CN112278279A - Remote sensing monitored control system based on unmanned aerial vehicle - Google Patents
Remote sensing monitored control system based on unmanned aerial vehicle Download PDFInfo
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- 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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to an unmanned aerial vehicle-based remote sensing monitoring system which comprises an unmanned aerial vehicle body, wherein the left side surface and the right side surface of the unmanned aerial vehicle body are both connected with supporting rods, the bottom surfaces of the supporting rods are connected with a first motor, a propeller is fixedly sleeved on the surface of an output shaft of the first motor, and the bottom surface of the unmanned aerial vehicle body is connected with supporting legs. The remote sensing monitoring system based on the unmanned aerial vehicle is provided with the second motor, the screw rod and the first sliding rod, the second motor rotates to enable the screw sleeve to slide on the surface of the screw rod, the protective covers are driven to slide on the surface of the first sliding rod, the two protective covers are opened towards the two sides of the remote sensing sensor, the remote sensing sensor is exposed, the situation that dust is accumulated on the surface of the remote sensing sensor when the unmanned aerial vehicle flies is avoided, and the accuracy of measured data is improved.
Description
Technical Field
The invention relates to the technical field of remote sensing monitoring, in particular to a remote sensing monitoring system based on an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, or is completely or intermittently and autonomously operated by an on-board computer, the unmanned aerial vehicle can be divided into military and civil aspects according to the application field, the unmanned aerial vehicle is divided into a reconnaissance plane and a target plane, the civil aspect and the unmanned aerial vehicle + industry application are really needed by the unmanned aerial vehicle, and the unmanned aerial vehicle is currently applied in the fields of aerial photography, agriculture, plant protection, micro self-timer, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief, movie and television shooting, romantic manufacturing and the like, so that the purposes of the unmanned aerial vehicle are greatly expanded, and the developed countries also actively expand the industry application and develop the unmanned aerial vehicle technology.
As the application of new technology, unmanned aerial vehicle cargo delivery is a beneficial complement to the traditional mode, traditional pipeline transportation, water transportation and multimodal transportation, and the tail end delivery and branch line transportation of the unmanned aerial vehicle are added, so that the service capacity of modern logistics is improved by a new step, and the overall efficiency, cost and transportation capacity are optimized and reconstructed.
However, the use of the current cargo delivery unmanned aerial vehicle has just emerged, and the low-altitude freight unmanned aerial vehicle has the problem that flight data is difficult to provide for users timely and accurately, and also has the problem of data counterfeiting, and has certain gap with the actual demand in the aspects of the reliability and the accuracy of the data.
Disclosure of Invention
Therefore, the invention provides a remote sensing monitoring system based on an unmanned aerial vehicle, which is used for overcoming the problem of low data reliability in the prior art.
The invention provides a remote sensing monitoring system based on an unmanned aerial vehicle, which comprises:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the left side surface and the right side surface of the unmanned aerial vehicle body are both connected with supporting rods, the bottom surfaces of the supporting rods are connected with a first motor, a propeller is fixedly sleeved on the surface of an output shaft of the first motor, and the bottom surface of the unmanned aerial vehicle body is connected with supporting legs;
the remote sensing sensor is connected with the bottom surface of the unmanned aerial vehicle body, the bottom surface of the unmanned aerial vehicle body is connected with a first supporting plate and a second supporting plate, the side surface, close to the remote sensing sensor, of the first supporting plate is connected with a second motor, the output shaft of the second motor is fixedly connected with a lead screw, the other end of the lead screw is rotatably connected with the second supporting plate through a bearing, a thread sleeve is sleeved on the surface of the lead screw, a first sliding rod is connected between the opposite surfaces of the first supporting plate and the second supporting plate, and the side surface, close to the remote sensing sensor, of the thread sleeve is connected with a protective cover;
first sliding holes are formed in the inner wall of the protective cover and the side face close to the second motor in a penetrating mode, the number of the first sliding holes is two, the inner walls of the two first sliding holes are respectively connected with the surface of the screw rod and the surface of the first sliding rod in a sliding mode, and a sealing gasket is connected to one end of the protective cover;
a second sliding hole is formed in the bottom surface of the supporting leg in a penetrating mode, a second sliding rod is inserted into the inner wall of the second sliding hole in a sliding mode, the top end of the second sliding rod is connected with a limiting block, the bottom end of the second sliding rod is connected with a supporting pad, the top surface of the supporting pad is connected with a spring, the top end of the spring is fixedly connected with the bottom surface of the supporting leg, and the supporting pad is two-three millimeters thick and made of rubber materials;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and is characterized in that a central control module is arranged in the unmanned aerial vehicle body, the central control module is used for controlling the working process of the unmanned aerial vehicle, and a matrix is arranged in the central control module;
when the unmanned aerial vehicle works, the central control module controls the unmanned aerial vehicle to detect the electromagnetic waves of the target object from low to high for 3 times, each detection is finished at different heights and angles, after the detection is finished, the central control module calculates the electromagnetic waves Q of the target object according to the detection result, Q =0.5 xL +0.3 xM +0.2 xN is set, L, M, N are the electromagnetic waves detected by the unmanned aerial vehicle from low to high at different angles, and the central control module controls the remote sensing sensor to convert the detected electromagnetic waves into images.
