CN108845080A - A kind of environmental monitoring unmanned plane and its monitoring method - Google Patents
A kind of environmental monitoring unmanned plane and its monitoring method Download PDFInfo
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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Abstract
The invention discloses a kind of environmental monitoring unmanned plane, including drone body, cradle head mechanism, assembly is fixed at the top of the drone body bottom and the first vertical plate, and the first vertical plate bottom and the assembly of the first transverse slat are fixed, and the first transverse slat and cradle head mechanism assembly are fixed.The invention also discloses the monitoring methods that application has above-mentioned environmental monitoring unmanned plane.Head assembly structure of the invention is simple, and can be realized the corner for precisely adjusting infrared camera, infrared imaging instrument, to realize that multiple spot determines angle and adopts picture, to guarantee the complete detection to monitoring point ambient enviroment.Monitoring method of the invention carries out multiple spot, multi-orientation detection, to increase sampled data, improves sampling precision, meanwhile, the unusual part of sampled data is found out, using image recognition, correlation technique so that operator makes reply in time.The present invention is integrated with the functions such as Image Acquisition, gas detection, is able to carry out emergency monitoring, high-altitude monitors, pollution sources are quickly searched.
Description
Technical field
The present invention relates to a kind of unmanned planes, more particularly to a kind of environmental monitoring unmanned plane and its monitoring method.
Background technique
Environmental protection is a fundamental state policy in China.With the development of China environmental protection cause, Environmental Management Work
It deepens constantly, informationization has become the important technical basis for improving environmental management and decision level.State Environmental Protection Administration is bright
The objective of the struggle of China's Information of the Environment construction is really proposed, one that Information of the Environment construction is built as environmental management capacity
Important process actively pushes forward the development of Information of the Environment construction, for environmental management and decision provide good technological service and
It supports.
Environmental monitoring is the important component of environmental protection work, is basis and the technical support of environmental management, and empty
Gas quality-monitoring is then an important component of environmental monitoring again.
The case where China's air pollution, is quite serious, has been one of global three big Acid Rain Zones, since reform and opening-up, with society
Economic fast development, the raising of industrialized level, the influence generated to environment is increasing, has especially concentrated greatly in city
The factory of amount, vehicle, population, urban environment subject immense pressure, and air quality faces the threat of newly-increased emission source.
With the improvement of living standards, the raising of whole society's environmental consciousness, people increasingly pay close attention to living environment health,
The air quality of life is become more concerned with, the requirement provided environmental information is higher and higher.Air quality is either with or without starting to dislike
Change, which place deteriorating, deterioration degree is how, and development trend is how, and expert is concerned about it, and the people are concerned about it, government more concerned with
It.Air Quality is published by broadcasting media, not only contributes to open and clearization of efforts at environmental protection, it helps is promoted
Raising into Public environmental attitude and the participation to efforts at environmental protection.
The current most area in China still uses the atmospheric monitoring means based on artificial sample and lab analysis, this
Mode cannot monitor the real-time emission behaviour of pollutant accurately and in time, so that environmental regulatory persons are difficult in a short time
The actual conditions for findding out all contaminated areas can not accomplish immediately accurately prison to various burst Pollution sources and pollution scene
It surveys and handles.
Therefore, novel air quality detection system has used high-tech means to complete technology upgrading, by traditional hand
Work sampling-lab analysis develops to the automatic monitoring stage.The project of monitoring is gradually increased by original SO2, NOx, TSP
Poisonous and hazardous organic matter in new project, such as CO, O3, VOC and air.
However, the problem of quickly being searched etc. for Environmental emergency monitoring, high altitude environment quality-monitoring, pollution sources solution
Never good method.And unmanned plane has the features such as high flexibility, high maneuverability, adaptation complex environment, is used for environment
Monitoring can achieve the purpose that emergency monitoring, high-altitude monitoring, pollution sources are quickly searched.
Therefore, applicant proposes a kind of environmental monitoring unmanned plane and its monitoring method, is able to carry out anxious monitoring, high-altitude
Monitoring, pollution sources are quickly searched.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of environmental monitoring use
Unmanned plane and its monitoring method.
