control system of the control center sends a further position control command of flying high, flying low, flying near or flying far to the ecological civilization monitoring flying device by the communication system according to the received shooting signal, and the control device controls the flight of the ecological civilization monitoring flying device according to the command.
The flying device is preferably:
the shooting device is arranged on the flying device through the angle adjusting device;
the flight device is further provided with lighting equipment, when the environment where the aircraft is located is dark, the control system of the control center sends an instruction for turning on the searchlight through the communication system, and the control device of the flight device turns on the searchlight after receiving the instruction so as to illuminate.
The flying device is preferably:
the ecological civilization monitoring flight device also comprises an infrared sensing device, a control device and a monitoring device, wherein the infrared sensing device is used for receiving an infrared signal sent by an infrared sensor of charging equipment of a flight base and sending the signal to the control device;
the control device monitors the electric quantity information of the power supply of the flight device according to the ecological civilization sent by the electric quantity detection device, judges whether the electric quantity is sufficient, and if the electric quantity is not sufficient, the automatic charging mode is started: the route judgment device sends the internal layout information of a preset flight base to the control device, the control device sets a walking route according to the information and the position of the ecological civilization monitoring flight device, the ecological civilization monitoring flight device is controlled to move along the set route, the infrared sensor is started to receive an infrared signal sent by the charging equipment, and after the infrared signal sent by the infrared sensor of the charging equipment is received, the control device moves the ecological civilization monitoring flight device to the charging equipment for charging according to the direction of the signal.
The flying device is preferably: the ecological civilization monitoring flight device is also provided with a traveling device which is a wheel or an undercarriage driven by a driving machine head.
The flying device is preferably: the sampling device is one of a hollow drill bit, a grabbing hand and a needle tube or the combination of the hollow drill bit, the grabbing hand and the needle tube.
The flying device is preferably: when a harder sampling object needs to be sampled, the control center sends a control signal through the remote controller according to the image of the sampling object displayed by the display device, the flying device is controlled to fly close to the sampling object, the control system sends an instruction for extracting the drill bit, the flying device receives the instruction, the control device controls the hollow drill bit to drill the sampling object, and the control device controls the hollow drill bit to retract after the hollow drill bit drills for a preset distance.
The flying device is preferably: if the object sampled softer needs to be sampled, the control center sends out a control signal through the remote controller according to the image of the sampling object displayed by the display device, the flying device is controlled to fly close to the sampling object, the control system sends out an instruction for grabbing and extracting by the hand, after the flying device receives the instruction, the control device controls the grabbing hand to grab the sampling object, and after grabbing is finished, the control device controls the grabbing hand to withdraw.
The flying device is preferably: if a water sample is required to be sampled, the control center sends a control signal through the remote controller according to the image of the sampling object displayed by the display device, the flying device is controlled to approach the sampling object, the control system sends an instruction for extracting the needle tube, the flying device receives the instruction, the control device controls the needle tube to absorb the water sample through the needle head, and after the absorption is finished, the control device controls the needle tube to be withdrawn.
An ecological civilization monitoring flight device control center comprising: control system, communication system, display device, flight device remote controller, geographical position system, wherein:
the control system sends a flight instruction to the ecological civilization monitoring flight device through a communication system, wherein the instruction comprises the geographical position information of a target point;
the geographical position system is used for detecting the geographical position information of the control center and sending the geographical position information to the flight device through the communication system;
the flying device remote controller is used for remotely controlling the flying device;
after the flying device takes off, the communication system receives geographical position information of the flying device in real time from the flying device, the control system judges whether the flying device flies to a preset distance range of a target point according to the information, and when the flying device flies to the preset distance, the control system sends an instruction for starting the shooting device through the communication system; the control device of the flight device starts the shooting device to shoot according to the instruction, and transmits the shot signal to the control center in real time through the communication device, the communication system of the control center receives the signal shot by the shooting device sent by the flight device in real time, stores the received shooting signal, and displays the signal through the display device of the control center, if the shot signal is fuzzy, the control system sends a shooting adjusting signal to the ecological civilization monitoring flight device, and adjusts the shooting parameters of the shooting device;
and the control system of the control center sends further position control instructions of fly height, fly approach or fly distance to the ecological civilization monitoring flight device according to the received shooting signals, and after shooting is finished, the control system sends a return flight instruction.