Further, a preset receiving electromagnetic wave matrix A0 and a preset target temperature matrix T0 are arranged in the central control module;
setting a number a0 (a 1, a2, A3, a 4) for the preset received electromagnetic wave matrix a0, where a1 is a first preset received electromagnetic wave, a2 is a second preset received electromagnetic wave, A3 is a third preset received electromagnetic wave, a4 is a fourth preset received electromagnetic wave, and the preset received electromagnetic waves are gradually increased in sequence;
setting T0 (T1, T2, T3 and T4) for the preset target temperature matrix T0, wherein T1 is a first preset target temperature, T2 is a second preset target temperature, T3 is a third preset target temperature, T4 is a fourth preset target temperature, and the preset target temperatures are gradually increased in sequence;
when the central control module selects the receiving electromagnetic wave, the central control module compares the actual temperature T of the target object with the parameters in the target temperature matrix T0, and selects the corresponding receiving electromagnetic wave according to the comparison result:
when T is less than T1, the central control module selects A1 as the receiving electromagnetic wave;
when T1 is more than or equal to T and less than T2, A2 is selected as the receiving electromagnetic wave by the central control module;
when T2 is more than or equal to T and less than T3, A3 is selected as the receiving electromagnetic wave by the central control module;
when T3 is more than or equal to T < T4, the central control module selects A4 as the receiving electromagnetic wave.
Furthermore, a preset receiving electromagnetic wave adjusting coefficient matrix a0 and a preset air humidity matrix H0 are also arranged in the central control module;
for the preset received electromagnetic wave adjustment coefficient matrix a0, setting a0 (a 1, a2, a3, a 4), where a1 is a first preset received electromagnetic wave adjustment coefficient, a2 is a second preset received electromagnetic wave adjustment coefficient, a3 is a third preset received electromagnetic wave adjustment coefficient, a4 is a fourth preset received electromagnetic wave adjustment coefficient, and the preset electromagnetic wave adjustment coefficients are gradually increased in order;
setting H0 (H1, H2, H3 and H4) for the preset air humidity matrix H0, wherein H1 is a first preset air humidity, H2 is a second preset air humidity, H3 is a third preset air humidity, H4 is a fourth preset air humidity, and the preset air humidities are gradually increased in sequence;
when the central control module adjusts the selected received electromagnetic waves Ai, i =1,2,3,4 is set, the central control module compares the actual air humidity H with parameters in an air humidity matrix H0, and selects a corresponding received electromagnetic wave adjustment coefficient to adjust Ai according to a comparison result:
when H is less than H1, the central control module selects a1 to adjust Ai;
when H1 is not less than H < H2, the central control module selects a2 to adjust Ai;
when H2 is not less than H < H3, the central control module selects a3 to adjust Ai;
when H3 is not less than H < H4, the central control module selects a4 to adjust Ai;
when the central control module selects aj to adjust the selected Ai, j =1,2,3,4 is set, and Ai '= Ai × aj is set for the adjusted preliminary drying frequency Ai'.
Furthermore, a preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0 and a preset atmosphere refractive index matrix n0 are also arranged in the central control module;
setting b0 (b 1, b2, b3, b 4) for the preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0, wherein b1 is a first preset received electromagnetic wave adjustment coefficient correction coefficient, b2 is a second preset received electromagnetic wave adjustment coefficient correction coefficient, b3 is a third preset received electromagnetic wave adjustment coefficient correction coefficient, and b4 is a fourth preset received electromagnetic wave adjustment coefficient correction coefficient, and the preset received electromagnetic wave adjustment coefficient correction coefficients are gradually increased in order;
setting n0 (n 1, n2, n3 and n 4) for the preset atmospheric refractive index matrix n0, wherein n1 is a first preset atmospheric refractive index, n2 is a second preset atmospheric refractive index, n3 is a third preset atmospheric refractive index, n4 is a fourth preset atmospheric refractive index, and the preset atmospheric refractive indexes are gradually increased in sequence;
when the central control module corrects the selected received electromagnetic wave adjustment coefficient aj, the central control module compares the atmospheric refractive index n with the parameters in the atmospheric refractive index matrix n0, and selects the received electromagnetic wave adjustment coefficient correction coefficient to correct aj according to the comparison result:
when n is less than n1, the central control module selects b1 to correct aj;
when n is greater than or equal to n1 and is less than n2, b2 is selected by the central control module to correct aj;
when n is greater than or equal to n2 and is less than n3, b3 is selected by the central control module to correct aj;
when n is greater than or equal to n3 and is less than n4, b4 is selected by the central control module to correct aj;
when the central control module selects bk to correct the selected aj, k =1,2,3,4 is set, and the adjusted received electromagnetic wave adjustment coefficient is aj ', and aj' = aj × bk is set.