To achieve the above object, the present invention provides a kind of environmental monitoring unmanned planes, including drone body, holder machine
Assembly is fixed at the top of structure, the drone body bottom and the first vertical plate, and the first vertical plate bottom and the assembly of the first transverse slat are fixed,
First transverse slat and cradle head mechanism assembly are fixed.
Preferably, cradle head mechanism includes the second motor, and the second motor is mounted on the first transverse slat, the output shaft of the second motor
With the 5th axis body one end assembly connection, the 5th axis body other end pass through after the first transverse slat with after the assembly of the 5th pinion again with second
Transverse slat rotatably assembles；
First transverse slat is equipped with mounting groove, is equipped with bearing, bearing inner race and the 4th axis body one in the mounting groove
Assembly is held to fix, after the 4th axis body other end is fixed with the assembly of the 5th gear after the first transverse slat, then passes through the second transverse slat
It assembles and fixes with third transverse slat；
Assembly is fixed at the top of the third transverse slat bottom plate and two piece of second vertical plate, passes through the 4th transverse slat between two piece of second vertical plate
It is connected and fixed, first motor is installed on the 4th transverse slat, output shaft and third axis body one end of first motor are connected and fixed, third
The axis body other end is fixed after passing through one piece of second vertical plate with second gear assembly, and second gear engages biography with first gear
Dynamic, first gear is mounted on the second axle body one end, and the second axle body other end passes through after one piece of second vertical plate with another second
Vertical plate rotatably assembles；
4th gear is installed, the latch engaged transmission on the 4th gear and sector on the second axle body；
The sector is fixed on the 5th transverse slat, and the 5th transverse slat is arranged between two piece of second vertical plate；
5th transverse slat two sides pass through one piece of the 4th vertical plate respectively and are connected and fixed with the 7th transverse slat, by the among two piece of the 4th vertical plate
Six transverse slats are connected and fixed, and are also connected and fixed by third vertical plate between the 5th transverse slat and the 7th transverse slat；
The 6th transverse slat two sides are separately installed with infrared thermoviewer, thermal camera, and the 5th transverse slat and the 7th transverse slat it
Between the end face parallel with third vertical plate also assemble and fix with limit plate；
It is fixed on the outside of 4th vertical plate with the assembly of the first axle body one end, the first axle body other end is rotatably filled with the 4th vertical plate
Match；
It is fixed respectively with first shell, second shell assembly on the outside of two piece of second vertical plate.
Preferably, first shell bottom is equipped with the first locater plate, and the locater plate two sides are respectively with one of second
Vertical plate, the assembly of the second locater plate are fixed；
It is fixed at the top of second locater plate with the assembly of the 4th locater plate, the is equipped between the 4th locater plate and the first locater plate
Three locater plates, the first locater plate inside are fixed with micro radar rangefinder, the third locater plate and the 4th ranging
Weight plate is installed, the first compression axis compresses after passing through the 4th locater plate with Weight plate between plate；
First compression axis is pierced by the 4th locater plate one end and the assembly of the first knob is fixed.
Preferably, the second shell bottom is equipped with the first coverboard, and the first coverboard is equipped with several ventholes, described
Venthole is used to suck portion's air in gas detecting instrument, and the gas detecting instrument is used to detect the various composition in air；
The gas detecting instrument is pressed on the first coverboard by third coverboard, first coverboard by the second coverboard with
The assembly of 5th coverboard is fixed, and the 5th coverboard and the first coverboard assemble with another second vertical plate fix respectively.
Preferably, the third coverboard is equipped with the first guide cylinder, first guide cylinder and the second compression axis one
End rotatably assembly, the second compression axis other end are pierced by after the 5th coverboard and assemble fixation with the second knob, and described second compresses
Axis screws assembly with the 5th coverboard by threaded engagement assembly.
Preferably, the second shell board ends are fixed with one piece of end plate assembly respectively, and third compression axis one end passes through it
In be fitted into the second guide cylinder and rotatably assemble therewith after one piece of end plate；
Second guide cylinder is fixed on the second pressing plate, second pressing plate and one side compression of gas detecting instrument；
The third compression axis other end and the assembly of third knob are fixed, and third compression axis and end plate are filled by threaded engagement
Match.
The invention also discloses the monitoring methods based on above-mentioned unmanned plane.
