CN113050663A - Cable-free device for automatically acquiring images of fishes in rivers - Google Patents
Cable-free device for automatically acquiring images of fishes in rivers Download PDFInfo
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- CN113050663A CN113050663A CN202110280375.8A CN202110280375A CN113050663A CN 113050663 A CN113050663 A CN 113050663A CN 202110280375 A CN202110280375 A CN 202110280375A CN 113050663 A CN113050663 A CN 113050663A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 65
- 238000004891 communication Methods 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 9
- 230000008054 signal transmission Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000009189 diving Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 108091008695 photoreceptors Proteins 0.000 description 1
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- 239000003643 water by type Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The invention relates to a cable-free device for automatically collecting images of fishes in rivers. This a no cable formula device for river fish image automatic acquisition includes: unmanned aerial vehicle organism, positioning system, obstacle avoidance system, shooting system, motion control system and communication system. Wherein, positioning system, obstacle avoidance system, shooting system and communication system and motion control system all load on the unmanned aerial vehicle organism, and positioning system, obstacle avoidance system, shooting system and communication system all are connected with motion control system. The cable-free device provided by the invention can enable the unmanned aerial vehicle body loaded with the components such as the shooting system, the positioning system, the obstacle avoidance system, the communication system and the like to automatically complete the underwater shooting task by adopting the motion control system, so that the problem of automatic acquisition of underwater fish images of rivers is solved in a cable-free mode on the premise of saving manpower, and further, the disturbance to the fishes in the rivers is reduced while the image acquisition efficiency and the definition are improved.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a cable-free device for automatically acquiring images of fishes in rivers.
Background
The underwater fish image acquisition of the early river mainly depends on manual operation, and after an underwater camera is manually controlled to acquire underwater fish images, the underwater images are transmitted to an upper computer through cables.
In recent years, with the rapid development of unmanned aerial vehicle technology, the unmanned aerial vehicle technology is applied to underwater image acquisition for industrial trend. Unmanned aerial vehicle is equipped with master controller and each sensor, controls unmanned aerial vehicle through remote controller or settlement air course, and unmanned aerial vehicle uses mainly to solve waterproof and underwater signal transmission's problem under water.
Unmanned aerial vehicle mainly has two kinds at present, one kind is the unmanned aerial vehicle under water that has the cable, and another kind is unmanned aerial vehicle under water that does not have the cable. Be equipped with modules such as depth sensor, gyroscope, compass, accelerometer, main control unit, motor under water on the unmanned aerial vehicle under water that has the cable, people operate unmanned aerial vehicle under water through the remote controller on land, and the camera image passes through the cable and conveys to the host computer in real time, can realize the all-round image acquisition in certain extent waters through unmanned aerial vehicle under water. The structure of the cableless underwater unmanned aerial vehicle is similar to that of a submarine, and the cableless underwater unmanned aerial vehicle is provided with an underwater wireless communication system, a positioning system and an obstacle avoidance system, is mainly used for autonomous image acquisition in deep sea, has large interference on fishes, and is not suitable for river environment.
Therefore, to reduce the disturbance to the fish, providing a cableless system for automatically collecting images of fish in rivers is a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a cable-free device for automatically acquiring images of fishes in rivers, which solves the problem of automatically acquiring underwater fish images in rivers in a cable-free mode, and further reduces disturbance to fishes in rivers while improving the image acquisition efficiency and definition.