Further, a preset atmosphere refractive index adjustment coefficient matrix c0 and a preset flying height matrix B0 are also arranged in the central control module;
setting c0 (c 1, c2, c3 and c 4) for the preset atmospheric refractive index adjustment coefficient matrix c0, wherein c1 is a first preset atmospheric refractive index adjustment coefficient, c2 is a second preset atmospheric refractive index adjustment coefficient, c3 is a third preset atmospheric refractive index adjustment coefficient, c4 is a fourth preset atmospheric refractive index adjustment coefficient, and the preset atmospheric refractive index adjustment coefficients are gradually increased in sequence;
setting B0 (B1, B2, B3 and B4) for the preset flying height matrix B0, wherein B1 is a first preset flying height, B2 is a second preset flying height, B3 is a third preset flying height, B4 is a fourth preset flying height, and the preset flying heights are gradually increased in sequence;
when the central control module adjusts the preset atmospheric refractive index ni, setting i =1,2,3,4, comparing the actual flying height B with the parameters in the flying height matrix B0 by the central control module, and selecting the corresponding atmospheric refractive index adjustment coefficient to adjust ni according to the comparison result:
when B is less than B1, the central control module selects c1 to adjust ni;
when B1 is more than or equal to B and less than B2, the center control module selects c2 to adjust ni;
when B2 is more than or equal to B and less than B3, the center control module selects c3 to adjust ni;
when B3 is more than or equal to B and less than B4, the center control module selects c4 to adjust ni;
when the central control module selects cj to adjust the preset ni, j =1,2,3,4 is set, and the adjusted atmospheric refractive index is ni ', and ni' = ni × cj is set.
Further, the settings L, M, N in the central control module are all Ai × aj × bk.
Further, first backup pad the second motor first slide bar with the quantity of safety cover is two and is located remote sensing sensor's left side and right side respectively, first backup pad the second motor with first slide bar is used for control opening and shutting of safety cover.
Further, first motor is major axis step motor, the quantity of bracing piece is four and per two and is a set of, and is two sets of the bracing piece is located the left and right sides of unmanned aerial vehicle body respectively, is used for controlling the steady take-off and the landing of unmanned aerial vehicle.
Further, first slide bar is circular columnar structure and is used for cooperating the opening and shutting of safety cover, the safety cover adopts ya li ke li material to make and is used for reducing unmanned vehicles's load.
Compared with the prior art, the remote sensing monitoring system based on the unmanned aerial vehicle has the beneficial effects that the second motor, the screw rod and the first slide bar are arranged, the second motor rotates to enable the screw sleeve to slide on the surface of the screw rod, so that the protective covers are driven to slide on the surface of the first slide bar, the two protective covers are opened towards the two sides of the remote sensing sensor to expose the remote sensing sensor, a device convenient for protecting the remote sensing sensor is added, and the service life of the remote sensing sensor is prolonged; the central control module controls the unmanned aerial vehicle to detect the target object electromagnetic waves from low to high for 3 times at different angles and performs weighted average on the electromagnetic waves obtained by the 3 times of detection, so that the detected electromagnetic waves are more accurate, and the data reliability is effectively improved.
Furthermore, the central control module compares the actual temperature T of the target object with the parameters in the target temperature matrix T0 to select the corresponding received electromagnetic waves, so that the accuracy of the unmanned aerial vehicle in detecting the target electromagnetic waves is effectively improved, and the data reliability is further improved.
Furthermore, the central control module compares the actual air humidity H with the parameters in the air humidity matrix H0, selects the corresponding electromagnetic wave receiving adjustment coefficient to adjust the received electromagnetic wave, so that the accuracy of the target electromagnetic wave detected by the unmanned aerial vehicle is effectively improved, and the data reliability is further improved.