The ecological civilization monitoring flight device control center is preferably:
the flight device remote controller is provided with a handle, the movement of the flight device is simulated and a movement signal is sent out by adjusting the handle, the movement signal is sent to the control system, and the control system sends the signal to the communication device of the ecological civilization monitoring flight device through the communication system; the remote controller also comprises a keyboard, and keys on the keyboard respectively represent the operations of moving the aircraft forwards, backwards, leftwards, rightwards, upwards and downwards, turning on/off the shooting device and the sound collection device, and turning on/off the searchlight.
The ecological civilization monitoring flight device control center is preferably:
the movable handle can also adjust the angle of the angle adjusting device of the flying device, the angle adjusting signal is sent to the flying device through the movable handle, and the control device of the flying device controls the rotating angle of the angle adjusting device after receiving the signal, so that the shooting angle of the shooting device is adjusted.
A flight base of an ecological civilization monitoring flight device, comprising: controller, communication module and location module, wherein:
the positioning module is used for detecting the geographic position of the flight base and sending the detected geographic position information to the communication module;
the communication module is used for communicating with a control center, the ecological civilization monitoring flight device and other flight bases and sending the geographic position information in real time;
the controller is used for controlling the operation of the flight base;
the flying base main body comprises a plurality of side walls, an openable roof and an automatic opening and closing mechanism, the side walls are mutually connected to form the flying base main body in an enclosing mode, and the openable roof is located above the side walls and used for sealing the upper portion of the flying base main body;
the openable roof comprises a plurality of roof plates, when the ecological civilization monitoring flight device returns to a destination flight base, the control device of the ecological civilization monitoring flight device sends a landing signal to the flight base through the communication device, after the flight base receives the landing signal, the automatic opening and closing mechanism is controlled by the controller to work, and the automatic opening and closing mechanism opens the plurality of roof plates of the openable roof;
after the ecological civilization monitoring flight device lands, a control device or a control center of the ecological civilization monitoring flight device sends a signal for closing the roof to the flight base, and after the flight base receives the signal, the controller controls the automatic opening and closing mechanism to close the plurality of roof plates capable of opening and closing the roof.
The flight base is preferably:
the roof panel is a solar energy collection panel.
The flight base is preferably:
the flight base further comprises an infrared sensing device, a charging device and an electric quantity detection module, wherein the infrared sensor is installed on the charging device and sends an infrared signal to identify the position of the charging device.
The flight base is preferably:
the flight base is provided with a landing annunciator at an internal landing point and transmits a landing position signal.
A flight system of an ecological civilization monitoring flight device comprises the ecological civilization monitoring flight device, a control center of the ecological civilization monitoring flight device and a flight base of the ecological civilization monitoring flight device.
Drawings
FIG. 1 is a schematic view of an ecological civilization monitoring flight device;
FIG. 2 is a schematic view of a control center;
FIG. 3 is a schematic view of an ecological civilization monitoring flight system;
FIG. 4 is a schematic view of a main body of a flight base;
FIG. 5 is a schematic view of a flight base charging system;
FIG. 6 is a schematic view of a flight base control system.
Detailed Description
As shown in fig. 1, the ecological civilization monitoring flying device is a small unmanned aerial vehicle, especially a multi-rotor aircraft, and includes: the device comprises a control device, and a communication device, a positioning device, a shooting device, a sound acquisition device, a route judgment device, an electric quantity detection device, a flight judgment device and a sampling device which are respectively connected with the control device. The positioning device is respectively connected with the communication device and the control device and used for positioning the ecological civilization monitoring flying device and transmitting a positioning signal to the communication device and the control device. The communication device is used for sending a positioning signal to the control center and communicating with the remote control center, and the positioning device can be a GPS positioning device or a Beidou positioning device. The control device controls the overall operation of the ecological civilization monitoring flight device, and controls the communication device, the positioning device, the shooting device, the sound acquisition device, the route judgment device, the electric quantity detection device, the flight judgment device and the sampling device.