In order to achieve the purpose, the invention provides the following scheme:
a cableless device for automatic acquisition of images of fish in rivers comprises:
an unmanned aerial vehicle body;
the positioning system is loaded on the unmanned aerial vehicle body and used for acquiring position data of the unmanned aerial vehicle body and underwater depth data of the position where the unmanned aerial vehicle body is located;
the obstacle avoidance system is loaded on the unmanned aerial vehicle body, is used for detecting whether an obstacle exists in front of the unmanned aerial vehicle body in motion, and is also used for determining the distance between the unmanned aerial vehicle body and the obstacle when the obstacle exists;
the shooting system is loaded on the unmanned aerial vehicle body and is used for shooting underwater images;
the motion control system is loaded on the unmanned aerial vehicle body, is connected with the positioning system, the obstacle avoidance system and the shooting system, and is used for generating a control instruction according to the position data of the unmanned aerial vehicle body, the underwater depth data of the position where the unmanned aerial vehicle body is located and the distance between the unmanned aerial vehicle body and the obstacle; the control instructions include: the method comprises the steps that an opening and closing instruction of a positioning system, an opening and closing instruction of an underwater obstacle avoidance system, an opening and closing instruction of a shooting system, a signal transmission instruction and an instruction of a set motion of an unmanned aerial vehicle body are given; the setting motion includes: steering, diving and straight line sailing;
and the communication system is loaded on the unmanned aerial vehicle body, is respectively connected with the motion control system and the shooting system, and is used for wirelessly transmitting the underwater image and the control signal which are obtained by shooting by the shooting system according to the signal transmission instruction generated by the motion control system.
Preferably, the positioning system comprises:
the inertial navigation module comprises a gyroscope, an accelerometer and a compass, and is loaded on the unmanned aerial vehicle body and used for navigation and positioning of the unmanned aerial vehicle body.
The USBL underwater positioning system consists of a transmitting transducer, a transponder and a receiving array and is used for determining the underwater position of the underwater unmanned aerial vehicle; the transponder is loaded on the unmanned aerial vehicle organism, the transmitting transducer with receive the matrix and all be located the surface of water.
And the depth sensor is loaded on the unmanned aerial vehicle body, connected with the motion control system and used for acquiring underwater depth data of the position where the unmanned aerial vehicle body is located.
Preferably, the obstacle avoidance system includes:
the sonar detector is loaded on the unmanned aerial vehicle organism, is connected with the motion control system, is used for receiving and dispatching sonar detection signals, and is used for determining whether the obstacle exists in the unmanned aerial vehicle organism motion place ahead according to the sonar detection signals, and is also used for determining the distance between the unmanned aerial vehicle organism and the obstacle according to the sonar detection signals when the obstacle exists.
Preferably, the motion control system comprises:
the accelerometer is loaded on the unmanned aerial vehicle body and used for measuring the acceleration of the unmanned aerial vehicle body;
the compass is loaded on the unmanned aerial vehicle body and used for determining the motion direction of the unmanned aerial vehicle body;
the pressure sensor is loaded on the unmanned aerial vehicle body and used for measuring pressure data of the position where the unmanned aerial vehicle body is located;
the temperature sensor is loaded on the unmanned aerial vehicle body and used for measuring temperature data of the environment where the unmanned aerial vehicle body is located;
the driver is loaded on the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to move;
and the control module is respectively connected with the accelerometer, the compass, the pressure sensor, the temperature sensor, the driver, the positioning system, the obstacle avoidance system, the shooting system and the communication system and is used for generating the control instruction.
Preferably, the driver includes:
the motor is loaded on the unmanned aerial vehicle body and used for providing motion power for the unmanned aerial vehicle body;
and the electronic speed regulator is respectively connected with the control module and the motor and is used for controlling the rotating speed of the motor according to the control instruction generated by the control module.
Preferably, the method further comprises the following steps:
the light loads on the unmanned aerial vehicle organism.
Preferably, the method further comprises the following steps:
and the power supply system is loaded on the unmanned aerial vehicle body and used for providing electric energy.
