CN110186437A - One kind being based on unmanned plane carrier water surface flow measuring system - Google Patents
One kind being based on unmanned plane carrier water surface flow measuring system Download PDFInfo
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- CN110186437A CN110186437A CN201910488651.2A CN201910488651A CN110186437A CN 110186437 A CN110186437 A CN 110186437A CN 201910488651 A CN201910488651 A CN 201910488651A CN 110186437 A CN110186437 A CN 110186437A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 129
- 238000005259 measurement Methods 0.000 claims abstract description 102
- 238000004891 communication Methods 0.000 claims abstract description 92
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 18
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- 238000000034 method Methods 0.000 claims description 9
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- 238000007726 management method Methods 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 description 21
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- 238000010586 diagram Methods 0.000 description 12
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- 238000003860 storage Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
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- 238000013480 data collection Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012625 in-situ measurement Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- WURBVZBTWMNKQT-UHFFFAOYSA-N 1-(4-chlorophenoxy)-3,3-dimethyl-1-(1,2,4-triazol-1-yl)butan-2-one Chemical compound C1=NC=NN1C(C(=O)C(C)(C)C)OC1=CC=C(Cl)C=C1 WURBVZBTWMNKQT-UHFFFAOYSA-N 0.000 description 1
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000372132 Hydrometridae Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/002—Measuring the movement of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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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
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
-
- 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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
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Abstract
The invention discloses one kind to be based on unmanned plane carrier water surface flow measuring system, it is characterized by comprising unmanned plane carrier and flow measuring systems, the unmanned plane carrier includes unmanned plane during flying platform, system for flight control computer, unmanned plane wireless communication system, the steady camera system of unmanned plane increasing and unmanned aerial vehicle console, the flow measuring system includes Doppler's flow measurement radar, water-level gauge, data relay radio station and land station, the system for flight control computer is wiredly connected to data relay radio station, and the data relay station radio is connected to land station.The present invention has the advantage that can be quickly and effectively to river surface flow rate of water flow, river surface water flow, river surface water level amount of increase height, it is precisely detected, reaches quick response, it is flexibly portable, the effect of efficient output flow measurement data, the advantages that accomplishing to give warning in advance and check water disaster dangerous situation, reducing manual measurement risk, improve measurement efficiency.
Description
Technical field
The present invention relates to river water surface current measured technology fields, in particular to one kind to be based on unmanned plane carrier water surface flow measurement system
System.
Background technique
China is that a natural hazards risk is more, the high country of occurrence frequency.As economic development and population increase and draw
The deterioration of the ecological environment risen exacerbates the occurrence frequency of water disaster and involves range, and the frequent generation of water disaster, caused in recent years
National wealth and people's lives and properties are improved prevention and treatment and monitoring, the water resources rational distribution and guarantor of water disaster by heavy losses
Shield problem is particularly important.
In Flood Prevention, when early warning mountain torrents mud-rock flow and river river basin flood monitor, need quickly to river surface flow rate of water flow,
The data informations such as river surface water flow, river surface water level amount of increase height carry out effective monitoring.Traditional flow measurement means and equipment,
It is not able to satisfy Flood Prevention, modernization of information development and emergency monitoring demand.When mighty torrent disaster occurs for river, traditional monitoring
Equipment, such as: cableway fish lead revolves paddle measurement instrument, can not be lauched operation.There is measurement apart from short, floated in traditional monitoring equipment
Object influences big, situations such as portability is poor, and intelligence degree is relatively low, can not accomplish fast and accurately to river water surface Hydrologic Information into
The monitoring of row fixed point is detected with emergency.When river flood is high-incidence, area is monitored The turbulent river crashes its way through for personnel and equipment, and there is also relatively strong winds
Danger, is easily washed away by rapid flood, causes the heavy losses of personnel and equipment.Existing flow measuring device is usually and mostly wired survey
Equipment is measured, can not accomplish remote monitoring.Flood occur when, can not fast and effectively enter river danger zone or
The turbulent river crashes its way through region, precisely detects river surface Hydrologic Information, can not accomplish that quick response, emergency monitoring, efficient output are surveyed
The effect of flow data.
Water conservancy industry at present mainly patrols based on survey the monitoring mode of river surface water flow with fixed point detection with unfixed point.Fixed point
The mode of detection is that detecting devices is fixed on to river surface specific position to measure, and detection mode has bigger limitation
It is restricted with space；Unfixed point patrols the mode of survey, is the traverse measurement on bank or bridge, drainage area wider for river surface
Greatly, The turbulent river crashes its way through area is difficult to accomplish to carry out accurately detecting to river surface flow information of water.Especially when flood occurs, personnel
It cannot be introduced into danger zone with equipment, detection difficulty is very big, causes to accomplish still without suitable flow measuring device at present
In rapid river, Portable high-efficiency accurately acquires the data informations such as river surface flow rate of water flow and river surface water level amount of increase.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the above technical problem, provide that a kind of portability is strong, and detectivity is remote,
Intelligence degree is high, and strong antijamming capability is not influenced by river surface floating material, can be equipped on the mobile platforms such as unmanned plane, high
The one kind for imitating output flow measurement data is based on unmanned plane carrier water surface flow measuring system.