The shooting device is a video camera or a still camera and is used for shooting videos or pictures; the sound collection device can be a microphone and is used for collecting environmental sound; the electric quantity detection device is used for detecting the electric quantity of a power supply of the ecological civilization monitoring flight device, and the power supply can be a rechargeable battery.
As shown in fig. 2, the control center includes a control system, a communication system, a display device, a flight device remote controller, and a geographical location system. And the control system of the control center sends a tracking instruction of the geographical position information (called target point position information) of the monitoring area to the ecological civilization monitoring flying device through the communication system. The ecological civilization monitoring flight device is used for observing the flying target point. The geographic position system is used for detecting the geographic position information of the control center and sending the geographic position information to the flight device through the communication system, and the flight device can fly back to the control center according to the information.
Before the flying device flies, the control center sends a flying instruction to the flying device, a communication device of the flying device receives the instruction of the control center and sends the instruction to a control device, the control device analyzes information such as the geographic position of a target point according to the instruction and sends the geographic position information of the target point and the geographic position information (a positioning signal detected by a positioning device) of the target point to a route judgment device, the route judgment device calculates the distance between the target point and the control device, generally speaking, the route judgment device calculates the straight-line distance between the target point and the control device, but when an area which is difficult for the aircraft to fly through exists between the target point and the control device, such as a rainy lightning area, a no-fly area, a turbulent flow area, a high mountain and the like, the route judgment device plans an optimal flying route according to the geographic environment, the atmospheric environment, the no-fly area setting and the like between, and sending the planned flight route and the flight distance to a control device, and sending the flight distance to a flight judgment device.
The flight judging device judges whether the aircraft can fly to the target point and return to the nearest flight base according to the received flight distance and the battery electric quantity condition of the aircraft transmitted from the electric quantity detecting device. And sends the judgment result to the control device.
And after receiving the 'no' signal sent by the flight judging device, the control device controls the aircraft to send a flight route, a flight distance, power supply electric quantity and a signal which cannot be reached by flying to the control center through the communication device, and meanwhile, the control device does not carry out flight operation. And after receiving the command, the control device flies to the target point according to the command and the target point geographical position information carried by the command.
In the flight process of the ecological civilization monitoring flight device, the shooting device and the sound collecting device are generally closed to save energy. After receiving an opening instruction sent by the control center, the control device opens the corresponding shooting device and/or sound collection device, and the control device can automatically open the shooting device and/or sound collection device according to whether the distance between the shooting device and the target point reaches a preset distance, such as less than or equal to 500 meters. The communication device receives the geographic position of a target point sent by the control center or the target point in real time, the control device sends the received geographic position information of the target point and the geographic position information of the ecological civilization monitoring flight device measured by the positioning device in real time to the route judgment device, the route judgment device plans a flight route in real time according to weather, space and other conditions, and the control device adjusts the flight route of the ecological civilization monitoring flight device in real time according to the flight route. The route judgment device also judges the distance between the target point and the aircraft and sends the distance to the control device and the flight judgment device in real time, and the flight judgment device judges whether the aircraft can fly to the target point and whether the aircraft can return to the nearest flight base according to the received flight distance and the battery electric quantity condition of the aircraft transmitted from the electric quantity detection device. And transmits the determination result to the control device, and the control device selects whether to continue flying to the destination (the determination result is that the destination can be flown to and the flying base closest to the destination can be returned) or to return to or fly to the flying base closest to the flying device (the determination result is that the destination cannot be flown to or the flying base closest to the destination cannot be returned to even if the destination can be flown to) based on the determination result.