Preferably, the power supply system includes:
the battery is loaded on the unmanned aerial vehicle body and used for providing electric energy required by the operation process for the positioning system, the obstacle avoidance system, the shooting system, the motion control system, the communication system and the illuminating lamp;
the voltage and current sensor is loaded on the unmanned aerial vehicle body, is respectively connected with the battery and the motion control system, and is used for measuring the voltage and the current of the battery in real time;
and the motion control system determines the endurance time according to the voltage and the current.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the cable-free device for automatically acquiring images of fishes in rivers, provided by the invention, by adopting the motion control system, an unmanned aerial vehicle body loaded with components such as a shooting system, a positioning system, an obstacle avoidance system, a communication system and the like can autonomously complete an underwater shooting task, so that the problem of automatically acquiring images of fishes in rivers in a cable-free manner is solved on the premise of saving manpower, and the disturbance to fishes in rivers is reduced while the image acquisition efficiency and the definition are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a cable-free device for automatically collecting images of fishes in rivers, provided by the invention;
FIG. 2 is a schematic structural diagram of a motion control system according to an embodiment of the present invention;
fig. 3 is a flow chart of the operation of the cable-free device for automatically collecting images of fish in rivers provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a cable-free device for automatically acquiring images of fishes in rivers, which solves the problem of automatically acquiring underwater fish images in rivers in a cable-free mode, and further reduces disturbance to fishes in rivers while improving the image acquisition efficiency and definition.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the cable-free device for automatically collecting images of fish in rivers provided by the invention comprises: unmanned aerial vehicle organism 1, positioning system 2, keep away barrier system 3, shooting system 4, motion control system 5 and communication system 6.
Wherein, positioning system 2 loads on unmanned aerial vehicle organism 1 for obtain the position data of unmanned aerial vehicle organism 1 and the underwater depth data of the position that unmanned aerial vehicle organism 1 is located. This positioning system 2 mainly provides the underwater XY position data of unmanned aerial vehicle organism 1 and the degree of depth data under water, cooperates ground basic station, and with the last setting value of ground station carry out the difference and handle, then transmit motion control system 5, motion control system 5 calculates according to these differences, makes the underwater position of unmanned aerial vehicle organism 1 can reach the requirement of regulation. The specific structure of which is described below.
The shooting system 4 is loaded on the unmanned aerial vehicle body 1 and used for shooting underwater images. The shooting system 4 mainly comprises a camera module, and real-time shooting data is stored in a memory card or transmitted to a remote upper computer through a communication system 6 after underwater image acquisition is completed.
The motion control system 5 is loaded on the unmanned aerial vehicle organism 1, is connected with the positioning system 2, keeps away barrier system 3 and shooting system 4 for according to the position data of unmanned aerial vehicle organism 1, the underwater depth data of the position that unmanned aerial vehicle organism 1 is located and the distance between unmanned aerial vehicle organism 1 and the barrier generation control command. The control instructions include: the unmanned aerial vehicle comprises an opening and closing instruction of a positioning system 2, an opening and closing instruction of an underwater obstacle avoidance system 3, an opening and closing instruction of a shooting system 4, a signal transmission instruction and an instruction for setting movement of an unmanned aerial vehicle body 1. Setting the motion includes: steering, diving and straight sailing. The specific structure of which is described below.
The communication system 6 is loaded on the unmanned aerial vehicle body 1, is respectively connected with the motion control system 5 and the shooting system 4, and is used for wirelessly transmitting underwater images and control signals obtained by shooting by the shooting system 4 according to signal transmission instructions generated by the motion control system 5. The communication system 6 can provide support for underwater transmission of signals, and after the signals are transmitted to the repeater on the water surface, the repeater transmits data to the upper computer.
Further, in order to simplify the structure of the apparatus and reduce the production cost, the above-mentioned positioning system 2 of the present invention preferably includes: an inertial navigation module, a USBL underwater positioning system and a depth sensor (not shown in the figure).
Wherein, inertial navigation module comprises gyroscope, accelerometer, compass, loads on the unmanned aerial vehicle organism, be used for the navigation and the location of unmanned aerial vehicle organism.
The USBL underwater positioning system consists of a transmitting transducer, a transponder and a receiving array and is used for determining the underwater position of the underwater unmanned aerial vehicle. The transponder is loaded on the unmanned aerial vehicle organism, the transmitting transducer with receive the matrix and all be located the surface of water.
