CN113064219B - Microclimate element synchronous acquisition device and method and electronic equipment - Google Patents
Microclimate element synchronous acquisition device and method and electronic equipment Download PDFInfo
- Publication number
- CN113064219B CN113064219B CN202110290509.4A CN202110290509A CN113064219B CN 113064219 B CN113064219 B CN 113064219B CN 202110290509 A CN202110290509 A CN 202110290509A CN 113064219 B CN113064219 B CN 113064219B
- Authority
- CN
- China
- Prior art keywords
- monitoring
- module
- rod
- sensor
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
-
- 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
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Environmental & Geological Engineering (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Environmental Sciences (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a microclimate element synchronous acquisition device, a microclimate element synchronous acquisition method and electronic equipment. Microclimate element synchronous acquisition device includes: unmanned aerial vehicle bears module, monitoring network frame and monitoring module, and monitoring network frame top bears the module with unmanned aerial vehicle and is connected, and monitoring network frame is provided with a plurality of monitoring module layers along top to bottom direction, and every monitoring module layer includes a plurality of monitoring modules of fixing on monitoring network frame. According to the invention, a plurality of monitoring module layers are fixed through the monitoring network framework, and each monitoring module layer is provided with a plurality of monitoring modules, so that the small meteorological elements of vertical multiple layers and multiple points can be monitored simultaneously, the monitoring cost can be effectively reduced, the monitoring efficiency is improved, and the comparability among data is ensured. The invention realizes the automatic acquisition and storage of microclimate elements by synchronous mesh scanning type monitoring of the microclimate elements.
Description
Technical Field
The invention relates to the technical field related to atmospheric science, in particular to a microclimate element synchronous acquisition device, a microclimate element synchronous acquisition method and electronic equipment.
Background
Human activities change subsurface bedding structure and properties, causing differences in surface heat and water budget, which in turn creates microclimates within a certain range. Microclimate is used as a basic research unit of global climate change, and the research on the generation and change mechanism and mechanism of microclimate is the primary task for dealing with the global climate change at present. The vertical spatial distribution characteristics of the microclimate elements are monitored, the vertical layering of the microclimate elements under different underlying surface conditions is monitored, and a data basis is provided for the research of the influence of human activities on the microclimate elements and the driving mechanism of the microclimate elements.
However, current small meteorological element vertical monitoring focuses on single point continuous observation by the "balloon method" or single point mobile monitoring by the "drone". Single point/single layer observations lack simultaneous multi-point/multi-layer continuous data. Such observations severely hamper the horizontal/vertical spatial comparability of microclimate elements. Meanwhile, a horizontal/vertical variation diagram of the small meteorological elements cannot be given. Therefore, such methods cannot realize further development of small meteorological elements and drive mechanism research. If single-point or single-layer observation is directly popularized to multi-point and multi-layer simultaneous observation, a plurality of flight devices are required to monitor at multiple layers and multiple points simultaneously, and the method is high in cost, low in efficiency, weak in operability and incapable of popularization.
In addition, the current unmanned aerial vehicle space-time monitoring technology for small meteorological elements cannot be separated from point-to-point observation of artificial control. However, when the target to be monitored is far away from the person, or the monitoring range is large, or the signal transmission of the unmanned aerial vehicle is blocked, the required small meteorological elements cannot be acquired through manual control. Therefore, in actual operation, how to realize the automatic fixed-point hovering monitoring of the unmanned aerial vehicle becomes a big difficulty.
Disclosure of Invention
Therefore, it is necessary to provide a microclimate element synchronous acquisition device, a microclimate element synchronous acquisition method and an electronic device, aiming at the technical problem that microclimate elements in the prior art cannot be subjected to multipoint and multilayer synchronous acquisition.
The invention provides a microclimate element synchronous acquisition device, which comprises: unmanned aerial vehicle bears module, monitoring net frame and monitoring module, monitoring net frame top with unmanned aerial vehicle bears the module connection, monitoring net frame is provided with a plurality of monitoring module layers along top to bottom direction, every the monitoring module layer includes that a plurality of fixes on the monitoring net frame monitoring module.
Further, the monitoring module includes loading unit and holding sensor unit in the loading unit, the loading unit includes sensor loading box, sensor circuit passageway and the sensor probe box that connects gradually, sensor unit includes the holding is in sensor loading box's sensor and holding are in probe in the sensor probe box, the probe with the sensor passes through sensor circuit communication connection, sensor circuit holding is in the sensor circuit passageway.