In order to solve the above technical problems, technical solution provided by the invention is a kind of based on unmanned plane carrier water surface flow measurement system
System, it is characterised in that: including unmanned plane carrier and flow measuring system, the unmanned plane carrier include unmanned plane during flying platform, nobody
Machine flight control system, unmanned plane wireless communication system, unmanned plane increase steady camera system and unmanned aerial vehicle console；The flow measurement system
System includes Doppler's flow measurement radar, water-level gauge, data relay radio station and land station；Doppler's flow measurement radar, water-level gauge
It is wiredly connected to data relay radio station；The data relay station radio is connected to land station；Doppler's flow measurement radar,
Water-level gauge and data relay radio station are mounted on unmanned plane during flying platform；The system for flight control computer is wiredly connected to data
Transfer radio station；The system for flight control computer and unmanned plane wireless communication system, mode is connected to unmanned plane by wireless communication
Ground control cabinet；Hydrology upper computer software is installed on the unmanned aerial vehicle console.
Preferably, the unmanned plane wireless communication system supports 300-900MHz, 2G, 3G, 4G, 5G Radio Transmission Technology,
Support TCP, UDP, RTSP agreement, equipment of serial data are converted to IP data or IP data are converted to serial data by support.
Preferably, Doppler's flow measurement radar includes planar microstrip array antenna, Doppler's flow measurement radar module, hardware
Circuit, Voltage stabilizing module, RS485/RS232 communication interface, aviation plug interface, increases steady holder at single-chip microcontroller；Doppler's flow measurement
The radar of radar uses K-band, and microwave frequency 24GHz has RS485/RS232 data communication output interface, supports
Modbus agreement and SDI-12 communications protocol.
Preferably, the water-level gauge includes planar microstrip array antenna, water-level gauge module, hardware circuit, single-chip microcontroller, pressure stabilizing
Module, aviation plug interface, increases steady holder at RS485/RS232 communication interface, and the water-level gauge uses FMCW distance measuring method, letter
Number frequency is 24.005GHz-24.245GHz, has RS485/RS232 data communication output interface, support Modbus agreement and
SDI-12 communications protocol.
Preferably, the data relay radio station includes power module, power switch, power-supply management system, electricity and signal
Display system, flight control data interface, USB data interface, emergency power supply interface, power charging interface, wireless communication module antenna
Interface, aviation plug interface, single-chip microcontroller, pin-saving chip, voltage Voltage stabilizing module, RS485/RS232 turn TTL module,
RS485/RS232 transceiver, wireless communication module.
Preferably, the land station includes power module, power switch, power-supply management system, Voltage stabilizing module, electricity with
Signal display system, single-chip microcontroller, pin-saving chip, wireless communication module, wireless communication module antennal interface, power source charges connect
Mouth, TTL communication interface, PC computer.
Preferably, the hydrology upper computer software supports Windows, Android, Ios operating system to run as software
Environment；When the hydrology upper computer software uses Windows system, the operation support ring using .NET4.5 frame as software
Border.
Preferably, the data relay radio station and land station support 425-450.5MHz, 2G, 3G, 4G, 5G wirelessly to pass
Equipment of serial data are converted to IP data or IP data are converted to serial data by transferring technology, support.
Preferably, the wireless communication module, when using 425-450.5MHz band transmissions, duplex nature (TOD),
Transistor-Transistor Logic level output data information, data transmission bauds 1200bps, 2400bps, 4800bps, 9600bps, 19200bps,
38400bps, 57600bps, 115200bps are defaulted as 9600bps.
The invention has the following advantages over the prior art: can be quickly and effectively to river surface flow rate of water flow, river surface water
Flow is flowed, river surface water level amount of increase height is precisely detected, reaches quick response, and it is flexibly portable, efficient output measurement data
The advantages that effect accomplishes to give warning in advance and checks water disaster dangerous situation, reduces manual measurement risk, improve measurement efficiency, the system
When having filled up domestic generation flood, discharge of river detection device be unable to monitor and without emergency monitoring flood equipment river
Blank is monitored, which can shift to an earlier date the river surface water flow data measured, be reported to flood control department, government, accomplish to control flood in advance pre-
It is alert, mitigate damage of the flood to people's life's property.
Detailed description of the invention
Fig. 1 is a kind of work flow diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Fig. 2 is a kind of unmanned plane carrier system frame diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Fig. 3 is a kind of flow measuring system frame diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Fig. 4 is a kind of Doppler's flow measurement radar and water-level gauge based on unmanned plane carrier water surface flow measuring system of the present invention, is led to
Cross RS232 interface connection schematic diagram.