The depth sensor is loaded on the unmanned aerial vehicle body 1, is connected with the motion control system 5, and is used for acquiring underwater depth data of the position where the unmanned aerial vehicle body 1 is located.
Further, in order to complete the underwater image capturing task and simultaneously perform effective obstacle avoidance and implement planning of the movement path, the obstacle avoidance system 3 adopted in the present invention preferably includes: sonar detector (not shown in the figure).
The sonar detector loads on unmanned aerial vehicle organism 1, is connected with motion control system 5 for receiving and dispatching sonar detection signal, and whether be used for according to sonar detection signal determination unmanned aerial vehicle organism 1 motion the place ahead and have the barrier, still be used for according to sonar detection signal determination unmanned aerial vehicle organism 1 and the distance between the barrier when having the barrier.
Further, as shown in fig. 2, the motion control system 5 provided by the present invention includes: an accelerometer 5-1, a compass 5-2, a pressure sensor 5-6, a temperature sensor 5-3, a driver 5-4 and a control module 5-5. Specifically, 3 components, i.e., a gyroscope (not shown in the figure), an accelerometer 5-1 and a compass 5-2, are common components of the positioning system and the motion control system, and in the practical application process, a person skilled in the art should not limit the specific structures of the positioning system and the motion control system described above as unique structures.
The gyroscope is loaded on the unmanned aerial vehicle body, is used for measuring the angular motion of the unmanned aerial vehicle body, and can be used as a horizontal sensor, a vertical sensor, a pitching sensor, a course sensor and an angular velocity sensor.
The accelerometer 5-1 is loaded on the unmanned aerial vehicle body 1 and used for measuring the acceleration of the unmanned aerial vehicle body 1 in motion.
The compass 5-2 is mounted on the unmanned aerial vehicle body 1 and is used for determining the direction of motion of the unmanned aerial vehicle body 1.
The pressure sensors 5-6 are mounted on the unmanned aerial vehicle body 1 and used for measuring pressure data of the position where the unmanned aerial vehicle body 1 is located.
The temperature sensor 5-3 is arranged on the unmanned aerial vehicle body 1 and used for measuring temperature data of the environment where the unmanned aerial vehicle body 1 is located.
The driver 5-4 is loaded on the unmanned aerial vehicle body 1 and used for driving the unmanned aerial vehicle body 1 to move.
The control module 5-5 is respectively connected with the accelerometer 5-1, the compass 5-2, the pressure sensor 5-6, the temperature sensor 5-3, the driver 5-4, the positioning system 2, the obstacle avoidance system 3, the shooting system 4 and the communication system 6 and used for generating a control command.
The control module 5-5 is mainly responsible for collecting data obtained by detecting each part and processing the data to enable the underwater unmanned aerial vehicle to meet the specified movement requirement.
In order to be able to effectively control the specific movement speed of the drone body 1, the drives 5-4 employed in the present invention preferably comprise: a motor and an electronic governor (not shown).
Wherein, the motor loads on unmanned aerial vehicle organism 1 for provide motion power for unmanned aerial vehicle organism 1.
And the electronic speed regulator is respectively connected with the control module 5-5 and the motor and is used for controlling the rotating speed of the motor according to the control command generated by the control module 5-5.
In order to improve the definition and shooting efficiency of underwater shooting, the cableless device for automatically acquiring images of fishes in rivers, provided by the invention, preferably comprises: light and power supply system.
This light and power supply system all load on unmanned aerial vehicle organism 1. The lighting lamp and the power supply system are both connected with the motion control system 5.
When the unmanned aerial vehicle organism 1 exists in the environment that light is less than the default under water, motion control system 5 sends control command and opens the light and begin the illumination, and this also can break the restriction of shooting time. Wherein the light intensity is measured by the photoreceptor loaded on the unmanned aerial vehicle body 1.