The beneficial effects of the invention are as follows：
1, head assembly structure of the invention is simple, and can be realized and precisely adjust infrared camera, infrared imaging instrument
Corner, to realize that multiple spot determines angle and adopts picture, to guarantee the complete detection to monitoring point ambient enviroment.
2, monitoring method of the invention carries out multiple spot, multi-orientation detection, to increase sampled data, improves sampling precision,
Meanwhile the unusual part of sampled data is found out using image recognition, correlation technique, so that operator makes reply in time.
3, the present invention is integrated with the functions such as Image Acquisition, gas detection, is able to carry out anxious monitoring, high-altitude monitoring, pollution
It quickly searches in source.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 2 is a kind of structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 3 is a kind of head assembly structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 4 is a kind of head assembly structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 5 is a kind of head assembly structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 6 is a kind of head assembly structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Fig. 7 is a kind of head assembly structural schematic diagram of environmental monitoring unmanned plane specific embodiment of the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples：
Referring to Fig. 1-Fig. 7, a kind of environmental monitoring unmanned plane, including drone body 100（That is unmanned plane）, cradle head mechanism, institute
It assembles and fixes at the top of 100 bottom of drone body stated and the first vertical plate 211,211 bottom of the first vertical plate and the first transverse slat 221 fill
With fixation；
Second motor 260,550 one end of output shaft and the 5th axis body of the second motor 260 are installed on first transverse slat 221
Assembly connection, the 5th axis body other end pass through the first transverse slat 221 after with the 5th pinion 652 assembly after again with the second transverse slat 222
Rotatably assembly；
First transverse slat 221 is equipped with mounting groove 2211, is equipped with bearing 660, bearing 660 in the mounting groove 2211
Inner ring and 540 one end of the 4th axis body assembly fix, 540 other end of the 4th axis body pass through the first transverse slat 221 after with the 5th gear 651
Fixation is assembled with third transverse slat 223 after assembling fixation, then passing through the second transverse slat 222；
It assembles and fixes at the top of 223 bottom plate of third transverse slat and two piece of second vertical plate 212, lead between two piece of second vertical plate 221
It crosses the 4th transverse slat 224 to be connected and fixed, first motor 250, the output shaft of first motor 250 and is installed on the 4th transverse slat 224
530 one end of three-axis body is connected and fixed, 530 other end of third axis body pass through after one piece of second vertical plate 212 with second gear 620
Assembly is fixed, and 610 engaged transmission of second gear 620 and first gear, first gear 610 is mounted on 520 one end of the second axle body, the
Two axis bodies, 520 other end rotatably assembles after passing through one piece of second vertical plate with another second vertical plate；
4th gear 640, the 4th gear 640 and the latch on sector 630 are installed on the second axle body 520
Engaged transmission；
The sector 630 is fixed on the 5th transverse slat 225, and the 5th transverse slat 225 is arranged in two piece of second vertical plate 212
Between；
5th transverse slat, 225 two sides pass through one piece of the 4th vertical plate 214 respectively and are connected and fixed with the 7th transverse slat 227, two piece of the 4th vertical plate
It is connected and fixed among 214 by the 6th transverse slat 226, and also passes through third vertical plate between the 5th transverse slat 225 and the 7th transverse slat 227
213 are connected and fixed；
6th transverse slat, 216 two sides are separately installed with infrared thermoviewer 210, thermal camera 220, and the 5th transverse slat 225
The end face parallel with third vertical plate 213 is also assembled with limit plate 340 and is fixed between the 7th transverse slat 227, thus by infrared imaging
Instrument 210, thermal camera 220 are fixed between the 5th transverse slat 225 and the 7th transverse slat 227.
4th vertical plate, 214 outside is fixed with the assembly of 510 one end of the first axle body, 510 other end of the first axle body and the
The four rotatably assembly of vertical plate 214.In use, drive third axis body 530 to drive the rotation of the 4th gear 640 by first motor, the
Four gears 640 are engaged by sector 630 to drive during infrared thermoviewer 210, thermal camera 220 with the first axle body 510 be
Heart rotation；
Other second motor 260 drives the 4th axis body 540 to rotate by the rotation of the 5th axis body 550 of driving, so that infrared
Imager 210, thermal camera 220 are rotated up in the 5th axis body week.