Furthermore, the central control module compares the atmospheric refractive index n of the actual position of the unmanned aerial vehicle with the parameters in the atmospheric refractive index matrix n0, selects the corresponding adjustment coefficient of the received electromagnetic wave to modify the adjustment coefficient of the received electromagnetic wave, so that the accuracy of the target electromagnetic wave detected by the unmanned aerial vehicle is effectively improved, and the data reliability is further improved.
Furthermore, the central control module compares the actual flying height B of the unmanned aerial vehicle with the parameters in the flying height matrix B0 and selects the corresponding atmospheric refractive index adjustment coefficient to adjust the atmospheric refractive index, so that the accuracy of the electromagnetic wave of the unmanned aerial vehicle detection target is effectively improved, and the data reliability is further improved.
Drawings
FIG. 1 is a schematic structural elevation view of a remote sensing monitoring system based on an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural front sectional view of the remote sensing monitoring system based on the unmanned aerial vehicle according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1 and fig. 2, which are a schematic structural front view and a schematic structural front section of the remote sensing monitoring system based on the unmanned aerial vehicle according to the present invention.
The invention provides a remote sensing monitoring system based on an unmanned aerial vehicle, which comprises:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, wherein supporting rods 2 are connected to the left side surface and the right side surface of the unmanned aerial vehicle body 1, a central control module (not shown in the figure) is arranged inside the unmanned aerial vehicle body 1 and is used for controlling the working process of the unmanned aerial vehicle, a matrix is arranged in the central control module, four supporting rods 2 are arranged, every two supporting rods 2 are arranged in one group, two groups of supporting rods 2 are respectively positioned at the left side and the right side of the unmanned aerial vehicle body 1, a first motor 3 is connected to the bottom surface of each supporting rod 2, the first motor 3 is a long-axis stepping motor, a propeller 4 is fixedly sleeved on the surface of an output shaft of the first motor 3, supporting legs 5 are connected to the bottom surface of the unmanned aerial vehicle body 1, a remote sensing sensor 14 is connected to the bottom surface of the unmanned aerial vehicle body 1, a first supporting plate 6 and a second supporting plate 9 are connected to the bottom, the side face, close to the remote sensing sensor 14, of the first supporting plate 6 is connected with a second motor 7, an output shaft of the second motor 7 is fixedly connected with a lead screw 8, the other end of the lead screw 8 is rotatably connected with a second supporting plate 9 through a bearing, a thread sleeve 10 is sleeved on the surface of the lead screw 8, a first sliding rod 11 is connected between the opposite faces of the first supporting plate 6 and the second supporting plate 9, the first sliding rod 11 is of a circular columnar structure, the first sliding rod 11 facilitates smooth opening and closing of a protective cover 12, the side face, close to the remote sensing sensor 14, of the thread sleeve 10 is connected with the protective cover 12, the protective cover 12 avoids the surface dust accumulation condition of the remote sensing sensor 14 when an unmanned aircraft flies, improves the accuracy of measured data, the protective cover 12 is made of acrylic materials and is lighter in acrylic materials, the load of the unmanned aerial vehicle is reduced.
The first supporting plate 6, the second supporting plate 9, the second motor 7, the first sliding rod 11 and the protective cover 12 are two in number and are respectively located on the left side and the right side of the remote sensing sensor 14, the second motor 7 rotates to enable the thread sleeve 10 to slide on the surface of the screw rod 8 to drive the protective cover 12 to slide on the surface of the first sliding rod 11, the protective cover 12 is opened towards the two sides of the remote sensing sensor 14 to expose the remote sensing sensor 14, the two protective covers 12 can expose the remote sensing sensor 14 in the largest area when being opened simultaneously, the remote sensing sensor 14 is convenient to detect, first sliding holes (not shown in the figure) are formed in the inner wall of the protective cover 12 and the side face close to the second motor 7 in a penetrating manner, the number of the first sliding holes is two, and the inner wall of the first sliding holes is respectively connected with the surface of the screw rod 8 and the surface of the first sliding rod 11 in a sliding manner, one end of the protective cover 12 is connected with a sealing gasket 13.
The bottom surface of supporting leg 5 runs through and has seted up the second slide opening (not drawn in the picture), the inner wall of second slide opening slides and pegs graft and have second slide bar 17, the top of second slide bar 17 is connected with stopper 18, the bottom of second slide bar 17 is connected with supporting pad 15, the top surface of supporting pad 15 is connected with spring 16, spring 16's top with the bottom surface fixed connection of supporting leg 5, the thickness of supporting pad 15 is two to three millimeters, supporting pad 15 adopts rubber materials to make, through supporting pad 15 spring 16 with the mutually supporting of second slide bar 17, can cushion unmanned aerial vehicle when landing contact ground, prevent remote sensing sensor 14 touches ground and damages.