Fig. 5 is a kind of Doppler's flow measurement radar and water-level gauge based on unmanned plane carrier water surface flow measuring system of the present invention, is led to
Cross RS485 interface connection schematic diagram.
Fig. 6 is a kind of Doppler's flow measurement radar and water-level gauge based on unmanned plane carrier water surface flow measuring system of the present invention, is led to
Cross the work flow diagram in data relay radio station.
Fig. 7 is a kind of land station work flow diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Fig. 8 is a kind of Doppler's flow measurement Radar interface circuit diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Fig. 9 is a kind of data relay radio station and land station based on unmanned plane carrier water surface flow measuring system of the present invention
TTL turns 485 circuit diagrams.
Figure 10 is a kind of data relay radio station and land station based on unmanned plane carrier water surface flow measuring system of the present invention
Data storage circuitry figure.
Figure 11 is a kind of data relay radio station and land station based on unmanned plane carrier water surface flow measuring system of the present invention
Usb circuit figure of the present invention.
Figure 12 is a kind of water level interface circuit diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Figure 13 is a kind of wireless communicaltion module access circuit diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Figure 14 is a kind of main processor modules circuit diagram based on unmanned plane carrier water surface flow measuring system of the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
In conjunction with attached drawing, one kind being based on unmanned plane carrier water surface flow measuring system, it is characterised in that: including unmanned plane carrier and survey
Streaming system, the unmanned plane carrier include unmanned plane during flying platform, system for flight control computer, unmanned plane wireless communication system, nothing
The steady camera system of man-machine increasing and unmanned aerial vehicle console；The flow measuring system includes Doppler's flow measurement radar, water-level gauge, data
Transfer radio station and land station；Doppler's flow measurement radar, water-level gauge are wiredly connected to data relay radio station；In the data
Turn station radio and is connected to land station；Doppler's flow measurement radar, water-level gauge and data relay radio station are mounted in nobody
On machine flying platform；The system for flight control computer is wiredly connected to data relay radio station；The system for flight control computer and nothing
Man-machine wireless communication system, mode is connected to unmanned aerial vehicle console by wireless communication；The unmanned aerial vehicle console
On hydrology upper computer software is installed.
Unmanned plane carrier belongs to mobile terminal flying platform, is a kind of multi-rotor aerocraft, has spot hover, possesses long boat
When big load carry ability flying platform.Main function is carry monitoring detecting devices, and flight is monitored to specified region
Detection, the image data that in-situ measurement is arrived, river surface water flow data wirelessly communicate system by the unmanned plane that unmanned plane carrier carries
System, sends data back to unmanned aerial vehicle console or land station, and operator and commanding is allowed to grasp scene in time
Situation.
1. unmanned plane during flying platform includes: multi-rotor unmanned aerial vehicle, brushless motor, hardware circuit, electron speed regulator ESC, moves
Power blade, high pressure lithium battery.
2. system for flight control computer includes: gyro sensor, acceierometer sensor, earth induction sensor, ultrasound
Wave sensor, light stream sensor, air pressure flowmeter sensor, GPS module, single-chip microcontroller.
3. unmanned plane wireless communication system includes: that wireless communication module, CVBS interface, network data stream interface, antenna connect
Mouth, power interface, HDMI interface, working station indicator, channel switching switch.
Include: photographing module, data memory module, increase steady holder, data-interface 4. unmanned plane increases steady camera system.
5. unmanned aerial vehicle console includes: that power module, power switch, power regulator module, power supply and signal are shown
System, power charging interface, emergency power supply interface, network interface, USB interface, wireless communication module, radiating module, PC computer,
Touching display screen.
Unmanned aerial vehicle platform working principle:
The included power supply power supply of unmanned plane carrier is given to unmanned plane, then by Voltage stabilizing module, drops to suitable voltage and be given to
Unmanned plane increases steady camera system, system for flight control computer, UAV Communication system.Unmanned plane during flying platform carries Doppler's flow measurement
Radar, water-level gauge, data relay radio station, flight to river surface are specified monitoring area to carry out fixed point detection to target point, are detected
River surface water flow data, including river surface flow rate of water flow, river surface water flow, river surface water level amount of increase height, the number such as field image data
According to by the included system for flight control computer of unmanned plane carrier, unmanned plane wireless communication system is square by wireless communication by data
Formula is sent to unmanned aerial vehicle console, the PC computer and hydrology host computer that data information is carried by unmanned aerial vehicle console
Software is resolved by data algorithm, the data that in-situ measurement is arrived, and is constantly presented to unmanned aerial vehicle console computer screen
On, while the data of unmanned aerial vehicle console can carry out field data with command centre by the wireless networks mode such as 4G
It is shared.
