CN110104178A - A kind of mountain topography detector - Google Patents
A kind of mountain topography detector Download PDFInfo
- Publication number
- CN110104178A CN110104178A CN201910395277.1A CN201910395277A CN110104178A CN 110104178 A CN110104178 A CN 110104178A CN 201910395277 A CN201910395277 A CN 201910395277A CN 110104178 A CN110104178 A CN 110104178A
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- China
- Prior art keywords
- detector
- explorer
- mountain topography
- unmanned plane
- electric pushrod
- Prior art date
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- Pending
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- 238000012876 topography Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims description 25
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000077 insect repellent Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of mountain topography detectors, including unmanned plane, the unmanned plane is equipped with propeller and multiple direction controllers for being used to control detector heading for providing flying power to detector, unmanned plane has the camera for shooting mountain topography, for detecting the ultrasonic detector and multiple supporting legs of mountainous region height, the side of the unmanned plane is opened up respectively there are two groove, the slot bottom of groove is equipped with electric pushrod, the push rod cup of one electric pushrod is connected with the operating terminal that investigative range is selected for explorer, the push rod cup of another electric pushrod is connected with the display terminal for showing the investigative range landform, the unmanned plane is equipped with the button for controlling the electric pushrod, button is located near groove.The present invention is detected by the mountain topography to surrounding, so that explorer has preliminary understanding to the mountain environment around oneself, is faced a danger to reduce explorer in unfamiliar place.
Description
Technical field
The present invention relates to terrain detection apparatus field, in particular to a kind of mountain topography detector.
Background technique
Field exploration is the outdoor sports of modern people, and under normal circumstances, people can select the ground of nobody
Side, outdoors in exploration, selecting to carry out exploration into mountain is a very conventional selection, when due to people outdoors for
Surrounding terrain is unfamiliar with, and is very easy to cause lost equal danger.
Summary of the invention
The purpose of the present invention is overcoming above-mentioned problems of the prior art, a kind of mountain topography detector is provided, is led to
It crosses and the mountain topography of surrounding is detected, so that explorer has preliminary understanding to the mountain environment around oneself, to subtract
Few explorer faces a danger in unfamiliar place.
For this purpose, the present invention provides a kind of mountain topography detector, including unmanned plane, the unmanned plane is had for shooting
The camera of mountain topography, ultrasonic detector and multiple supporting legs for detecting mountainous region height, the side of the unmanned plane
Face is opened up respectively there are two groove, and the slot bottom of groove is equipped with electric pushrod, and the push rod cup of an electric pushrod is connected with for visiting
Dangerous person selects the operating terminal of investigative range, and the push rod cup of another electric pushrod is connected with for showing the investigative range
The display terminal of shape, the unmanned plane are equipped with the button for controlling the electric pushrod, and button is located near groove, institute
It states unmanned plane and is additionally provided with switch, GPS positioning device, control system and power supply device that user starts detector.
The control system includes:
Investigative range selecting module obtains the selected detection model of explorer to the operation of operating terminal by explorer
It encloses, and sends central processing unit for investigative range；Mountain topography display module is shown to explorer by display terminal and is detected
Mountain topography map and map on each point height；Flight module, in investigative range with the flight path of setting into
Row flight carries out the variation of heading by direction controller wherein controlling the flying height of detector by propeller；Depending on
Frequency processing module, the video that camera is taken are spliced the map for obtaining mountain topography, while according to super on map
Distance measured by acoustic detector records the height of each point on map；Central processing unit, for opening when switch is pressed
Dynamic detector；When pressing for the button at operating terminal, the electric pushrod of control operating terminal connection is pushed ahead, and works as behaviour
When making the button at terminal and pressing again, the electric pushrod of control operating terminal connection retracts backward；For at display terminal
Button when pressing, the electric pushrod of control display terminal connection is pushed ahead, when the button at display terminal is pressed again,
The electric pushrod of control display terminal connection retracts backward；For starting after the electric pushrod that operating terminal connects retracts backward
Flight module；It is also used to control and coordinate above-mentioned work.
Preferably, the quantity of the direction controller is no less than three, all direction controllers are all distributed in the same circle
Round edge on, and two neighboring direction controller and the angle in the center of circle are equal.
Preferably, the direction controller includes the vertical pole on unmanned plane, vertical pole is equipped with motor, electricity
The output shaft of machine is connected with blade.
Preferably, the propeller includes the propeller strut on unmanned plane, propeller strut is equipped with flight.
Preferably, the investigative range selecting module is by allowing explorer that the radius of detection is selected to determine the detection model of detection
It encloses.