Specifically, when the unmanned aerial vehicle works, the central control module controls the unmanned aerial vehicle to detect the electromagnetic wave of the target object from low to high for 3 times, each detection is completed at different heights and angles, after the detection is completed, the central control module calculates the electromagnetic wave Q of the target object according to the detection result, and sets Q =0.5 × L +0.3 × M +0.2 × N, wherein L, M, N are the electromagnetic waves detected by the unmanned aerial vehicle from low to high at different angles, and the central control module controls the remote sensing sensor to convert the detected electromagnetic waves into images.
Specifically, a preset receiving electromagnetic wave matrix A0 and a preset target temperature matrix T0 are arranged in the central control module;
setting a number a0 (a 1, a2, A3, a 4) for the preset received electromagnetic wave matrix a0, where a1 is a first preset received electromagnetic wave, a2 is a second preset received electromagnetic wave, A3 is a third preset received electromagnetic wave, a4 is a fourth preset received electromagnetic wave, and the preset received electromagnetic waves are gradually increased in sequence;
setting T0 (T1, T2, T3 and T4) for the preset target temperature matrix T0, wherein T1 is a first preset target temperature, T2 is a second preset target temperature, T3 is a third preset target temperature, T4 is a fourth preset target temperature, and the preset target temperatures are gradually increased in sequence;
when the central control module selects the receiving electromagnetic wave, the central control module compares the actual temperature T of the target object with the parameters in the target temperature matrix T0, and selects the corresponding receiving electromagnetic wave according to the comparison result:
when T is less than T1, the central control module selects A1 as the receiving electromagnetic wave;
when T1 is more than or equal to T and less than T2, A2 is selected as the receiving electromagnetic wave by the central control module;
when T2 is more than or equal to T and less than T3, A3 is selected as the receiving electromagnetic wave by the central control module;
when T3 is more than or equal to T < T4, the central control module selects A4 as the receiving electromagnetic wave.
Specifically, the central control module is also provided with a preset receiving electromagnetic wave adjusting coefficient matrix a0 and a preset air humidity matrix H0;
for the preset received electromagnetic wave adjustment coefficient matrix a0, setting a0 (a 1, a2, a3, a 4), where a1 is a first preset received electromagnetic wave adjustment coefficient, a2 is a second preset received electromagnetic wave adjustment coefficient, a3 is a third preset received electromagnetic wave adjustment coefficient, a4 is a fourth preset received electromagnetic wave adjustment coefficient, and the preset electromagnetic wave adjustment coefficients are gradually increased in order;
setting H0 (H1, H2, H3 and H4) for the preset air humidity matrix H0, wherein H1 is a first preset air humidity, H2 is a second preset air humidity, H3 is a third preset air humidity, H4 is a fourth preset air humidity, and the preset air humidities are gradually increased in sequence;
when the central control module adjusts the selected received electromagnetic waves Ai, i =1,2,3,4 is set, the central control module compares the actual air humidity H with parameters in an air humidity matrix H0, and selects a corresponding received electromagnetic wave adjustment coefficient to adjust Ai according to a comparison result:
when H is less than H1, the central control module selects a1 to adjust Ai;
when H1 is not less than H < H2, the central control module selects a2 to adjust Ai;
when H2 is not less than H < H3, the central control module selects a3 to adjust Ai;
when H3 is not less than H < H4, the central control module selects a4 to adjust Ai;
when the central control module selects aj to adjust the selected Ai, j =1,2,3,4 is set, and Ai '= Ai × aj is set for the adjusted preliminary drying frequency Ai'.
The central control module compares the actual air humidity H with the parameters in the air humidity matrix H0, selects the corresponding electromagnetic wave receiving adjustment coefficient to adjust the received electromagnetic waves, effectively improves the accuracy of the target electromagnetic waves detected by the unmanned aerial vehicle, and further improves the data reliability.