The unmanned plane wireless communication system of unmanned plane carrier supports that 300-900MHz (customizable), 2G, 3G, 4G, 5G are wireless
Equipment of serial data are converted to IP data or IP data are converted to serial data by transmission technology, support；Using 300-
When 900MHz band transmissions, duplex nature (TOD), audio-video input interface is HDMI, based on H.264 coding and decoding, COFDM
Technology supports network interface data transmission, while being reserved with unmanned plane and flying control signal control serial ports, supports TCP, UDP, RTSP agreement.
The transmitting terminal network interface of unmanned plane wireless communication system inputs, and supports the web camera of RTSP agreement, supports video image and number
It is believed that cease while receiving and dispatching.
Doppler's flow measurement radar includes: planar microstrip array antenna, Doppler's flow measurement radar module, hardware circuit, monolithic
Machine, RS485/RS232 communication interface, aviation plug interface, increases steady holder at Voltage stabilizing module.
Doppler's flow measurement radar belongs to mobile terminal charging appliance, is that a plane using hf doppler measuring principle is micro-
Band array radar formula flow rate module is mainly used for detecting the surface velocity of the environment such as river, channel.Doppler's flow measurement thunder
It reaches, can effectively assist the variable condition of monitoring river surface flow rate of water flow and river surface water flow, provided accurately for monitoring unit
River surface flow information of water measure river surface flow velocity using Doppler effect according to certain angular illumination to water surface, it is non-contact
The flow measurement mode of formula influences Doppler's flow measurement radar by river surface floating material with corrosion in water, and measurement data is accurate.Doppler
The radar of flow measurement radar uses K-band, and microwave frequency is 24GHz (adjustable), exports with RS485/RS232 data communication
Interface using the Modbus agreement of standard, while supporting SDI-12 communications protocol.
Doppler's flow measurement radar working principle:
Doppler's flow measurement radar, with principle be Doppler effect.In field of acoustics, when sound source and receiving body (are visited
Head and reflector) between when having relative motion, the frequency of echo will be varied, and the variation of such frequency is referred to as frequency displacement, i.e.,
Doppler effect.When radar current meter and water body are occurred with relative velocity V to movement, electromagnetic wave that radar current meter is received
The wave frequency that frequency and radar are issued itself is different, this difference on the frequency is referred to as Doppler frequency shift.Pass through parsing frequency
The relationship with V is moved, flow surface flow velocity is obtained.
Doppler's flow measurement radar plays stabilization by the assistance of the steady holder of increasing, increases steady, the effect of fixed flow measurement angle.It is more
General Le flow measurement radar reflects radar wave data according to water surface wave size and returns to according to certain angular illumination water surface
Doppler's flow measurement radar measures river surface flow velocity using Doppler effect, the river surface water surface flow speed data detected, by calculating
Method carries out data calculation, river surface flow rate of water flow exact value is obtained, then by RS485/RS232 data connecting line, by what is detected
River surface flow rate of water flow data are transferred to data relay radio station, and data relay radio station is again by embedded wireless communication module by data
It is sent to land station, or the flight control data interface embedded by data relay radio station, river surface water flow data is transferred to nothing
Man-machine flight control system.
Water-level gauge include: planar microstrip array antenna, water-level gauge module, hardware circuit, single-chip microcontroller, Voltage stabilizing module,
RS485/RS232 communication interface, increases steady holder at aviation plug interface.
Water-level gauge belongs to mobile terminal charging appliance, is 24GHz or 26GHz (ISM standard wave based on radar working principle
Section) distance measurement module.Water-level gauge uses FMCW distance measuring method, and using triangular wave as modulated signal, thunder inside real-time detection
Up to the distance between antenna plane and horizontal plane.When specific works, water-level gauge detection plane passes through horizontal by parastate
Emit continuous wave beam to horizontal plane, and the echo of horizontal plane reflection is analyzed, then passes through repeatedly measurement and internal algorithm
It calculates, the accurate distance value between output products detection plane and horizontal plane.Water-level gauge working frequency is 24.005GHz-
24.245GHz (adjustable) has RS485 or RS232 data communication output interface, using the Modbus agreement of standard, supports
SDI-12 communications protocol.
Water-level gauge working principle:
The power module in data relay radio station is powered to water-level gauge, and water-level gauge uses FMCW distance measuring method, is made with triangular wave
For modulated signal, the distance between radar antenna plane and horizontal plane inside real-time detection, when work water-level gauge detection plane and
Horizontal plane is in parastate, is analyzed by the continuous wave beam of transmitting to horizontal plane, and to the echo of horizontal plane reflection, then logical
It crosses repeatedly measurement and internal algorithm calculates, the accurate distance value between output products detection plane and horizontal plane, then pass through
The river surface waterlevel data detected is transferred to data relay radio station by RS485/RS232 data connecting line, and data relay radio station is again
Land station is transmitted data to by embedded wireless communication module.