Preferably, the investigative range selecting module by map denotation in the operating terminal, explorer passes through on ground
The radius of detection is selected to determine the investigative range of detection on figure.
Preferably, the flight path set is using the position where explorer as the center of circle, by the track of spiral into
Row flight, when the linear distance of detector and explorer are the radius that explorer selects detection, detector is returned to along straight line
The position of surveyor, the position of detector and the position of explorer are obtained by GPS positioning device.
Preferably, the mountain topography display module shows the map of mountain topography on the display terminal, work as exploration
When person selects the point on map, the display terminal shows height corresponding to the point on the map of mountain topography.
A kind of mountain topography detector provided by the invention, has the following beneficial effects:
The present invention is detected by the mountain topography to surrounding, so that explorer has just the mountain environment around oneself
The understanding of step faces a danger to reduce explorer in unfamiliar place.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of mountain topography detector provided by the invention；
Fig. 2 is a kind of generally longitudinally schematic cross-sectional view of mountain topography detector provided by the invention；
Fig. 3 is a kind of signal flow schematic block diagram of the control system of mountain topography detector provided by the invention.
Description of symbols:
1, direction controller；1-1, blade；1-2, vertical pole；2, propeller；2-1, propeller strut；2-2, spiral
Piece；3, unmanned plane；4, button；5, supporting leg；6, camera；7, display terminal；8, operating terminal；9, groove；10, electronic to push away
Bar；11, ultrasonic detector.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection scope be not limited by the specific implementation.
As shown in Figure 1, the embodiment of the invention provides a kind of mountain topography detector, including unmanned plane 3, the unmanned plane
3 are equipped with propeller 2 and multiple direction controls for controlling detector heading for providing flying power to detector
Device 1 processed, unmanned plane 3 have the camera 6 for shooting mountain topography, the ultrasonic detector 11 for detecting mountainous region height
And multiple supporting legs 5, as shown in Fig. 2, the side of the unmanned plane 3 is opened up respectively there are two groove 9, the slot bottom of groove 9 is set
There is electric pushrod 10, the push rod cup of an electric pushrod 10 is connected with the operating terminal 8 that investigative range is selected for explorer, separately
The push rod cup of one electric pushrod 10 is connected with the display terminal 7 for showing the investigative range landform, on the unmanned plane 3
Equipped with the button 4 for controlling the electric pushrod 10, button 4 is located near groove 9, and the unmanned plane 3 is additionally provided with user
Start switch, GPS positioning device, control system and the power supply device of detector.
As shown in figure 3, the control system includes:
Investigative range selecting module obtains the selected detection model of explorer to the operation of operating terminal 8 by explorer
It encloses, and sends central processing unit for investigative range；Explorer selects the range to be detected, investigative range in operating terminal 8
The range that selecting module will detect is recorded.
Mountain topography display module shows the map and ground of the mountain topography of detection by display terminal 7 to explorer
The height of each point on figure；Mountain topography display module shows the corresponding height of landform and landform, so that explorer
There is further understanding to the topographic features of surrounding, while when understanding landform, it can also be further right by landform institute
The height answered is known about, and thus can have comprehensive understanding to the landform of surrounding.
Flight module is flown in investigative range with the flight path of setting, wherein passing through the control detection of propeller 2
The flying height of device carries out the variation of heading by direction controller 1；During flight, there is the flight rail of setting
Spiral flight track is usually used in road, similar to the track of the shape of mosquito-repellent incense.During flight, propeller 2 is
It is responsible for keeping the flying height of detector, so that detector flies in the same height always, propeller 2 is similar to and goes straight up to
The propeller of machine, direction controller 1 are the directions in order to guarantee flight, are applied by direction controller 1 in all directions
Thrust is inconsistent, and detector is flown according to the track of setting.
The video that camera 6 takes is spliced the map for obtaining mountain topography by video processing module, while on ground
The distance according to measured by ultrasonic detector 11 records the height of each point on map on figure；The video that camera 6 obtains all is
One unilateral video will obtain a complete map it is necessary to splice video, think that splicing is the shape according to track
Shape splices video.Simultaneously on the corresponding point of map the point measured by grafting ultrasonic detector 11 distance.For
The height of landform and the height above sea level of landform are by a distance from the point measured by the height above sea level of detector and ultrasonic detector 11
Difference calculate made of, the height above sea level for detector is determined according to the rotation speed of propeller 2, and the rotation of propeller 2 is fast
Degree is bigger, and height above sea level is higher.