When the flying device flies to a target point for a preset distance, such as 500 meters, the control device starts the shooting device and/or the sound collecting device after receiving an instruction sent by the control center to start the shooting device and/or the sound collecting device, or the control device automatically starts the shooting device and/or the sound collecting device. The signals shot by the shooting device and/or the signals collected by the sound collecting device are transmitted to a communication system of the control center in real time through the communication device, the control center stores the received signals through a storage device (not shown in fig. 2) and displays and/or plays the signals through a display device of the control center, preferably, the flight device carries a storage device, the shot signals and the collected sound signals are stored in real time, and in order to save electric power, the control device can control the communication device to transmit the shot signals at regular time, for example, one or more frames of shot signals and/or collected sound signals are transmitted at preset interval time, for example, 1 minute. If the shooting signal is fuzzy, the control system sends a shooting adjusting signal to the ecological civilization monitoring flying device, and the control device adjusts the shooting parameters of the shooting device, such as focal length, magnification factor, aperture, shutter and the like according to the adjusting signal. The shooting device can shoot both video and photos. The control center can also send out an instruction for starting the sound acquisition device, or the control device can automatically start the sound acquisition device. The control center sends further position control commands of fly-height, fly-near or fly-far to the ecological civilization monitoring flying device according to the received shooting signals, and the control device controls the ecological civilization monitoring flying device to fly-near target points or fly-far (far) target points according to the commands. After the monitoring is finished, the control center sends a return command, and the control device controls the ecological civilization monitoring flight device to return according to the command. The shooting device is installed on the flying device through the angle adjusting device, the control center can send an angle adjusting instruction, and the control device adjusts the rotating angle of the angle adjusting device according to the instruction, so that the shooting angle of the shooting device is adjusted. The flight device is also provided with lighting equipment such as a miniature searchlight, when the environment where the aircraft is located is dark, the control system of the control center sends an instruction for turning on the searchlight through the communication system, and the control device of the flight device turns on the searchlight after receiving the instruction so as to illuminate, so that an ideal shooting effect is obtained.
The control center is provided with a remote control device of the flight device with a handle, monitoring personnel can adjust the movable handle at will, the movement (such as front, back, left, right, up and down flight) of the flight device is simulated, and a movable signal is sent out, the related movable signal is sent to the control system, the control system sends the signal to the communication device of the ecological civilization monitoring flight device through the communication system, and the control device controls the flight of the aircraft according to the received movable signal. The remote control device also comprises a keyboard, and keys on the keyboard respectively represent operations of moving the aircraft forwards, backwards, leftwards, rightwards, upwards and downwards, turning on/off the shooting device, the sound collection device, turning on/off the searchlight and the like.
The movable handle can also adjust the movement of the angle adjusting device, an operator can operate the movable handle while observing an observation picture displayed by the display screen in real time, an angle adjusting signal is sent to the flying device, and the control device of the flying device controls the rotating angle of the angle adjusting device after receiving the signal, so that the shooting angle of the shooting device is adjusted.
The control center can analyze the ecological condition of the monitoring area according to the graphic information shot by the ecological civilization monitoring flight device, can timely find whether the monitoring area has disorder cutting, disorder hunting, illegal pollution discharge, plant diseases and insect pests, vegetation damage and the like, and can acquire and compare images of the same area at different time so as to obtain the information of dynamic development of the ecological environment of the monitoring area. Meanwhile, by using the device, the control center can also monitor key monitoring objects, such as water source areas, forests and the like, so as to protect the key monitoring objects from being damaged.
The ecological civilization monitoring flight device can sample monitoring objects and sampling objects in a monitoring area through the sampling device. The sampling device comprises: hollow drill bit, grabbing hand, needle tubing. When a sampling object needs to be sampled, the control center sends out a control signal through the remote controller according to an image of the sampling object displayed by the display device, the flying device is controlled to fly close to the sampling object or even land, if harder sampling objects such as rocks, soil, trees and the like are sampled, the control system sends out a command extracted by the drill bit, after the flying device receives the command, the control device controls the hollow drill bit to drill the soils, the rocks, the trees and the like, after a preset distance such as 3cm is drilled, the control device controls the hollow drill bit to retract, and the hollow part of the hollow drill bit is the sampled sample; if humus, mud and the like need to be sampled, the control system sends an instruction for picking up by the picking hand, the flying device receives the instruction, the control device controls the picking hand to pick up the humus, mud and the like, and after the picking is finished, the control device controls the picking hand to withdraw and collect the sample picked up by the picking hand; if water samples such as rivers, lakes and the like need to be sampled, the control system sends an instruction for extracting the needle tubes, the flying device receives the instruction, the control device controls the needle tubes to suck the water samples and the like through the needles, after the suction is finished, the control device controls the needle tubes to be withdrawn, and the collected water samples are in the needle tube cavities. The sampling devices comprise a plurality of unique codes which are respectively identified, the control system can respectively send out instructions which require different sampling devices to collect a plurality of different samples at a plurality of places according to the codes, and the control device controls the flight device to fly to the relevant places according to the instructions to control the corresponding sampling devices to sample. When the sampling device is not used, the sampling device is arranged in the sampling cabin, when the sampling cabin needs to be used, the control device controls the sampling cabin door to be opened, meanwhile, the sampling device is controlled to extend outwards from the cabin door for sampling, and after sampling is finished, the control device controls the sampling device to be recycled to enter the sampling cabin and close the cabin door.