Data relay radio station includes: power module, power switch, power-supply management system, electricity and signal display system, flies
Control data-interface, USB data interface, emergency power supply interface, power charging interface, wireless communication module antennal interface, aviation are inserted
Head interface, single-chip microcontroller, pin-saving chip, voltage Voltage stabilizing module, RS485/RS232 turn TTL module, RS485/RS232 transmitting-receiving
Device, wireless communication module.
Data relay radio station belongs to mobile terminal charging appliance, is mainly responsible for data collection and data processing work, will be how general
It strangles flow measurement radar and water-level gauge, the river surface flow rate of water flow detected is collected into data relay with river surface water level amount of increase altitude information
In radio station.
Data relay radio station working principle:
The power supply of data relay radio station built-in power, battery capacity acquisition and display, by the analog-to-digital conversion module of chip, are adopted
Set battery information of voltage, then shown by LED.Data relay radio station turns 485 Differencing communications by protocol communication, with TTL,
River surface flow rate of water flow data are got in Doppler's flow measurement radar, and the high degree of river surface water level amount of increase is got in water-level gauge
According to by algorithm for encryption, by river surface flow rate of water flow data, river surface water level amount of increase altitude information, module will be counted by wireless communication
According to being sent to land station.Doppler's flow measurement radar and water-level gauge, the river surface water flow data detected, can store in data
Turn in the pin-saving chip in radio station, when preventing wireless communication module from breaking down, loss of data can pass through data relay electricity
The USB interface of platform, reading data is come out.Meanwhile the flight control data interface that data relay radio station is embedded, it can be connect by this
Mouthful, the river surface water flow data that Doppler's flow measurement radar and water level machine are detected, by data line and system for flight control computer phase
Even, it is transferred data in system for flight control computer by the interface, the resolving by system for flight control computer to data passes through
The included unmanned plane wireless communication system of unmanned plane carrier, transmits data to unmanned aerial vehicle console, then by unmanned plane
Face console by Doppler's flow measurement radar and water-level gauge, transmitted by Wireless Networking 4G by the river surface water flow data information detected
Mode transmits data to flood control command center.
The wireless communication module in data relay radio station supports 425-450.5MHz (customizable), 2G, 3G, 4G, 5G wirelessly to pass
Equipment of serial data are converted to IP data or IP data are converted to serial data by transferring technology, support；Using 425-
When 450.5MHz band transmissions, duplex nature (TOD), Transistor-Transistor Logic level output data information carries out data transmit-receive by serial ports,
Have frequency hopping spread spectrum function, data can be sent when receiving data, just can be transmitted without waiting for after data receiver.Data relay
The wireless communication module in radio station, when using 425-450.5MHz band transmissions, duplex nature (TOD), data transmission bauds
For 1200bps, 2400bps, 4800bps, 9600bps, 19200bps, 38400bps, 57600bps, 115200bps, it is defaulted as
9600bps (can be matched).
Land station includes: power module, and power switch, power-supply management system, Voltage stabilizing module, electricity and signal display are
System, single-chip microcontroller, pin-saving chip, wireless communication module, wireless communication module antennal interface, power charging interface, TTL communication
Interface, PC computer.
Land station belongs to ground end equipment, is mainly responsible for data collection and data processing work.Doppler's flow measurement radar
With water-level gauge, the river surface flow rate of water flow detected can be transferred to data relay radio station with river surface water level amount of increase altitude information, pass through
After data relay radio station is to data processing, data are wirelessly transmitted to ground by the wireless communication module that data relay radio station embeds
It is decrypted after the embedded wireless communication module of land station receives the data of data relay radio station transmission using algorithm in radio station
It calculates, data is transported to hydrology upper computer software.
Land station working principle:
Power module power supply built in equipment, battery capacity acquisition and display, pass through the analog-to-digital conversion module of chip, acquisition
Battery voltage information, then shown by LED.The data that the wireless communication module in data relay radio station is sent, pass through ground
The wireless communication module in radio station receives data, while the pin-saving chip built in land station, can be by data relay radio station
The data of transmission are stored into chip, and loss of data when preventing wireless communication module from breaking down is connect by the USB of land station
Mouthful, reading data can be come out.Land station is collected into Doppler's flow measurement radar and the detection of water level machine in data relay radio station
It after data, is resolved by algorithm, the data of Doppler's flow measurement radar and the detection of water level machine is obtained, through the TTL built in land station
Communication interface transfers data on the PC computer software platform of land station.Land station can be counted with command centre
It, can be by collected river surface flow rate of water flow, river surface water level amount of increase height, river surface water flow, station state information, figure according to networking
As data such as videos, command centre is transferred to by wireless network mode.