Central processing unit, for starting detector when switch is pressed；It is pressed for the button 4 at operating terminal 8
When lower, the electric pushrod 10 that control operating terminal 8 connects is pushed ahead, when the button 4 at operating terminal 8 is pressed again, control
The electric pushrod 10 that operating terminal 8 processed connects retracts backward；When pressing for the button 4 at display terminal 7, control display is eventually
The electric pushrod 10 of 7 connection of end is pushed ahead, and when the button 4 at display terminal 7 is pressed again, control display terminal 7 is connected
Electric pushrod 10 retract backward；For starting flight module after the electric pushrod 10 that operating terminal 8 connects retracts backward；Also
For controlling and coordinating above-mentioned work.
Further, the direction controller 1 includes the vertical pole 1-2 on the unmanned plane 3, on vertical pole 1-2
Equipped with motor, the output shaft of motor is connected with blade 1-1.Direction controller 1 passes through the motor driven blade on vertical pole 1-2
1-1 rotation, so that wind-force is generated, by the size of wind-force come the effect of the power formed on direction to detector, to control spy
Survey the heading of device.In addition, this product is carried out in the case where the external world does not have wind using the accuracy detected in this way is high.
Further, the quantity of the direction controller 1 is no less than three, and all direction controllers 1 are all distributed in same
On the round edge of a circle, and two neighboring direction controller 1 is equal with the angle in the center of circle.This is set according to the orientation of mathematics
, since the power of different angle can produce resultant force, 120 degree of the angle position of each direction controller 1, just
The size of the power of solution 360 degree of all angles of horizontal plane that can be intact.
Further, the propeller 2 includes the propeller strut 2-1 on the unmanned plane 3, on propeller strut 2-1
Equipped with flight 2-2.It is further introduced by the structure to propeller 2, so that the result of the propeller 2 meets detection
The actual needs of device.
Further, the investigative range selecting module is by allowing explorer that the radius of detection is selected to determine the detection of detection
Range.Due to the track of flight be it is spiral-shaped, be similar to a circle, therefore, by way of select radius determine want
The size of investigative range, the so also determination of the other later period progress flight path length in side.
Further, the investigative range selecting module by map denotation in the operating terminal 8, explorer by
The radius of detection is selected to determine the investigative range of detection on map.During explorer's selection, map is now presented to spy
Dangerous person, allowing explorer intuitively to pass through map has substantially understanding for landform, by selecting the radius of detection true on map
Surely the investigative range detected, in this way when determining, and it is very intuitive.
Further, the flight path set is, using the position where explorer as the center of circle, passes through the track of spiral
It flies, when the linear distance of detector and explorer are the radius that explorer selects detection, detector is returned along straight line
To the position of surveyor, the position of detector and the position of explorer are obtained by GPS positioning device.It here is pair
The detailed description of detector flight path.
Further, the mountain topography display module shows the map of mountain topography on the display terminal 7, works as spy
When dangerous person selects the point on map, the display terminal 7 shows height corresponding to the point on the map of mountain topography.
It is optimized in the friendliness that 7 pairs of display terminal show, specifically, when explorer has selected the point on map, by this
The corresponding height of point is shown to explorer, when explorer is nonoptional, only shows the ground on the map of mountain topography
Shape, it is such to design the soft type for highlighting display and more comfortable for the direct feel of explorer.
In conclusion the invention discloses a kind of mountain topography detector, including unmanned plane, the unmanned plane, which is equipped with, to be used
In the propeller and multiple direction controllers for being used to control detector heading that provide flying power to detector, unmanned plane
The camera for shooting mountain topography, ultrasonic detector and multiple supporting legs for detecting mountainous region height are had,
The side of the unmanned plane is opened up respectively there are two groove, and the slot bottom of groove is equipped with electric pushrod, the push rod of an electric pushrod
Head is connected with the operating terminal that investigative range is selected for explorer, and the push rod cup of another electric pushrod is connected with for showing
The display terminal of the investigative range landform, the unmanned plane are equipped with the button for controlling the electric pushrod, button position
Near groove, the unmanned plane is additionally provided with switch, GPS positioning device, control system and the electricity that user starts detector
Source device.The present invention is detected by the mountain topography to surrounding, so that explorer has just the mountain environment around oneself
The understanding of step faces a danger to reduce explorer in unfamiliar place.