Two piece of second 212 outside of vertical plate is fixed with first shell 310, the assembly of second shell 320 respectively, wherein first shell
310 bottoms are equipped with the first locater plate 311, and 311 two sides of locater plate are surveyed with one of second vertical plate 212, second respectively
It assembles and fixes away from plate 312；
Second locater plate, 312 top is fixed with the assembly of the 4th locater plate 314, the 4th locater plate 314 and the first locater plate
It is equipped with third locater plate 313 between 311, is fixed with micro radar rangefinder 240 on the inside of first locater plate 311, it is described
Third locater plate 313 and the 4th locater plate 314 between Weight plate 318 is installed, the first compression axis 317 passes through the 4th locater plate
It is compressed after 314 with Weight plate 318, it is preferable that first compression axis 317 and the 4th locater plate 314 is filled by threaded engagement
Match；
First compression axis 316 is pierced by 314 one end of the 4th locater plate and the assembly of the first knob 317 is fixed.In use, passing through
First knob can be driven the first compression axis 316 and move in its axial direction, to compress Weight plate 318.
The micro radar rangefinder is for detecting the distance between unmanned plane and ground obstacle；
320 bottom of second shell is equipped with the first coverboard 321, and the first coverboard 321 is equipped with several ventholes 3211, described
Venthole 3211 be used to suck portion's air in gas detecting instrument 230, the gas detecting instrument 230 is for detecting in air
Various composition, such as fuel gas, toxic gas, oxygen；
The gas detecting instrument 230 is pressed on the first coverboard 321 by third coverboard 323, and first coverboard 321 is logical
It crosses the second coverboard 322 and the assembly of the 5th coverboard 325 is fixed, the 5th coverboard 325 and the first coverboard 321 are respectively with another the
The assembly of two vertical plates is fixed；
The third coverboard 323 is equipped with the first guide cylinder 324, first guide cylinder 324 and the second compression axis 326 1
End rotatably assembly, 326 other end of the second compression axis is pierced by after the 5th coverboard 325 and assembles fixation with the second knob 327, described
Second compression axis 326 screws assembly with the 5th coverboard 325 by threaded engagement assembly；
Second coverboard, 322 both ends are fixed with one piece of assembly of end plate 331 respectively, and 328 one end of third compression axis passes through
It is fitted into after one piece of end plate 331 in second guide cylinder 332 and rotatably assembles therewith；
Second guide cylinder 332 is fixed on the second pressing plate 3281, second pressing plate 3281 and gas detecting instrument one
Side compression；
328 other end of third compression axis and the assembly of third knob 329 are fixed, and third compression axis 328 and end plate 331 are logical
Threaded engagement assembly is crossed, in use, driving the rotation of third compression axis that the second pressing plate can be driven by third knob compresses gas
Detector.
A kind of monitoring method based on above-mentioned unmanned plane, includes the following steps：
S1, setting monitoring objective point, unmanned plane during flying to monitor place, monitoring height；
S2, unmanned plane are by first motor, the second motor driven infrared thermoviewer, thermal camera rotation, to realize polygonal
Degree acquisition image；
Gas detecting instrument starting simultaneously, sucking gas detect the composition of air in monitoring place；
The gas data of detection and the image of acquisition wirelessly send back server in real time；
S3, server compare gas data, and find out the higher gas component of content, in addition identify to image, to look for
The abnormal conditions of monitoring point out.
Further, unmanned plane is examined using setting place as the center of circle, certain radius progress circumference, certain altitude in S2
It surveys；
Preferably, sample radius is 300 meters, is highly 60 meters, unmanned plane first fly to sample radius the center point, height apex into
Row sampling flies then along sample radius is outstanding, primary according to every 60 ° samplings, until having sampled a circumference；
Then it is once sampled again according to 8 meters of decline every in short transverse, until the sampling circumference at the place that touches the bottom；
In sampling process, thermal camera, infrared thermoviewer in shaft cylinder circumferential direction and second driving shaft circumferential direction respectively according to
60 °, 60 ° of angular turn, then sampling；
It further, further include following steps：S4, server by thermal camera, infrared thermoviewer in the height direction, it is same
The image of angle is compared, and identifies image outline, finally finds out the difference of different height, same angle acquisition image,
Operator is reminded simultaneously；
Also gas detecting instrument detection is compared in the data of same rotational angle, different height for server, and draws difference
The curve graph of height finally compares error major part in curve graph, and reminds at operator error.