The wireless communication module of land station supports 425-450.5MHz (customizable), 2G, 3G, 4G, 5G to be wirelessly transferred skill
Equipment of serial data are converted to IP data or IP data are converted to serial data by art, support；Using 425-450.5MHz frequency
When section transmission, duplex nature (TOD), Transistor-Transistor Logic level output data information carries out data transmit-receive by serial ports, has frequency hopping expansion
Frequency function sends data simultaneously when receiving data, just can be transmitted without waiting for after data receiver.The wireless communication of land station
Module, when using 425-450.5MHz band transmissions, duplex nature (TOD), data transmission bauds 1200bps,
2400bps, 4800bps, 9600bps, 19200bps, 38400bps, 57600bps, 115200bps, being defaulted as 9600bps (can
Apolegamy).
Hydrology upper computer software: support Windows, Android, Ios operating system as software runtime environment.
When Windows system, operation support environment using .NET4.5 frame as software, hydrology upper computer software is responsible for passing through ground
Face radio station or unmanned aerial vehicle console collect river surface flow measurement data, the river detected according to Doppler's flow measurement radar and water-level gauge
Face water flow data calculates by software program algorithm, obtains final river surface flow measurement data result.
A whole set of software function includes: (1) website setting function, (2) communication setting function, (3) section flow measurement function, (4)
Quick flow measurement function.
Wherein, function is arranged in (1) website, includes: 1. creating new website, 2. deletes that existing website, 3. modification has station
Point information includes section information, and site name, 4. left and right banks coefficient and buoy coefficient inquire site information, 5. choose a certain station
Point is current site；(2) communication setting function includes: 1. selecting the communication baud rate of COM port (serial port) and equipment；(3)
Section flow measurement function includes: flow measurement can be selected according to site information and water level information later by 1. inputting current river surface water level
Point, 2. one flow measurement point of every selection can survey the data of designated groups after connection equipment, click start-up operation after flow measurement, survey
The result that basis measures after stream is completed generates the detection point data (mean flow rate and mean water), has 3. surveyed whole sensing points
Afterwards, can be according to the data and section information of each point, the data such as current level calculating measurement result, 4. click generates report and presses
Flow measurement data and calculated result can be generated Excel form document after button；(4) quick flow measurement function, includes: 1. optionally working as
After certain point in preceding website carries out quick flow measurement, 2. connects equipment, selection needs flow measurement data group, clicks " starting to measure " and presses
Button can show flow measurement data after carrying out the flow measurement of the point, 3. completing flow measurement by way of text and static chart,
4. clicking " generating report " button, flow measurement data result can directly be exported as into Excel format file.
Hydrology upper computer software working principle:
It is mainly responsible for the river surface water flow number by land station or unmanned aerial vehicle console, being collected into from data relay radio station
According to, after data conversion treatment, by land station or unmanned aerial vehicle console, built-in TTL communication interface, by river surface
Water flow data is transferred to the end PC computer hydrology upper computer software.Hydrology upper computer software is calculated according to obtained data by software
Method resolves, and calculates institute's search coverage river surface water flow data automatically, shows the river surface flow rate of water flow of institute's search coverage, river surface water
Position amount of increase height, river surface water flow, station state information, the data such as image/video.The data information of hydrology upper computer software,
The wireless communication module that data Wireless Networking is shared, embeds by the end PC computer can be carried out with command centre, data are sent
To command centre's background server.Hydrology upper computer software simultaneously, has the hydrographic data report of generation standard, by what is detected
Data show river surface emergency flow measurement data result with document forms such as Excel, Word, PDF, and flow measurement result storage is arrived
Computer or mobile phone specified folder.
There are two types of working methods of the invention: (1) unmanned plane carrier, Doppler's flow measurement radar, water-level gauge, data relay electricity
Platform, unmanned aerial vehicle console, hydrology upper computer software are integrally used as a system；(2) Doppler's flow measurement radar, water
Position meter, data relay radio station, land station, hydrology upper computer software are integrally used as a system.
Working method (1): unmanned plane carrier, Doppler's flow measurement radar, water-level gauge, data relay radio station, unmanned aerial vehicle
Console, hydrology upper computer software are integrally used as a system.
Doppler's flow measurement radar and water-level gauge have RS485/RS232 data communication output interface, using standard
Modbus agreement supports SDI-12 communications protocol, and data relay radio station comes with RS485/RS232 and turn TTL data module, can be with
Doppler's flow measurement radar is exported with water-level gauge data conversion at TTL signal.The river surface water flow that Doppler's flow measurement radar detection is arrived
Flow velocity and river surface water flow data, the river surface water level amount of increase altitude information that water-level gauge detects pass through RS485/RS232 data
Connecting line is transferred to data relay radio station and passes data after the RS-232/RS-485 transceiver in data relay radio station collects data
It is defeated to carry out data processing to data relay radio station single-chip microcontroller, then transmitted data to by data relay station radio communication module
Land station.The single-chip microcontroller in data relay radio station can will collect obtained analog signal in this function and digital signal carries out
It arranges, obtains digital signal.Data relay radio station comes with data storage function, can will be collected into river surface flow rate of water flow, river surface
Water flow, the data such as river surface water level amount of increase height are stored into the storage chip in data relay radio station, when data relay radio station
Wireless communication module break down when, the river surface reading data stored can be come out by USB interface.