Furthermore, the sensor loading box shell and the sensor line channel shell are provided with a plurality of through holes, the sensor loading box, the sensor line channel and/or the back of the sensor probe box are provided with opening retaining rings, the opening retaining rings are detachably connected with the monitoring net frame, and the shell of the sensor probe box is provided with a shutter structure.
Further, monitoring net frame includes bearing bar and combination bar, the bearing bar level extend and with unmanned aerial vehicle bears the module and connects, and is a plurality of the vertical extension of combination bar just the top of combination bar with the bearing bar is connected, adjacent two the connecting rod that the level extends is passed through to the bottom of combination bar and is connected, the combination bar is provided with a plurality ofly along top to bottom direction monitoring module.
Further:
the unmanned aerial vehicle is characterized in that a plurality of bearing rod peripheral connecting units are arranged on the bearing rods, each bearing rod peripheral connecting unit comprises a connecting seat, a connecting seat through hole is formed in each connecting seat, each bearing rod penetrates through the corresponding connecting seat through hole, a U-shaped groove is formed in the top of each connecting seat, a screw rod through hole, a bidirectional screw rod and a bidirectional nut are arranged on each U-shaped groove, each bidirectional screw rod is connected with the corresponding unmanned aerial vehicle bearing module and inserted into the corresponding screw rod through hole to be in threaded connection with the corresponding bidirectional nut, a connecting interface is arranged at the bottom of each connecting seat and connected with the corresponding combined rod, connecting seat opening retaining rings are arranged on two sides of each connecting seat, and each connecting seat opening retaining ring fastens the corresponding bearing rod;
the connecting rod comprises a connecting rod body, a connecting rod connecting body and a connecting rod connecting body, wherein the two ends of the connecting rod are respectively provided with the connecting rod connecting body, the connecting rod connecting body comprises a first connecting rod connecting body opening retaining ring and a second connecting rod connecting body opening retaining ring which are perpendicular to each other, the first connecting rod connecting body opening retaining ring fastens the connecting rod, and the second connecting rod connecting body opening retaining ring is perpendicular to the rod body of the connecting rod and fastens the combined rod.
Furthermore, the monitoring net frame further comprises one or more horizontally extending reinforcing rods, the reinforcing rods are respectively connected with two adjacent combined rods, reinforcing connectors are respectively arranged at two end parts of each reinforcing rod, each reinforcing connector comprises a first reinforcing connector opening buckle and a second reinforcing connector opening buckle which are vertically connected with each other, the first reinforcing connector opening buckle is fastened with the connecting rod, and the second reinforcing connector opening buckle is perpendicular to the rod body of each reinforcing rod and is fastened with the adjacent combined rod.
Further, unmanned aerial vehicle bears the module and includes unmanned aerial vehicle and telescopic link, telescopic link one end with unmanned aerial vehicle's carry the crossbeam and connect, the other end with monitoring net frame attach.
The invention provides a collecting method of the microclimate element synchronous collecting device, which comprises the following steps:
controlling an unmanned aerial vehicle bearing module to sequentially and horizontally fly to a plurality of monitoring target positions along a preset safety height, controlling the unmanned aerial vehicle bearing module to descend to the preset monitoring hovering height after the unmanned aerial vehicle bearing module reaches the monitoring target positions, and controlling the unmanned aerial vehicle bearing module to return to the safety height and horizontally fly to the next monitoring target position at the safety height after data are acquired through preset hovering time;
and after all the monitoring target positions are completed, the safe altitude horizontal flight returns to the flying point, and the acquisition is completed.
Further, the method comprises the following steps:
the safety height H 0 Max (DSM) + dv m + h, where h is the safe distance to the ground, m is the number of layers of the monitoring module layers, dv is the inter-layer vertical distance of the monitoring module layers, max (DSM) is the maximum height of the digital surface model within the flight range;
the monitored hover height is a relative height of the digital surface model between an height of the monitored target location and Max (DSM).
The present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the acquisition method of the synchronous microclimate element acquisition apparatus as described above.
According to the invention, a plurality of monitoring module layers are fixed through the monitoring network framework, and each monitoring module layer is provided with a plurality of monitoring modules, so that the small meteorological elements of vertical multiple layers and multiple points can be monitored simultaneously, the monitoring cost can be effectively reduced, the monitoring efficiency is improved, and the comparability among data is ensured. The invention realizes the automatic acquisition and storage of microclimate elements by synchronous mesh scanning type monitoring of the microclimate elements. Meanwhile, efficient large-scale monitoring of small meteorological elements is achieved, and a data basis is provided for interactive process simulation and model construction of the underlying surface and the atmospheric environment.
