CN110018469A - A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy - Google Patents
A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy Download PDFInfo
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- CN110018469A CN110018469A CN201910293033.2A CN201910293033A CN110018469A CN 110018469 A CN110018469 A CN 110018469A CN 201910293033 A CN201910293033 A CN 201910293033A CN 110018469 A CN110018469 A CN 110018469A
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- overlength distance
- integrated communication
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- water conservancy
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of overlength distance intelligence unmanned plane flow measuring systems applied to water conservancy, it further include connecting the holder connected with day dead end overlength distance figure number integrated communication subsystem signals with unmanned aerial vehicle platform carry to increase steady flow measurement subsystem and the steady image/video subsystem of holder increasing including the connected human-machine interaction subsystem of successively signal, ground surface end overlength distance figure number integrated communication subsystem, day dead end overlength distance figure number integrated communication subsystem, unmanned aerial vehicle platform subsystem.A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy disclosed by the invention can be realized the remote flow measurement of water conservancy.
Description
Technical field
The present invention relates to a kind of flow velocity measuring system more particularly to a kind of overlength distance applied to water conservancy it is intelligent nobody
Machine flow measuring system.
Background technique
Common methods applied to water conservancy flow measurement have cableway measuring automatically flow, acoustic Doppler measuring flow quantity through flow velocity and unmanned aerial vehicle onboard
Current-metre measurement.Track cable flow-testing is a kind of common flow measurement mode, and by development in more than 50 years, technical equipment was more mature,
In full-automatic track cable flow-testing system flow measurement precision can reach 95~98%.This method is by manually disposably starting track cable flow-testing device
Afterwards, can automatic measurement tunneling boring point velocity and the vertical line depth of water, and calculate cross-sectional area and flow automatically.Due to track cable flow-testing
Measurement accuracy it is higher, and do not need to carry out calibration, be mainly used for the flow measurement of irregular section in system engineering, it is real
Now to the flow control of main gaging section；Acoustic Doppler measuring flow quantity through flow velocity is English Acoustic Doppler Current
The abbreviation of Profilers is developed using acoustic Doppler principle, is current river flow the most advanced in the world
Flow real-time measurement equipment, from 1981 the U.S. be born since, as technology continues to advance with it is improved day by day, from ocean survey
Amount is gradually applied to river discharge and measures, and measurement accuracy is also greatly improved.From initial blind area 1m or more, it is reduced to institute
Meaning " zero blind area ", section unit narrows down to 0.05 current~0.25m, make it possible its on wide shallow rivers application；
Unmanned aerial vehicle onboard current meter is to load current meter by unmanned plane machine to carry out water flow test, manually controls nobody by remote controler
Machine flies to carry out flow velocity measurement to fixed location.
Above-mentioned three kinds of water conservancy flow measurement methods have the shortcomings that respective: track cable flow-testing precision is relatively high, but needs to set up
River cableway, great in constructing amount, cost is high, and the flow measurement period is longer, has an impact to shipping；Acoustic Doppler flow measurement needs in river two
River cable is passed through in bank arranging apparatus and laying；Unmanned plane is short cruise duration, and needs remote manual control, and operation difficulty is big；Water conservancy
And Image Communication distance is less than 10KM, cannot achieve ultra-distance communication, can not working for emergency repair, it is live high in real time to provide
Clear water benefit image data, human-computer interaction is complicated, and manual operation is in the majority, cannot achieve intelligence.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of applied to the super remote of water conservancy
The intelligent unmanned plane flow measuring system of distance, the shortcomings that evade existing water conservancy flow measurement, realize flow velocity efficiently, quickly, low cost
Measurement.
Technical solution: to achieve the above object, a kind of overlength distance intelligence unmanned plane applied to water conservancy of the invention
Flow measuring system, including human-machine interaction subsystem, ground surface end overlength distance figure number integrated communication subsystem, day dead end overlength distance
Figure number integrated communication subsystem, unmanned aerial vehicle platform subsystem, holder increase steady flow measurement subsystem and holder increases steady image/video
Acquisition subsystem；The human-machine interaction subsystem is connect with ground surface end overlength distance figure number integrated communication subsystem signals, institute
State ground surface end overlength distance figure number integrated communication subsystem and day dead end overlength distance figure number integrated communication subsystem signals
Connection, the day dead end overlength distance figure number integrated communication subsystem are connect with unmanned aerial vehicle platform subsystem signals, the cloud
Platform increases steady flow measurement subsystem and connect with unmanned aerial vehicle platform subsystem carry, with day dead end overlength distance figure number integrated communication subsystem
Signal of uniting connects, and the holder increases steady image/video acquisition subsystem and connect with unmanned aerial vehicle platform subsystem carry, with day dead end
The connection of overlength distance figure number integrated communication subsystem signals.
Further, the ground surface end overlength distance figure number integrated communication subsystem and day dead end overlength distance figure number one
It is wirelessly communicated between body communication subsystem by COFDM and carries out signal connection.
Further, the unmanned aerial vehicle platform subsystem is integrated with day dead end overlength distance figure number logical by flight control system
Believe subsystem signals connection.