The ecological civilization monitoring flight system is described below with reference to the accompanying drawings 1 and 3: in the ecological civilization monitoring process, because the monitoring area is in the field and is far away from a base or a research center such as a control center, when the ecological civilization monitoring work is executed, the ecological civilization monitoring flying device can not be guaranteed to return to the base or the research center in time in most cases, and therefore the ecological civilization monitoring flying system is needed to be invented. The system comprises a plurality of flight bases, an ecological civilization monitoring flight device and a control center. The flight bases are arranged in target point monitoring areas and are uniformly distributed, and the distribution areas cover the monitoring areas as much as possible. The flight station is supplied with electrical power via a power grid, for example mains electricity, and may also have other power sources, for example wind power plants and/or solar power plants.
As shown in fig. 6, the flight base includes a controller, a communication module and a positioning module, the positioning module is configured to determine a geographic location of the flight base and send the location information to the communication module, and the communication module is configured to communicate with the control center, the ecological civilization monitoring flight device, and other flight bases and send location information of the communication module in real time. The positioning module can be a GPS positioning device or a Beidou positioning device.
The flight base can be an attended base or an unattended base, an aircraft landing terrace is arranged on the attended base and used for landing of the aircraft, and the overall structure of the unattended base comprises a plurality of side walls 2, an openable roof 1 and an automatic opening and closing mechanism (not shown in the figure) as shown in the figure 4. The plurality of side walls are connected with each other to form a flying base main body, the openable roof is located above the plurality of side walls and used for sealing the upper portion of the flying base main body, the openable roof comprises a plurality of roof plates, and the openable roof is in a closed state under ordinary conditions so as to prevent wind, rain, animals and the like from damaging internal facilities and equipment of the flying base. The multiple roof plates capable of opening and closing the roof are opened or closed by an automatic opening and closing mechanism, and the automatic opening and closing mechanism is connected with a controller of the flight base. When the ecological civilization monitoring flying device returns to a flight, after the ecological civilization monitoring flying device approaches a destination flight base, such as when the distance is 1000 meters, the control device of the ecological civilization monitoring flying device sends a landing signal to the flight base through the communication device, after the flight base receives the signal, the automatic opening and closing mechanism is controlled by the controller to work, and the automatic opening and closing mechanism opens the plurality of roof plates of the openable roof 2. The ecological civilization monitoring flight device can automatically recognize the landing position of the flight base and automatically land from the opened roof to the flight base under the control of the control device, and the control center can also control the landing of the flight base. After landing, the control device or the control center of the ecological civilization monitoring flight device sends a signal for closing the roof to the flight base, and after the flight base receives the signal, the controller controls the automatic opening and closing mechanism to close the plurality of roof plates of the openable roof 2. The roof can be used as a solar power generation device such as a solar energy collecting plate and has the functions of opening, closing and collecting solar power generation. The plurality of openable roof plates can be opened and closed in a turnover mode and can also be opened and closed in a telescopic mode.