S5, in the detection process unmanned plane not enough power supply when, can to control terminal send request return instruction, operating side agree to
Or passing through certain time, unmanned plane is returned according to default route；
When operator disagrees, unmanned plane works on, and until electricity is seriously relatively low, unmanned plane is voluntarily dropped on level land,
Level land is to be identified in monitoring by image and mark coordinate.
When S6, non-landing state, unmanned plane detect reach parameter preset apart from ground distance or obstacle height when,
Unmanned plane CPU（Built-in microcontroller）It is directly controlled no longer to decline.
Place is not described in detail by the present invention, is the well-known technique of those skilled in the art.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of environmental monitoring unmanned plane, including drone body, cradle head mechanism, which is characterized in that the unmanned plane sheet
Assembly is fixed at the top of body bottom and the first vertical plate, and the first vertical plate bottom and the assembly of the first transverse slat are fixed, the first transverse slat and holder machine
Structure assembly is fixed.
2. environmental monitoring unmanned plane as described in claim 1, which is characterized in that cradle head mechanism include the second motor, second
Motor is mounted on the first transverse slat, and the output shaft of the second motor and the 5th axis body one end assembly connection, the 5th axis body other end are worn
It crosses after the first transverse slat and is rotatably assembled with the second transverse slat again with after the assembly of the 5th pinion；
First transverse slat is equipped with mounting groove, is equipped with bearing, bearing inner race and the 4th axis body one in the mounting groove
Assembly is held to fix, after the 4th axis body other end is fixed with the assembly of the 5th gear after the first transverse slat, then passes through the second transverse slat
It assembles and fixes with third transverse slat；
Assembly is fixed at the top of the third transverse slat bottom plate and two piece of second vertical plate, passes through the 4th transverse slat between two piece of second vertical plate
It is connected and fixed, first motor is installed on the 4th transverse slat, output shaft and third axis body one end of first motor are connected and fixed, third
The axis body other end is fixed after passing through one piece of second vertical plate with second gear assembly, and second gear engages biography with first gear
Dynamic, first gear is mounted on the second axle body one end, and the second axle body other end passes through after one piece of second vertical plate with another second
Vertical plate rotatably assembles；
4th gear is installed, the latch engaged transmission on the 4th gear and sector on the second axle body；
The sector is fixed on the 5th transverse slat, and the 5th transverse slat is arranged between two piece of second vertical plate；
5th transverse slat two sides pass through one piece of the 4th vertical plate respectively and are connected and fixed with the 7th transverse slat, by the among two piece of the 4th vertical plate
Six transverse slats are connected and fixed, and are also connected and fixed by third vertical plate between the 5th transverse slat and the 7th transverse slat；
The 6th transverse slat two sides are separately installed with infrared thermoviewer, thermal camera, and the 5th transverse slat and the 7th transverse slat it
Between the end face parallel with third vertical plate also assemble and fix with limit plate；
It is fixed on the outside of 4th vertical plate with the assembly of the first axle body one end, the first axle body other end is rotatably filled with the 4th vertical plate
Match；It is fixed respectively with first shell, second shell assembly on the outside of two piece of second vertical plate.
3. environmental monitoring unmanned plane as claimed in claim 2, which is characterized in that first shell bottom is equipped with the first ranging
Plate, the locater plate two sides are fixed with one of second vertical plate, the assembly of the second locater plate respectively；
It is fixed at the top of second locater plate with the assembly of the 4th locater plate, the is equipped between the 4th locater plate and the first locater plate
Three locater plates, the first locater plate inside are fixed with micro radar rangefinder, the third locater plate and the 4th ranging
Weight plate is installed, the first compression axis compresses after passing through the 4th locater plate with Weight plate between plate；
First compression axis is pierced by the 4th locater plate one end and the assembly of the first knob is fixed.
4. environmental monitoring unmanned plane as claimed in claim 2, which is characterized in that the second shell bottom is equipped with first
Coverboard, the first coverboard are equipped with several ventholes, and the venthole is used to suck portion's air in gas detecting instrument, described
Gas detecting instrument is used to detect the various composition in air；
The gas detecting instrument is pressed on the first coverboard by third coverboard, first coverboard by the second coverboard with
The assembly of 5th coverboard is fixed, and the 5th coverboard and the first coverboard assemble with another second vertical plate fix respectively.