Further, the human-machine interaction subsystem includes earth station, and the unmanned aerial vehicle platform subsystem includes unmanned plane,
It includes current meter that the holder, which increases steady flow measurement subsystem, and it includes camera that the holder, which increases steady image/video acquisition subsystem, described
Earth station by COFDM wireless communication connect respectively with flight control system, current meter and camera signal, the flight control system and nobody
The connection of machine signal.
Further, the current meter uses radar current meter.
Further, the earth station is provided with tracking antenna technology and gain directional antenna.
Further, the holder increases steady flow measurement subsystem and holder increases steady image/video acquisition subsystem and is each equipped with increasing
Steady holder.
Beneficial effects of the present invention are as described below: a kind of overlength distance intelligence unmanned plane flow measurement system applied to water conservancy
System, by human-machine interaction subsystem carry out unmanned plane course line setting, can flexible configuration water conservancy collection point, realize to water conservancy survey
Measure the flexible control of work；By increasing steady flow measurement subsystem and the steady image/video acquisition subsystem installation increasing of holder increasing for holder
Steady holder realizes the survey of low flow velocity in conjunction with the DSP technology and phyTrack velocity measuring and track algorithm of radar current meter
Amount；Realize that the water conservancy data of overlength distance and image regard using the tracking antenna technology of COFDM wireless communication and combined ground station
The communication function of frequency evidence；Human-machine interaction subsystem, which provides, flies control, current meter, holder and camera control function, and integration is in
Existing water conservancy data and emergency image data.
Detailed description of the invention
Attached drawing 1 is the principle of the present invention schematic diagram；
Attached drawing 2 is the schematic illustration of acquisition monitoring point of the present invention；
Attached drawing 3 is the control principle schematic diagram of human-machine interaction subsystem of the present invention.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy as described in attached drawing 1 to 3, including it is man-machine
Interactive subsystem 1, ground surface end overlength distance figure number integrated communication subsystem 2, day dead end overlength distance figure number integrated communication
Subsystem 3, unmanned aerial vehicle platform subsystem 4, holder increase steady flow measurement subsystem 5 and holder increases steady image/video acquisition subsystem 6；
The human-machine interaction subsystem 1 is connect with 2 signal of ground surface end overlength distance figure number integrated communication subsystem, and the ground surface end is super
Remote figure number integrated communication subsystem 2 is connect with 3 signal of day dead end overlength distance figure number integrated communication subsystem, described
Its dead end overlength distance figure number integrated communication subsystem 3 is connect with 4 signal of unmanned aerial vehicle platform subsystem, and the holder increases steady survey
Stream subsystem 5 is connect with 4 carry of unmanned aerial vehicle platform subsystem, is believed with day dead end overlength distance figure number integrated communication subsystem 3
Number connection, the holder increase steady image/video acquisition subsystem 6 and connect with 4 carry of unmanned aerial vehicle platform subsystem, surpass with day dead end
Remote 3 signal connection of figure number integrated communication subsystem.
The ground surface end overlength distance figure number integrated communication subsystem is located at bottom end, the day dead end overlength distance figure
Number integrated communication subsystem is located at day dead end.
The ground surface end overlength distance figure number integrated communication subsystem 2 and day dead end overlength distance figure number integrated communication
It is wirelessly communicated between subsystem 3 by COFDM and carries out signal connection.
The unmanned aerial vehicle platform subsystem 4 passes through flight control system 8 and day dead end overlength distance figure number integrated communication subsystem
3 signals of uniting connection.
The unmanned aerial vehicle platform subsystem includes the unmanned plane 9 of more rotors or fixed rotor, flies control module and power supply mould
Block, the power supply module are fixed on the unmanned plane of more rotors or fixed rotor, and the nothing with more rotors or fixed rotor
Man-machine electric connection, the winged control module are super by ground surface end convenient for human-machine interaction subsystem for connecting ground and unmanned plane
Remote figure number integrated communication subsystem and day dead end overlength distance figure number integrated communication subsystem control unmanned plane
System.
It includes increasing steady holder and current meter 10 that the holder, which increases steady flow measurement subsystem 5, and the current meter uses radar flow velocity
Instrument is specific to water body since radar current meter is using DSP technology and advanced phyTrack velocity measuring and track algorithm
Surface velocity feature and the radar wave current meter developed are therefore widely used in monitoring natural river, open channel and underground row
The water surface flow velocity of dirty well, and online flow monitoring system is constituted in combination with water-level gauge.Radar wave current meter provides high frequency time
Sampling rate and serial line interface, therefore and may detect that less than 0.2m/s surface velocity below.For more smooth water
Face can equally provide preferable data stability.Radar current meter provides vertical angle compensation, and unmanned plane is avoided vacantly to survey
Because of measurement error caused by attitudes vibration during amount, the stability of control radar current meter posture is capable of using stability augmentation platform,
Unmanned plane during the work time, increases the reliable and stable working environment that provides that steady holder is radar current meter, and hardware selects MCU.