The case of the flying device landing inside the flying base is described in detail below:
first, automatic landing: when the ecological civilization monitors that the flying device flies to the flying base, a landing request is sent to the flying base, the flying base receives the signal and then controls a roof plate of the flying base to open, the flying base is provided with a landing annunciator such as an infrared signal transmitting device at an internal landing point and transmits a landing position signal such as an infrared signal upwards, the flying device is provided with a landing signal receiver such as an infrared signal receiving device, after the receiver receives the landing signal, the receiver transmits the signal to the control device, the control device judges the landing position and adjusts the air position of the flying device, when the landing position above the preset landing position is confirmed to be reached (such as the landing position is right), the control device controls the flying device to land, and simultaneously the control device receives the height from the ground detected by the height detecting device of the flying device per se in real time, when the height is 0, the control device turns off the flying motor, stops the flying of the flying device, sends out a command for closing the roof plate, and the flying base closes the roof plate according to the command.
Second, controlled landing: when the ecological civilization monitoring flight device flies to the flight base, a landing request is sent to the flight base, after the flight base receives the signal, the controller of the flight base controls the roof board of the flight base to open, the control system of the control center sends an instruction for opening the shooting device through the communication system, after the communication device of the flight device receives the instruction, the control device opens the shooting device under the control of the instruction and transmits the shot picture to the control center, the display device of the control center displays the received picture, a worker sends an instruction for adjusting the shooting angle, the shooting parameters and the like according to the picture until the shot picture returned from the flight device meets the requirement, at the moment, the aircraft flies to the position right above the roof, namely the position right above the landing position, and then the aircraft is controlled to slowly descend through controlling the remote controller, until landing. The control system issues a command to close the shingle, and the flight base closes the shingle in accordance with the command.
The flight base can charge the ecological civilization monitoring flight device. The charging system for the flight base is described below with reference to fig. 4 and 5. The flight base further comprises: infrared ray sensing device, battery charging outfit, electric quantity detection module. The infrared sensor is installed on the charging equipment and sends out an infrared signal to identify the position of the charging equipment. The ecological civilization monitoring flight device also comprises an infrared sensing device which is used for receiving an infrared signal sent by an infrared sensor of the charging equipment and sending the signal to the control device. After the ecological civilization monitoring flight device enters a flight base, the control device judges whether the electric quantity is sufficient according to the electric quantity information of the power supply (such as a rechargeable battery) of the ecological civilization monitoring flight device sent by the electric quantity detection device, and if the electric quantity is not sufficient, an automatic charging mode is started: the route judgment device sends preset internal layout information (which can be stored in a memory of a control system of the flight device, the memory is a storage device such as a nonvolatile memory) of the flight base to the control device, the control device sets a walking route according to the information and the position of the ecological civilization monitoring flight device, the ecological civilization monitoring flight device is controlled to move along the set route, the infrared sensor is started to receive an infrared signal sent by the charging device, and after the infrared signal sent by the infrared sensor of the charging device is received, the control device moves the ecological civilization monitoring flight device to the charging device according to the direction of the signal for charging.
In order to move the ecological civilization monitoring flying device in the flying base, the ecological civilization monitoring flying device is also provided with a traveling device, generally speaking, a multi-rotor aircraft is not provided with a traveling mechanism, but in order to realize automatic charging, a plurality of wheels are arranged at the lower part of the ecological civilization monitoring flying device and used for supporting the flying device, and meanwhile, a driving mechanism such as a motor and the like is arranged to drive the wheels to rotate. Or the landing gear is arranged and used for supporting the whole ecological civilization monitoring flight device, the landing gear is retracted after the ecological civilization monitoring flight device takes off, and the landing gear is put down when landing. When charging, the control device starts the walking motor to drive the wheels or the wheels of the undercarriage to rotate so as to move the ecological civilization monitoring flying device to a selected position. The charging equipment of the flight base can be externally connected with a mains supply to provide power, and can also be externally connected with wind power generation equipment and/or solar power generation equipment.
Because the flying base is in the field, the flying base is generally difficult to be externally connected with a commercial power network, and usually depends on wind power generation equipment and/or solar power generation equipment to generate power, at the moment, the charging equipment is a rechargeable battery such as a lead-acid storage battery, a nickel-cadmium battery, a lithium ion battery, a lithium polymer battery and the like and is used for storing electric energy generated by the wind power generation equipment and/or the solar power generation equipment. The flying bases have different and different stored electric energy, so the flying bases further have electric quantity detection devices for detecting the electric quantity of the charging equipment, and the internal control system of the flying bases is described below with reference to fig. 6. The flight base comprises a controller, a communication module, a positioning module, charging equipment, an electric quantity detection module and an infrared sensor. The controller is connected with the communication module, the positioning module and the electric quantity detection module and used for working of each part of the flight base and the control system of the flight base, the electric quantity detection module is connected with the charging equipment and used for detecting the electric quantity of the charging equipment, and the infrared sensor is installed on the charging equipment and sends an infrared signal to mark the position of the charging equipment.