5. environmental monitoring unmanned plane as claimed in claim 4, which is characterized in that the third coverboard is equipped with first and leads
To cylinder, first guide cylinder is rotatably assembled with second compression axis one end, and the second compression axis other end is pierced by the 5th coverboard
It assembles and fixes with the second knob afterwards, second compression axis screws assembly with the 5th coverboard by threaded engagement assembly.
6. environmental monitoring unmanned plane as claimed in claim 4, which is characterized in that the second shell board ends are respectively with one
The assembly of block end plate is fixed, and third compression axis one end is fitted into the second guide cylinder after passing through one piece of end plate and rotatably fills therewith
Match；
Second guide cylinder is fixed on the second pressing plate, second pressing plate and one side compression of gas detecting instrument；
The third compression axis other end and the assembly of third knob are fixed, and third compression axis and end plate are filled by threaded engagement
Match.
7. a kind of monitoring method based on any unmanned plane of claim 1-6, which is characterized in that include the following steps：
S1, setting monitoring objective point, unmanned plane during flying to monitor place, monitoring height；
S2, unmanned plane are by first motor, the second motor driven infrared thermoviewer, thermal camera rotation, to realize polygonal
Degree acquisition image；
Gas detecting instrument starting simultaneously, sucking gas detect the composition of air in monitoring place；
The gas data of detection and the image of acquisition wirelessly send back server in real time；
S3, server compare gas data, and find out the higher gas component of content, in addition identify to image, to look for
The abnormal conditions of monitoring point out.
8. monitoring method as claimed in claim 7, which is characterized in that unmanned plane is to set place as the center of circle, setting half in S2
Diameter carries out circumference, setting height is detected.
9. monitoring method as claimed in claim 8, which is characterized in that sample radius is 300 meters, is highly 60 meters, unmanned plane
First fly to sample radius the center point, height apex is sampled, fly then along sample radius is outstanding, according to every 60 ° samplings one
It is secondary, until having sampled a circumference；
Then it is once sampled again according to 8 meters of decline every in short transverse, until the sampling circumference at the place that touches the bottom；
In sampling process, thermal camera, infrared thermoviewer in shaft cylinder circumferential direction and second driving shaft circumferential direction respectively according to
60 °, 60 ° of angular turn, then sampling.
10. monitoring method as claimed in claim 7, which is characterized in that further include following steps：S4, server are taken the photograph infrared
Camera, infrared thermoviewer in the height direction, the image of same angle be compared, and identify image outline, finally find out not
With the difference of height, same angle acquisition image, while reminding operator；
Also gas detecting instrument detection is compared in the data of same rotational angle, different height for server, and draws difference
The curve graph of height finally compares error major part in curve graph, and reminds at operator error；
S5, in the detection process unmanned plane not enough power supply when, can to control terminal send request return instruction, operating side agree to or warp
Certain time is spent, unmanned plane is returned according to default route；
When operator disagrees, unmanned plane works on, and until electricity is seriously relatively low, unmanned plane is voluntarily dropped on level land,
Level land is to be identified in monitoring by image and mark coordinate；
When S6, non-landing state, unmanned plane detect reach parameter preset apart from ground distance or obstacle height when, nobody
Machine CPU directly controls it and no longer declines.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531032A (en) * | 2019-09-20 | 2019-12-03 | 哈尔滨学院 | Pollutant testing apparatus for mathematical modeling and the unmanned plane with it |
| CN111413708A (en) * | 2020-04-10 | 2020-07-14 | 湖南云顶智能科技有限公司 | Unmanned aerial vehicle autonomous landing site selection method based on laser radar |
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Denomination of invention: A UAV for environmental monitoring and its monitoring method Effective date of registration: 20230131 Granted publication date: 20210409 Pledgee: Shanghai Rural Commercial Bank Co.,Ltd. Jiading sub branch Pledgor: HUANFEI INTELLIGENT CONTROL TECHNOLOGY (SHANGHAI) CO.,LTD. Registration number: Y2023310000016 |