Disclosed above is only several specific embodiments of the invention, and still, the embodiment of the present invention is not limited to this, is appointed
What what those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (8)
1. a kind of mountain topography detector, including unmanned plane (3), which is characterized in that the unmanned plane (3) has for shooting
The camera (6) of mountain topography, the ultrasonic detector (11) for detecting mountainous region height and multiple supporting legs (5), it is described
The side of unmanned plane (3) is opened up respectively there are two groove (9), and the slot bottom of groove (9) is equipped with electric pushrod (10), and one electronic to push away
The push rod cup of bar (10) is connected with the operating terminal (8) that investigative range is selected for explorer, another electric pushrod (10)
Push rod cup is connected with the display terminal (7) for showing the investigative range landform, and the unmanned plane (3) is equipped with for controlling
The button (4) of the electric pushrod (10), button (4) are located near groove (9), and the unmanned plane (3) is additionally provided with user and opens
Switch, GPS positioning device, control system and the power supply device of dynamic detector；
The control system includes:
Investigative range selecting module obtains the selected investigative range of explorer to the operation of operating terminal (8) by explorer,
And central processing unit is sent by investigative range；
Mountain topography display module shows the map and map of the mountain topography of detection by display terminal (7) to explorer
The height of upper each point；
Flight module is flown in investigative range with the flight path of setting, wherein controlling detector by propeller (2)
Flying height, pass through direction controller (1) carry out heading variation；
The video that camera (6) takes is spliced the map for obtaining mountain topography by video processing module, while in map
On the distance according to measured by ultrasonic detector (11) record map on each point height；
Central processing unit, for starting detector when switch is pressed；It is pressed for the button (4) at operating terminal (8)
When lower, the electric pushrod (10) of control operating terminal (8) connection is pushed ahead, and the button (4) at operating terminal (8) is pressed again
When lower, the electric pushrod (10) of control operating terminal (8) connection retracts backward；It is pressed for the button (4) at display terminal (7)
When lower, the electric pushrod (10) of control display terminal (7) connection is pushed ahead, and the button (4) at display terminal (7) is pressed again
When lower, the electric pushrod (10) of control display terminal (7) connection retracts backward；It electronic is pushed away for what is connected in operating terminal (8)
Bar (10) starts flight module after retracting backward；It is also used to control and coordinate above-mentioned work.
2. a kind of mountain topography detector as described in claim 1, which is characterized in that the quantity of the direction controller (1)
No less than three, all direction controllers (1) are all distributed on the round edge of the same circle, and two neighboring direction controller (1)
It is equal with the angle in the center of circle.
3. a kind of mountain topography detector as described in claim 1, which is characterized in that the direction controller (1) includes setting
In the vertical pole (1-2) on unmanned plane (3), vertical pole (1-2) is equipped with motor, and the output shaft of motor is connected with blade
(1-1)。
4. a kind of mountain topography detector as described in claim 1, which is characterized in that the propeller (2) includes being set to nothing
Propeller strut (2-1) on man-machine (3), propeller strut (2-1) are equipped with flight (2-2).
5. a kind of mountain topography detector as described in claim 1, which is characterized in that the investigative range selecting module passes through
The investigative range for allowing explorer that the radius of detection is selected to determine detection.
6. a kind of mountain topography detector as described in claim 1, which is characterized in that the investigative range selecting module is by ground
Figure is shown on the operating terminal (8), and explorer on map by selecting the radius of detection to determine the investigative range of detection.
7. a kind of mountain topography detector as described in claim 5 or 6, which is characterized in that the flight path of the setting
To be flown by the track of spiral using the position where explorer as the center of circle, when the linear distance of detector and explorer
When selecting the radius of detection for explorer, detector returns to the position of surveyor, the position of detector and spy along straight line
The position of dangerous person is obtained by GPS positioning device.
8. a kind of mountain topography detector as described in claim 1, which is characterized in that the mountain topography display module is in institute
The map that mountain topography is shown on display terminal (7) is stated, when explorer selects the point on map, the display terminal
(7) height corresponding to the point is shown on the map of mountain topography.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395277.1A CN110104178A (en) | 2019-05-13 | 2019-05-13 | A kind of mountain topography detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395277.1A CN110104178A (en) | 2019-05-13 | 2019-05-13 | A kind of mountain topography detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110104178A true CN110104178A (en) | 2019-08-09 |
Family
ID=67489810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910395277.1A Pending CN110104178A (en) | 2019-05-13 | 2019-05-13 | A kind of mountain topography detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110104178A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111562627A (en) * | 2020-04-30 | 2020-08-21 | 河南大学 | Mountain land topography detector |
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| CN108279702A (en) * | 2018-01-12 | 2018-07-13 | 华南理工大学 | A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell |
| CN207649604U (en) * | 2017-12-05 | 2018-07-24 | 周渝阳 | A kind of intelligent landform survey system based on unmanned plane |
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| CN103185570A (en) * | 2011-12-27 | 2013-07-03 | 鸿富锦精密工业（深圳）有限公司 | Flight detection system |
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| CN111562627B (en) * | 2020-04-30 | 2021-11-26 | 河南大学 | Mountain land topography detector |
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Application publication date: 20190809 |