When the ecological civilization monitoring flying device needs to return to a flying base, the control device sends the geographic position information of a plurality of flying bases (the information can be pre-stored in a memory built in the ecological civilization monitoring flying device or received geographic position information sent by the flying base in real time, the geographic position information is sent by a communication module of the flying base after being detected by a positioning module of the flying base) and the position information of the ecological civilization monitoring flying device self detected by the positioning device of the flying device in real time to the route judgment device, the route judgment device plans a flying route and calculates the flying distance between the two, generally speaking, the route judgment device calculates the linear distance between the two, but when an area which is difficult for an aircraft to fly over exists between the two areas, such as a thunderstorm area, a no-fly area, a turbulent flow area and the like, the route judgment device plans an optimal flight route according to the geographic environment, the atmospheric environment, the setting of a no-fly zone and the like between an aircraft and each flight base, calculates the flight distance, sends the flight route and the flight distance between the aircraft and each flight base (target point) to the control device, the control device sends an electric quantity inquiry signal to all the flight base groups, after a communication module of each flight base receives the electric quantity inquiry signal, a controller of the flight base starts an electric quantity detection module according to the signal, the electric quantity detection module detects the electric quantity of the charging equipment and sends the electric quantity information to the controller, the controller sends the electric quantity information of the controller to the ecological civilization monitoring flight device through the communication module (the electric quantity information of the base can be identified by the unique ID of each flight base), after the ecological civilization monitoring flight device receives the electric quantity information sent by each flight base, and sending the electric quantity information and the flight distance to a flight judgment device, and judging whether the aircraft can fly to a flight base with sufficient electric quantity by the flight judgment device according to the received flight distance and the electric quantity condition of the aircraft transmitted by the electric quantity detection device of the ecological civilization monitoring flight device. And sends the judgment result to the control device. If only one flight base meets the requirement, the control device controls the ecological civilization monitoring flight device to fly to the base according to a flight route corresponding to the flight base, if a plurality of flight bases meeting the condition exist, the control device selects the flight base closest to the flight base and controls the ecological civilization monitoring flight device to fly to the base according to the flight route corresponding to the flight base, and if all the flight bases do not meet the charging condition, the control device selects the flight base closest to the flight base and controls the ecological civilization monitoring flight device to fly to the base according to the flight route corresponding to the flight base.
The communication among the components in the ecological civilization monitoring flight system, namely the ecological civilization monitoring flight device, the control center and the flight base, adopts a wireless communication mode, so that communication equipment, modules, systems and the like with communication capacity in the components are all wireless communication devices, such as communication equipment of GSM, GPRS, 3G, 4G, LTE and the like.
The ecological civilization monitoring flight device and the system can conveniently observe and photograph the conditions of target points in real time, can realize field take-off and landing, maintenance and charging, improve the observation efficiency of the target points and provide good conditions for monitoring and protecting the target points.