In order to accurately calculate the cruising range of the whole cable-free device, the power supply system adopted by the invention preferably comprises: a battery and a voltage current sensor.
The battery is mounted on the unmanned aerial vehicle body 1 and used for providing electric energy required by the operation process for the positioning system, the obstacle avoidance system, the shooting system, the motion control system, the communication system and the illuminating lamp. The battery adopts a power lithium battery.
The voltage and current sensor is loaded on the unmanned aerial vehicle body 1, is respectively connected with the battery and the motion control system 5, and is used for measuring the voltage and the current of the battery in real time.
The motion control system 5 determines the duration of the flight according to the voltage and the current to provide a time reference for the photographing operation.
Next, based on the specific operation flow of the cableless device for automatically collecting images of fish in rivers provided by the present invention, the specific differences between the present invention and the prior art will be further explained.
As shown in fig. 3, the operation flow provided by the present invention is:
the operation process comprises the following steps:
(1) the underwater drone system is ready.
(2) And when the obstacle avoidance system detects the river bank, the underwater unmanned aerial vehicle finishes steering for 180 degrees, submerges to a certain depth and returns to the bank from the river bank.
(3) When the obstacle avoidance system detects the bank, the underwater unmanned aerial vehicle finishes 180-degree steering again, submerges further for a certain depth at the same time, and continues to advance to the opposite bank of the river.
(4) The water flows back and forth in the way, and the water flows forwards from the river surface to the river bottom along the cross section of the river in an S-shaped preset path.
(5) And automatically acquiring images of the fishes in the rivers in the whole advancing process, returning the images to the water surface, and checking whether the images meet the requirements.
If the image does not meet the shooting requirement, the above processes are repeated until the shot image meets the shooting requirement.
In conclusion, compared with the existing underwater unmanned aerial vehicle with cables and the existing underwater unmanned aerial vehicle with submarine type and capable of sailing autonomously without cables, the cable-free device for automatically acquiring the images of the fishes provided by the invention can automatically acquire the images of the fishes in a cable-free manner on the premise of reducing the participation of manpower, reduce the interference and effectively finish the acquisition of the images of the fishes.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A no cable formula device that is used for river fish image automatic acquisition, its characterized in that includes:
an unmanned aerial vehicle body;
the positioning system is loaded on the unmanned aerial vehicle body and used for acquiring position data of the unmanned aerial vehicle body and underwater depth data of the position where the unmanned aerial vehicle body is located;
the obstacle avoidance system is loaded on the unmanned aerial vehicle body, is used for detecting whether an obstacle exists in front of the unmanned aerial vehicle body in motion, and is also used for determining the distance between the unmanned aerial vehicle body and the obstacle when the obstacle exists;
the shooting system is loaded on the unmanned aerial vehicle body and is used for shooting underwater images;
the motion control system is loaded on the unmanned aerial vehicle body, is connected with the positioning system, the obstacle avoidance system and the shooting system, and is used for generating a control instruction according to the position data of the unmanned aerial vehicle body, the underwater depth data of the position where the unmanned aerial vehicle body is located and the distance between the unmanned aerial vehicle body and the obstacle; the control instructions include: the method comprises the steps that an opening and closing instruction of a positioning system, an opening and closing instruction of an underwater obstacle avoidance system, an opening and closing instruction of a shooting system, a signal transmission instruction and an instruction of a set motion of an unmanned aerial vehicle body are given; the setting motion includes: steering, diving and straight line sailing;
and the communication system is loaded on the unmanned aerial vehicle body, is respectively connected with the motion control system and the shooting system, and is used for wirelessly transmitting the underwater image and the control signal which are obtained by shooting by the shooting system according to the signal transmission instruction generated by the motion control system.