Specifically, the central control module is also provided with a preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0 and a preset atmosphere refractive index matrix n 0;
setting b0 (b 1, b2, b3, b 4) for the preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0, wherein b1 is a first preset received electromagnetic wave adjustment coefficient correction coefficient, b2 is a second preset received electromagnetic wave adjustment coefficient correction coefficient, b3 is a third preset received electromagnetic wave adjustment coefficient correction coefficient, and b4 is a fourth preset received electromagnetic wave adjustment coefficient correction coefficient, and the preset received electromagnetic wave adjustment coefficient correction coefficients are gradually increased in order;
setting n0 (n 1, n2, n3 and n 4) for the preset atmospheric refractive index matrix n0, wherein n1 is a first preset atmospheric refractive index, n2 is a second preset atmospheric refractive index, n3 is a third preset atmospheric refractive index, n4 is a fourth preset atmospheric refractive index, and the preset atmospheric refractive indexes are gradually increased in sequence;
when the central control module corrects the selected received electromagnetic wave adjustment coefficient aj, the central control module compares the atmospheric refractive index n with the parameters in the atmospheric refractive index matrix n0, and selects the received electromagnetic wave adjustment coefficient correction coefficient to correct aj according to the comparison result:
when n is less than n1, the central control module selects b1 to correct aj;
when n is greater than or equal to n1 and is less than n2, b2 is selected by the central control module to correct aj;
when n is greater than or equal to n2 and is less than n3, b3 is selected by the central control module to correct aj;
when n is greater than or equal to n3 and is less than n4, b4 is selected by the central control module to correct aj;
when the central control module selects bk to correct the selected aj, k =1,2,3,4 is set, and the adjusted received electromagnetic wave adjustment coefficient is aj ', and aj' = aj × bk is set.
Specifically, a preset atmosphere refractive index adjustment coefficient matrix c0 and a preset flying height matrix B0 are further arranged in the central control module;
setting c0 (c 1, c2, c3 and c 4) for the preset atmospheric refractive index adjustment coefficient matrix c0, wherein c1 is a first preset atmospheric refractive index adjustment coefficient, c2 is a second preset atmospheric refractive index adjustment coefficient, c3 is a third preset atmospheric refractive index adjustment coefficient, c4 is a fourth preset atmospheric refractive index adjustment coefficient, and the preset atmospheric refractive index adjustment coefficients are gradually increased in sequence;
setting B0 (B1, B2, B3 and B4) for the preset flying height matrix B0, wherein B1 is a first preset flying height, B2 is a second preset flying height, B3 is a third preset flying height, B4 is a fourth preset flying height, and the preset flying heights are gradually increased in sequence;
when the central control module adjusts the preset atmospheric refractive index ni, setting i =1,2,3,4, comparing the actual flying height B with the parameters in the flying height matrix B0 by the central control module, and selecting the corresponding atmospheric refractive index adjustment coefficient to adjust ni according to the comparison result:
when B is less than B1, the central control module selects c1 to adjust ni;
when B1 is more than or equal to B and less than B2, the center control module selects c2 to adjust ni;
when B2 is more than or equal to B and less than B3, the center control module selects c3 to adjust ni;
when B3 is more than or equal to B and less than B4, the center control module selects c4 to adjust ni;
when the central control module selects cj to adjust the preset ni, j =1,2,3,4 is set, and the adjusted atmospheric refractive index is ni ', and ni' = ni × cj is set.
The central control module compares the actual flying height B of the unmanned aerial vehicle with the parameters in the flying height matrix B0, selects the corresponding atmospheric refractive index adjusting coefficient to adjust the atmospheric refractive index, effectively improves the accuracy of the electromagnetic wave of the unmanned aerial vehicle detection target, and further improves the data reliability.
Specifically, the settings L, M, N in the central control module are all Ai × aj × bk.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A remote sensing monitored control system based on unmanned aerial vehicle, its characterized in that includes:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the left side surface and the right side surface of the unmanned aerial vehicle body are both connected with supporting rods, the bottom surfaces of the supporting rods are connected with a first motor, a propeller is fixedly sleeved on the surface of an output shaft of the first motor, and the bottom surface of the unmanned aerial vehicle body is connected with supporting legs;
the remote sensing sensor is connected with the bottom surface of the unmanned aerial vehicle body, the bottom surface of the unmanned aerial vehicle body is connected with a first supporting plate and a second supporting plate, the side surface, close to the remote sensing sensor, of the first supporting plate is connected with a second motor, the output shaft of the second motor is fixedly connected with a lead screw, the other end of the lead screw is rotatably connected with the second supporting plate through a bearing, a thread sleeve is sleeved on the surface of the lead screw, a first sliding rod is connected between the opposite surfaces of the first supporting plate and the second supporting plate, and the side surface, close to the remote sensing sensor, of the thread sleeve is connected with a protective cover;
first sliding holes are formed in the inner wall of the protective cover and the side face close to the second motor in a penetrating mode, the number of the first sliding holes is two, the inner walls of the two first sliding holes are respectively connected with the surface of the screw rod and the surface of the first sliding rod in a sliding mode, and a sealing gasket is connected to one end of the protective cover;
a second sliding hole is formed in the bottom surface of the supporting leg in a penetrating mode, a second sliding rod is inserted into the inner wall of the second sliding hole in a sliding mode, the top end of the second sliding rod is connected with a limiting block, the bottom end of the second sliding rod is connected with a supporting pad, the top surface of the supporting pad is connected with a spring, the top end of the spring is fixedly connected with the bottom surface of the supporting leg, and the supporting pad is two-three millimeters thick and made of rubber materials;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and is characterized in that a central control module is arranged in the unmanned aerial vehicle body, the central control module is used for controlling the working process of the unmanned aerial vehicle, and a matrix is arranged in the central control module;
when the unmanned aerial vehicle works, the central control module controls the unmanned aerial vehicle to detect the electromagnetic waves of the target object from low to high for 3 times, each detection is finished at different heights and angles, after the detection is finished, the central control module calculates the electromagnetic waves Q of the target object according to the detection result, Q =0.5 xL +0.3 xM +0.2 xN is set, L, M, N are the electromagnetic waves detected by the unmanned aerial vehicle from low to high at different angles, and the central control module controls the remote sensing sensor to convert the detected electromagnetic waves into images.