Data relay radio station is built-in with flight control data interface, and Doppler's flow measurement radar and water-level gauge are Modbus associations at present
When discussing, while supporting SDI-12 communications protocol, that is, needing to combine communication with system for flight control computer, UAV system association
View will be with Doppler's flow measurement radar, and water-level gauge agreement is consistent, can be in communication with each other work.It, can be by Doppler by the interface
The river surface flow rate of water flow and data on flows that flow measurement radar detection is arrived, the river surface water level amount of increase altitude information that water-level gauge detects pass
It is defeated to arrive system for flight control computer, then the unmanned plane wireless communication system carried by unmanned plane carrier, data are wirelessly transmitted to nothing
Man-machine ground control cabinet.By unmanned aerial vehicle console, then transfer data to unmanned aerial vehicle console the hydrology it is upper
Machine software is calculated river surface flow rate of water flow and river surface water level amount of increase altitude information, passes by wireless network mode, then by data
It is defeated to arrive flood control command center, share live flood control data online with flood control command center remote.
Staff carries Doppler's flow measurement radar, water-level gauge, data relay radio station, by nobody by unmanned plane carrier
Machine ground control cabinet control unmanned plane takes off, and unmanned plane flies by the course line planned, visits reaching each river
The hovering of measuring point overhead, ground handling operator start hydrology upper computer software, start to detect river water body surface velocity and urban river water
Face amount of increase height, detection time can be according to requiring to select.Doppler's flow measurement radar can be directed at river surface by increasing the assistance of steady holder
Form certain slanted angle, to be directed at river surface water body downwards parallel with river surface by increasing the assistance of steady holder for water-level gauge, is needing to visit
The location fixes of survey stop certain time and collect detection data, after having detected a monitoring point, then proceed to next monitoring point
It is detected, the data detected can be constantly transmitted on the computer of the end PC, and after having measured all sensing points, unmanned plane starts
Automatically it makes a return voyage to takeoff point and lands automatically.After detection mission, the hydrology upper computer software of the end PC computer starts to calculate number
According to, automatically generate flow measurement data result, by hydrology specification export flow measurement data sheet.
Working method (2): Doppler's flow measurement radar, water-level gauge, data relay radio station, land station, hydrology host computer are soft
Part is integrally used as a system.
Doppler's flow measurement radar, water-level gauge, data relay radio station, land station, hydrology upper computer software are whole as one
System system can also be carried on unmanned flow measurement ship or staff in use, the system can be mounted on unmanned plane carrier
It holds the flow measuring system and carries out flow measurement use when daily bank inspection.
Doppler's flow measurement radar and water-level gauge have RS485/RS232 data communication output interface, using standard
Modbus agreement supports SDI-12 communications protocol, and data relay radio station comes with RS485/RS232 and turn TTL data module, can be with
Doppler's flow measurement radar is exported with water-level gauge data conversion at TTL signal.
The river surface flow rate of water flow and river surface water flow data that Doppler's flow measurement radar detection is arrived, the river that water-level gauge detects
Face water level amount of increase altitude information is transferred to data relay radio station by RS485/RS232 data connecting line, data relay radio station
After RS-232/RS-485 transceiver collects data, the single-chip microcontroller for transferring data to data relay radio station carries out data processing, then
By data relay station radio communication module, land station is transmitted data to.The single-chip microcontroller in data relay radio station, in this function
It can will collect obtained analog signal to arrange with digital signal, obtain digital signal.Data relay radio station comes with
Data storage function, can will be collected into river surface flow rate of water flow, river surface water flow, and the data such as river surface water level amount of increase height are deposited
In the storage chip for storing up data relay radio station, when the wireless communication module in data relay radio station breaks down, it can pass through
USB interface comes out the river surface reading data stored.
After data relay radio station is collected into the data of Doppler's flow measurement radar and water-level gauge, calculates and encrypts by algorithm,
By the wireless communication module in data relay radio station, land station is transmitted data to.The wireless communication module of land station, connects
After the data for receiving data relay radio station, the data that will be collected into again are resolved by algorithm, PC is transferred to by data connecting line
Hold the hydrology upper computer software on computer platform.