2. The untethered apparatus for automatic acquisition of images of fish in rivers according to claim 1, wherein said positioning system comprises:
the inertial navigation module consists of a gyroscope, an accelerometer and a compass, is loaded on the unmanned aerial vehicle body and is used for navigation and positioning of the unmanned aerial vehicle body;
the USBL underwater positioning system consists of a transmitting transducer, a transponder and a receiving array and is used for determining the underwater position of the underwater unmanned aerial vehicle; the transponder is loaded on the unmanned aerial vehicle organism, the transmitting transducer with receive the matrix and all be located the surface of water.
And the depth sensor is loaded on the unmanned aerial vehicle body, connected with the motion control system and used for acquiring underwater depth data of the position where the unmanned aerial vehicle body is located.
3. The cableless device for automatic acquisition of images of fish in rivers according to claim 1, wherein said obstacle avoidance system comprises:
the sonar detector is loaded on the unmanned aerial vehicle organism, is connected with the motion control system, is used for receiving and dispatching sonar detection signals, and is used for determining whether the obstacle exists in the unmanned aerial vehicle organism motion place ahead according to the sonar detection signals, and is also used for determining the distance between the unmanned aerial vehicle organism and the obstacle according to the sonar detection signals when the obstacle exists.
4. The untethered apparatus for automatic acquisition of images of fish in rivers according to claim 1, said motion control system comprising:
the accelerometer is loaded on the unmanned aerial vehicle body and used for measuring the acceleration of the unmanned aerial vehicle body;
the compass is loaded on the unmanned aerial vehicle body and used for determining the motion direction of the unmanned aerial vehicle body;
the pressure sensor is loaded on the unmanned aerial vehicle body and used for measuring pressure data of the position where the unmanned aerial vehicle body is located;
the temperature sensor is loaded on the unmanned aerial vehicle body and used for measuring temperature data of the environment where the unmanned aerial vehicle body is located;
the driver is loaded on the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to move;
and the control module is respectively connected with the accelerometer, the compass, the pressure sensor, the temperature sensor, the driver, the positioning system, the obstacle avoidance system, the shooting system and the communication system and is used for generating the control instruction.
5. The untethered apparatus for automatic acquisition of images of fish in rivers according to claim 4, wherein said driver comprises:
the motor is loaded on the unmanned aerial vehicle body and used for providing motion power for the unmanned aerial vehicle body;
and the electronic speed regulator is respectively connected with the control module and the motor and is used for controlling the rotating speed of the motor according to the control instruction generated by the control module.
6. The cableless device for automatic acquisition of images of fish in rivers according to claim 1, further comprising:
the light loads on the unmanned aerial vehicle organism.
7. The cableless device for automatic acquisition of images of fish in rivers according to claim 6, further comprising:
and the power supply system is loaded on the unmanned aerial vehicle body and used for providing electric energy.
8. The untethered apparatus for automatic acquisition of images of fish in rivers according to claim 7, wherein said power supply system comprises:
the battery is loaded on the unmanned aerial vehicle body and used for providing electric energy required by the operation process for the positioning system, the obstacle avoidance system, the shooting system, the motion control system, the communication system and the illuminating lamp;
the voltage and current sensor is loaded on the unmanned aerial vehicle body, is respectively connected with the battery and the motion control system, and is used for measuring the voltage and the current of the battery in real time;
and the motion control system determines the endurance time according to the voltage and the current.
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| CN202110280375.8A CN113050663A (en) | 2021-03-16 | 2021-03-16 | Cable-free device for automatically acquiring images of fishes in rivers |
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| CN202110280375.8A CN113050663A (en) | 2021-03-16 | 2021-03-16 | Cable-free device for automatically acquiring images of fishes in rivers |
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| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
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2021
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| CN104724284A (en) * | 2015-03-25 | 2015-06-24 | 朱威 | Multi-rotor-wing submersible unmanned aerial vehicle and control method thereof |
| CN106428481A (en) * | 2016-10-14 | 2017-02-22 | 河海大学常州校区 | Quadrotor structure based underwater detecting and cleaning unmanned aerial vehicle and working method thereof |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
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Application publication date: 20210629 |