2. The unmanned aerial vehicle-based remote sensing monitoring system of claim 1, wherein a preset received electromagnetic wave matrix A0 and a preset target temperature matrix T0 are arranged in the central control module;
setting a number a0 (a 1, a2, A3, a 4) for the preset received electromagnetic wave matrix a0, where a1 is a first preset received electromagnetic wave, a2 is a second preset received electromagnetic wave, A3 is a third preset received electromagnetic wave, a4 is a fourth preset received electromagnetic wave, and the preset received electromagnetic waves are gradually increased in sequence;
setting T0 (T1, T2, T3 and T4) for the preset target temperature matrix T0, wherein T1 is a first preset target temperature, T2 is a second preset target temperature, T3 is a third preset target temperature, T4 is a fourth preset target temperature, and the preset target temperatures are gradually increased in sequence;
when the central control module selects the receiving electromagnetic wave, the central control module compares the actual temperature T of the target object with the parameters in the target temperature matrix T0, and selects the corresponding receiving electromagnetic wave according to the comparison result:
when T is less than T1, the central control module selects A1 as the receiving electromagnetic wave;
when T1 is more than or equal to T and less than T2, A2 is selected as the receiving electromagnetic wave by the central control module;
when T2 is more than or equal to T and less than T3, A3 is selected as the receiving electromagnetic wave by the central control module;
when T3 is more than or equal to T < T4, the central control module selects A4 as the receiving electromagnetic wave.
3. The unmanned aerial vehicle-based remote sensing monitoring system of claim 2, wherein the central control module is further provided with a preset received electromagnetic wave adjustment coefficient matrix a0 and a preset air humidity matrix H0;
for the preset received electromagnetic wave adjustment coefficient matrix a0, setting a0 (a 1, a2, a3, a 4), where a1 is a first preset received electromagnetic wave adjustment coefficient, a2 is a second preset received electromagnetic wave adjustment coefficient, a3 is a third preset received electromagnetic wave adjustment coefficient, a4 is a fourth preset received electromagnetic wave adjustment coefficient, and the preset electromagnetic wave adjustment coefficients are gradually increased in order;
setting H0 (H1, H2, H3 and H4) for the preset air humidity matrix H0, wherein H1 is a first preset air humidity, H2 is a second preset air humidity, H3 is a third preset air humidity, H4 is a fourth preset air humidity, and the preset air humidities are gradually increased in sequence;
when the central control module adjusts the selected received electromagnetic waves Ai, i =1,2,3,4 is set, the central control module compares the actual air humidity H with parameters in an air humidity matrix H0, and selects a corresponding received electromagnetic wave adjustment coefficient to adjust Ai according to a comparison result:
when H is less than H1, the central control module selects a1 to adjust Ai;
when H1 is not less than H < H2, the central control module selects a2 to adjust Ai;
when H2 is not less than H < H3, the central control module selects a3 to adjust Ai;
when H3 is not less than H < H4, the central control module selects a4 to adjust Ai;
when the central control module selects aj to adjust the selected Ai, j =1,2,3,4 is set, and Ai '= Ai × aj is set for the adjusted preliminary drying frequency Ai'.