Land station comes with data storage function, can will be collected into river surface flow rate of water flow, river surface water flow, river surface water
The data such as position amount of increase height, store into land station storage chip, when data relay radio station or the wireless communication of land station
, can be by USB interface when module breaks down, from land station or data relay radio station, the data that detection is stored are read
It takes out, prevents loss of data.
Hydrology upper computer software receives river surface water flow data by land station, carries out to the data information being collected into
It arranges and calculates, when running hydrology upper computer software on computer or cell phone platform, the data that software will be collected into automatically, through algorithm
After calculating, final flow measurement data result is shown, data include the river surface flow rate of water flow of institute's search coverage, and river surface water level rises
Panel height degree, river surface water flow, station state information, the data such as image/video, while software can generate the data detected
The hydrographic data report of standard is stored onto computer or mobile phone specified folder.
The present invention and its embodiments have been described above, this description is no restricted, shown in the drawings interior
Holding also is one of embodiments of the present invention, and actual structure is not limited to this.All in all if this field it is common
Technical staff is enlightened by it, without departing from the spirit of the invention, is not inventively designed and the technical side
The similar frame mode of case and embodiment, are within the scope of protection of the invention.
Claims (9)
1. one kind is based on unmanned plane carrier water surface flow measuring system, it is characterised in that: described including unmanned plane carrier and flow measuring system
Unmanned plane carrier includes unmanned plane during flying platform, system for flight control computer, unmanned plane wireless communication system, the steady camera shooting of unmanned plane increasing
System and unmanned aerial vehicle console；The flow measuring system includes Doppler's flow measurement radar, water-level gauge, data relay radio station and ground
Face radio station；Doppler's flow measurement radar, water-level gauge are wiredly connected to data relay radio station；The data relay station radio connects
It is connected to land station；Doppler's flow measurement radar, water-level gauge and data relay radio station are mounted on unmanned plane during flying platform；
The system for flight control computer is wiredly connected to data relay radio station；The system for flight control computer and unmanned plane wireless communication system
System, mode is connected to unmanned aerial vehicle console by wireless communication；It is equipped on the hydrology on the unmanned aerial vehicle console
Position machine software.
2. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: the unmanned plane
Wireless communication system supports 300-900MHz, 2G, 3G, 4G, 5G Radio Transmission Technology, supports TCP, UDP, RTSP agreement, supports
Equipment of serial data are converted into IP data or IP data are converted into serial data.
3. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: the Doppler
Flow measurement radar include planar microstrip array antenna, Doppler's flow measurement radar module, hardware circuit, single-chip microcontroller, Voltage stabilizing module,
RS485/RS232 communication interface, increases steady holder at aviation plug interface；The radar of Doppler's flow measurement radar uses K wave
Section, microwave frequency 24GHz have RS485/RS232 data communication output interface, support Modbus agreement and SDI-12 communication
Agreement.
4. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: the water-level gauge
Including planar microstrip array antenna, water-level gauge module, hardware circuit, single-chip microcontroller, Voltage stabilizing module, RS485/RS232 communication interface,
Aviation plug interface increases steady holder, and the water-level gauge uses FMCW distance measuring method, signal frequency 24.005GHz-
24.245GHz has RS485/RS232 data communication output interface, supports Modbus agreement and SDI-12 communications protocol.
5. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: in the data
Turning radio station includes power module, power switch, power-supply management system, electricity and signal display system, flight control data interface, USB
Data-interface, emergency power supply interface, power charging interface, wireless communication module antennal interface, aviation plug interface, single-chip microcontroller,
Pin-saving chip, voltage Voltage stabilizing module, RS485/RS232 turn TTL module, RS485/RS232 transceiver, radio communication mold
Block.
6. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: the ground electricity
Platform includes power module, power switch, power-supply management system, Voltage stabilizing module, electricity and signal display system, single-chip microcontroller, data
Storage chip, wireless communication module, wireless communication module antennal interface, power charging interface, TTL communication interface, PC computer.
7. according to claim 1 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: on the hydrology
Position machine software support Windows, Android, Ios operating system is as software runtime environment；The hydrology upper computer software is adopted
Operation support environment when with Windows system, using .NET4.5 frame as software.
8. one kind described according to claim 1 or 5 or 6 is based on unmanned plane carrier water surface flow measuring system, it is characterised in that: described
Data relay radio station and land station support 425-450.5MHz, 2G, 3G, 4G, 5G Radio Transmission Technology, support equipment string
Mouth data are converted to IP data or IP data are converted to serial data.
9. according to claim 5 or 6 a kind of based on unmanned plane carrier water surface flow measuring system, it is characterised in that: the nothing
Line communication module, when using 425-450.5MHz band transmissions, duplex nature (TOD), Transistor-Transistor Logic level output data information, number
According to Transmission bit rate be 1200bps, 2400bps, 4800bps, 9600bps, 19200bps, 38400bps, 57600bps,
115200bps is defaulted as 9600bps.
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