It includes camera 11 and stability augmentation platform that the holder, which increases steady image/video acquisition subsystem 6, and the camera 11 can be used
Camera, the IMU feedback system and servo that the stability augmentation platform is mainly made of three-axis gyroscope and 3-axis acceleration sensor
Motor two partly forms, and there are three servo motors for distribution on support arm, is each responsible for front and back, or so, upper and lower three directions
Rotation.Stablize the direction of camera, using holder to keep the clear of shooting picture and stablize.
COFDM wireless communication, function includes remote control, number passes and figure passes integration, and main hardware FPGA is base band.It communicates soft
Part part uses SDR technology, and SDR is a kind of radio broadcasting communication technology, its wireless communication protocol based on software definition and
Non-through hardwired of crossing is realized.Frequency band, air interface protocol and function can newly arrive upgrading by software download and more, without with complete
Replace hardware.
The human-machine interaction subsystem is provided with earth station 12, the earth station 12 by COFDM wirelessly communicate respectively with
Flight control system 8, current meter 10 are connected with 11 signal of camera, and the flight control system 8 is connect with 9 signal of unmanned plane；Specifically, flow velocity
Instrument is controlled by the command information of serial ports, and camera can carry out information control with serial ports or Remote Control Interface.Serial ports and distant
Control interface is the interface of COFDM wireless communication.
Flying the main hardware of control is the winged control hardware that unmanned plane uses, and processing chip is MCU, model STM32.
Earth station system, which uses, tracks antenna technology, gain directional antenna, adjusts after automatic tracing unmanned plane location information
Azimuth is saved, realizes ultra-distance communication.
It can be realized the flexible acquisition of monitoring point by the present invention, specific acquisition method: importing ground by task scheduling
In the station software of face；Preprogrammed task scheduling in advance, input acquisition dot position information, acquisition duration and acquisition order etc.；Earth station
It is communicated with ground surface end overlength distance figure number integrated communication subsystem, ground surface end overlength distance figure number integrated communication subsystem
System is interacted with day dead end overlength distance figure number integrated communication subsystem, day dead end overlength distance figure number integrated communication
Mission bit stream is sent to winged control by system module.Meanwhile common collection point, newly-increased and deletion collection point function are set in earth station
Can, terminate so that task scheduling modification, task scheduling configuration and task scheduling can be carried out at any time in earth station.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy, it is characterised in that: including human-computer interaction
System (1), ground surface end overlength distance figure number integrated communication subsystem (2), day dead end overlength distance figure number integrated communication
System (3), unmanned aerial vehicle platform subsystem (4), holder increase steady flow measurement subsystem (5) and holder increases steady image/video and acquires subsystem
It unites (6)；The human-machine interaction subsystem (1) connect with ground surface end overlength distance figure number integrated communication subsystem (2) signal, institute
State ground surface end overlength distance figure number integrated communication subsystem (2) and day dead end overlength distance figure number integrated communication subsystem
(3) signal connects, and the day dead end overlength distance figure number integrated communication subsystem (3) and unmanned aerial vehicle platform subsystem (4) are believed
Number connection, the holder increases steady flow measurement subsystem (5) and connect with unmanned aerial vehicle platform subsystem (4) carry, with the super long distance of day dead end
It is connected from figure number integrated communication subsystem (3) signal, the holder increases steady image/video acquisition subsystem (6) and unmanned plane is flat
The connection of station subsystem (4) carry, connect with day dead end overlength distance figure number integrated communication subsystem (3) signal.
2. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 1, feature
It is: the ground surface end overlength distance figure number integrated communication subsystem (2) and day dead end overlength distance figure number integrated communication
It is wirelessly communicated between subsystem (3) by COFDM and carries out signal connection.
3. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 2, feature
Be: the unmanned aerial vehicle platform subsystem (4) passes through flight control system (8) and day dead end overlength distance figure number integrated communication subsystem
(3) signal of uniting connects.
4. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 3, feature
Be: the human-machine interaction subsystem (1) includes earth station (12), and the unmanned aerial vehicle platform subsystem (4) includes unmanned plane
(9), it includes current meter (10) that the holder, which increases steady flow measurement subsystem (5), and the holder increases steady image/video acquisition subsystem (6)
Including camera (11), the earth station (12) by COFDM wirelessly communicate respectively with flight control system (8), current meter (10) and phase
The connection of machine (11) signal, the flight control system (8) connect with unmanned plane (9) signal.
5. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 4, feature
Be: the current meter (10) uses radar current meter (10).
6. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 4, feature
Be: the earth station (12) is provided with tracking antenna technology and gain directional antenna.
7. a kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy according to claim 1, feature
Be: the holder increases steady flow measurement subsystem (5) and holder increases steady image/video acquisition subsystem (6) and is each equipped with the steady cloud of increasing
Platform.
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| CN201910293033.2A CN110018469A (en) | 2019-04-12 | 2019-04-12 | A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy |
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| CN201910293033.2A CN110018469A (en) | 2019-04-12 | 2019-04-12 | A kind of overlength distance intelligence unmanned plane flow measuring system applied to water conservancy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113108767A (en) * | 2021-04-07 | 2021-07-13 | 王陶然 | Real-time monitoring method for hydrological information of unmanned aerial vehicle-mounted radar |
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Application publication date: 20190716 |
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