4. The unmanned aerial vehicle-based remote sensing monitoring system of claim 3, wherein the central control module is further provided with a preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0 and a preset atmospheric refractive index matrix n 0;
setting b0 (b 1, b2, b3, b 4) for the preset received electromagnetic wave adjustment coefficient correction coefficient matrix b0, wherein b1 is a first preset received electromagnetic wave adjustment coefficient correction coefficient, b2 is a second preset received electromagnetic wave adjustment coefficient correction coefficient, b3 is a third preset received electromagnetic wave adjustment coefficient correction coefficient, and b4 is a fourth preset received electromagnetic wave adjustment coefficient correction coefficient, and the preset received electromagnetic wave adjustment coefficient correction coefficients are gradually increased in order;
setting n0 (n 1, n2, n3 and n 4) for the preset atmospheric refractive index matrix n0, wherein n1 is a first preset atmospheric refractive index, n2 is a second preset atmospheric refractive index, n3 is a third preset atmospheric refractive index, n4 is a fourth preset atmospheric refractive index, and the preset atmospheric refractive indexes are gradually increased in sequence;
when the central control module corrects the selected received electromagnetic wave adjustment coefficient aj, the central control module compares the atmospheric refractive index n with the parameters in the atmospheric refractive index matrix n0, and selects the received electromagnetic wave adjustment coefficient correction coefficient to correct aj according to the comparison result:
when n is less than n1, the central control module selects b1 to correct aj;
when n is greater than or equal to n1 and is less than n2, b2 is selected by the central control module to correct aj;
when n is greater than or equal to n2 and is less than n3, b3 is selected by the central control module to correct aj;
when n is greater than or equal to n3 and is less than n4, b4 is selected by the central control module to correct aj;
when the central control module selects bk to correct the selected aj, k =1,2,3,4 is set, and the adjusted received electromagnetic wave adjustment coefficient is aj ', and aj' = aj × bk is set.
5. The unmanned aerial vehicle-based remote sensing monitoring system of claim 4, wherein the central control module is further provided with a preset atmospheric refractive index adjustment coefficient matrix c0 and a preset flying height matrix B0;
setting c0 (c 1, c2, c3 and c 4) for the preset atmospheric refractive index adjustment coefficient matrix c0, wherein c1 is a first preset atmospheric refractive index adjustment coefficient, c2 is a second preset atmospheric refractive index adjustment coefficient, c3 is a third preset atmospheric refractive index adjustment coefficient, c4 is a fourth preset atmospheric refractive index adjustment coefficient, and the preset atmospheric refractive index adjustment coefficients are gradually increased in sequence;
setting B0 (B1, B2, B3 and B4) for the preset flying height matrix B0, wherein B1 is a first preset flying height, B2 is a second preset flying height, B3 is a third preset flying height, B4 is a fourth preset flying height, and the preset flying heights are gradually increased in sequence;
when the central control module adjusts the preset atmospheric refractive index ni, setting i =1,2,3,4, comparing the actual flying height B with the parameters in the flying height matrix B0 by the central control module, and selecting the corresponding atmospheric refractive index adjustment coefficient to adjust ni according to the comparison result:
when B is less than B1, the central control module selects c1 to adjust ni;
when B1 is more than or equal to B and less than B2, the center control module selects c2 to adjust ni;
when B2 is more than or equal to B and less than B3, the center control module selects c3 to adjust ni;
when B3 is more than or equal to B and less than B4, the center control module selects c4 to adjust ni;
when the central control module selects cj to adjust the preset ni, j =1,2,3,4 is set, and the adjusted atmospheric refractive index is ni ', and ni' = ni × cj is set.
6. The unmanned aerial vehicle-based remote sensing monitoring system of claim 5, wherein the central control module settings L, M, N are all Ai x aj x bk.
7. The remote sensing monitoring system based on unmanned aerial vehicle of claim 1, characterized in that, the quantity of first backup pad, the second motor, the first slide bar and the safety cover is two and is located remote sensing sensor's left side and right side respectively, first backup pad, the second motor and the first slide bar are used for controlling opening and shutting of safety cover.
8. The remote sensing monitoring system based on unmanned aerial vehicle of claim 1, characterized in that, first motor is major axis step motor, the quantity of bracing piece is four and every two is a set of, and two sets of bracing piece is located the left and right sides of unmanned aerial vehicle body respectively, is used for controlling the steady take-off and the landing of unmanned aerial vehicle.
9. The unmanned aerial vehicle-based remote sensing monitoring system of claim 1, wherein the first slide bar is a cylindrical structure for cooperating with the opening and closing of a protective cover, and the protective cover is made of an acrylic material for reducing the load of the unmanned aerial vehicle.
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| US20190120888A1 (en) * | 2017-10-20 | 2019-04-25 | Agency For Defense Development | Apparatus and method for analyzing influence of electromagnetic waves |
| CN208325614U (en) * | 2018-04-09 | 2019-01-04 | 清远市巨劲科技有限公司 | A kind of remote sensing unmanned plane with permanent protective property energy |
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