Claims (5)
1. An ecological civilization monitoring flying device, comprising: the device comprises a control device, a communication device, a positioning device, a shooting device, a sound acquisition device, a route judgment device, an electric quantity detection device, a flight judgment device and a sampling device; the method is characterized in that:
the positioning device is respectively connected with the communication device and the control device and is used for positioning the ecological civilization monitoring flight device and transmitting a positioned geographic position signal to the communication device and the control device;
the communication device is used for sending geographic position information and realizing communication with the outside, the shooting device is used for carrying out video shooting or shooting, the sound collecting device is used for collecting environmental sound, the electric quantity detecting device is used for detecting the electric quantity of a power supply of the ecological civilization monitoring flight device, and the sampling device is used for sampling a sampling object in a monitoring area;
the control device controls the overall operation of the ecological civilization monitoring flight device, and controls the communication device, the positioning device, the shooting device, the sound acquisition device, the route judgment device, the electric quantity detection device and the flight judgment device;
the sampling device is one or a combination of a hollow drill bit, a grabbing hand and a needle tube;
the communication device receives a flight instruction of the control center and sends the instruction to the control device, the control device analyzes the geographical position information of a target point according to the instruction, and the geographical position information of the target point and the geographical position information of the flight device are sent to the route judgment device;
the route judgment device calculates the distance between the target point and the flight device and plans a flight route, sends the flight route and the flight distance to the control device, and sends the flight distance to the flight judgment device: when an area which is difficult for the aircraft to fly over exists between the target point and the flight device, wherein the area comprises a rainy thunder area, a no-fly area, a turbulent flow area and a mountain, the route judgment device sets a planned flight route according to the geographic environment, the atmospheric environment and the no-fly area between the aircraft and the target point, calculates the flight distance, sends the planned flight route and the flight distance to the control device, and sends the flight distance to the flight judgment device;
the flight judging device judges whether the flying device can fly to a target point and return to a nearest flight base or not according to the received flying distance and the battery electric quantity condition of the flying device transmitted from the electric quantity detecting device, and sends a judgment result to the control device;
the control device controls the flying device to fly to a destination after receiving the 'yes' signal sent by the flying judgment device, and controls the flying device to send a flying route, a distance, electric quantity and a signal which cannot be reached by flying to the control center through the communication device when receiving the 'no' signal sent by the flying judgment device, and meanwhile, the flying operation is not carried out;
in the flying process of the flying device, the communication device receives the geographical position information of a target point sent by a control center or the target point in real time, the control device sends the received geographical position information of the target point and the geographical position information of the flying device measured by the positioning device in real time to the route judgment device, the route judgment device plans a flying route according to weather and space conditions, the control device adjusts the flying route of the flying device according to the flying route in real time, and the route judgment device also judges the distance between the target point and the control device and sends the distance to the control device and the flying judgment device in real time.
2. The heeling apparatus of claim 1, wherein:
when the target point flies to a preset distance, the control device starts the shooting device after receiving an instruction sent by the control center to start the shooting device and/or the sound collecting device, or the control device automatically starts the shooting device and/or the sound collecting device; the control center stores the received signals by using a storage device and displays and/or plays the signals by using a display device of the control center; the flight device carries a storage device to store the shot and/or acquired signals in real time.
3. The heeling apparatus of claim 2, wherein:
if the shooting signal is fuzzy, the control system of the control center sends a shooting adjusting signal to the ecological civilization monitoring flying device through the communication system, and the control device adjusts the shooting parameter of the shooting device according to the adjusting signal;
and the control system of the control center sends a further position control command of flying high, flying low, flying near or flying far to the ecological civilization monitoring flying device by the communication system according to the received shooting signal, and the control device controls the flight of the ecological civilization monitoring flying device according to the command.
4. An ecological civilization monitoring flight device control center comprising: control system, communication system, display device, flight device remote controller, geographical position system, its characterized in that:
sending a flight instruction to the ecological civilization monitoring flying device according to one of claims 1 to 3 through a communication system by a control system, wherein the flight instruction comprises the geographic position information of a target point;
the geographical position system is used for detecting the geographical position information of the control center and sending the geographical position information to the flight device through the communication system;
the flying device remote controller is used for remotely controlling the flying device.
5. A flight system of an ecological civilization monitoring flying device, comprising the ecological civilization monitoring flying device according to one of claims 1 to 3, an ecological civilization monitoring flying device control center according to claim 4 and a flight base of the ecological civilization monitoring flying device.
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| CN201810020958.5A CN108227741B (en) | 2015-09-23 | 2015-09-23 | Ecological civilization monitoring flight device |
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| CN108153333B (en) * | 2015-09-23 | 2020-12-01 | 郑州大学 | Flight base of ecological civilization monitoring devices |
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| CN105159318A (en) | 2015-12-16 |
| CN108153333A (en) | 2018-06-12 |
| CN108153333B (en) | 2020-12-01 |
| CN105159318B (en) | 2018-01-30 |
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