Drawings
Fig. 1 is a schematic structural diagram of a synchronous microclimate element acquisition device according to an embodiment of the present invention.
FIG. 2a is a front view of a loading unit in a monitoring module according to an embodiment of the present invention;
FIG. 2b is a side view of a load cell in a monitoring module according to an embodiment of the present invention;
FIG. 2c is a top view of a load cell in a monitoring module according to an embodiment of the present invention;
FIG. 2d is a schematic view of an open retaining ring of a loading unit in a monitoring module according to an embodiment of the present invention;
FIG. 3 is a schematic view of a monitoring network framework according to an embodiment of the present invention;
fig. 4 is a schematic view of a monitoring net frame load-bearing module according to an embodiment of the invention.
FIG. 5a is a schematic diagram of a peripheral connection unit of a load-bearing bar according to an embodiment of the present invention;
FIG. 5b is a front view of the connecting unit of the bearing bar peripheral device according to the embodiment of the present invention;
FIG. 5c is a side view of the bearing bar peripheral attachment unit in accordance with one embodiment of the present invention;
FIG. 5d is a schematic view of a screw nut of the peripheral connection unit of the bearing bar according to the embodiment of the present invention;
FIG. 6 is a schematic view of a frame module connecting rod according to an embodiment of the present invention;
FIG. 7 is a schematic view of a monitoring network frame connection module according to an embodiment of the invention;
FIG. 8a is a front view of a link connector according to an embodiment of the present invention;
FIG. 8b is a side view of a link connector according to an embodiment of the present invention;
FIG. 8c is a top view of a linkage interface in accordance with an embodiment of the present invention;
FIG. 9 is a schematic view of a reinforcing module of a monitoring network frame according to an embodiment of the invention;
FIG. 10a is a front view of a connection assembly of a reinforcement module of a monitoring net frame according to an embodiment of the invention;
FIG. 10b is a side view of a connection assembly of a reinforcement module of a framework of a surveillance mesh in accordance with an embodiment of the present invention;
FIG. 10c is a top view of a connection assembly of a reinforcing module of a frame of a monitoring network according to an embodiment of the present invention;
fig. 11 is a schematic view of a connection assembly of a retractable frame of a drone according to an embodiment of the invention;
fig. 12 is a diagram of an entity of the drone in accordance with the present invention;
fig. 13 is a flowchart illustrating an operation of the collecting method of the synchronous microclimate element collecting device according to the embodiment of the present invention;
FIG. 14 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention
Figure 15 is a flow chart of DSM-based bulk generation flight missions in accordance with an embodiment of the present invention.
FIG. 16 is a DSM-based batch production flight diagram of an embodiment of the invention.
Description of the marks
1-an unmanned aerial vehicle bearing module; 11-unmanned aerial vehicle; 111-a mounting beam; 112-an on-board power supply; 113-a functional module; 12-a telescopic connecting rod; 121-embedded rod; 122-outer loop bar; 123-opening buckle; 2-monitoring net frame; 21-a bearing bar; 22-a combination post; 221-a light magnesium aluminum alloy rod body; 222-hollow thread; 223-flat head thread; 23-a connecting rod; 24-bearing bar peripheral connecting unit; 241-a connecting seat; 242-connecting seat through hole; 243-U-shaped groove; 244-screw through hole; 245-a bidirectional screw; 246-a two-way nut; 247-a connection interface; 248-connecting seat opening retaining ring; 25-a connecting rod connection; 251-first link connector open retaining ring; 252-a second link connector open clasp; 26-reinforcing rods; 27-a reinforcement link; 271-a first reinforcing connector open grommet; 272-a second reinforcing connector open retaining ring; 3-a monitoring module; 31-a loading unit; 311-sensor loading cartridge; 312-sensor line channel; 313-a sensor probe cartridge; 314-open retaining ring; 3141-a first part; 3142-a second component; 315-a via; 316-louver construction.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Fig. 1 is a schematic structural diagram of a synchronous microclimate element acquisition device according to an embodiment of the present invention, including: unmanned aerial vehicle bears module 1, monitoring network frame 2 and monitoring module 3, monitoring network frame 2 top with unmanned aerial vehicle bears module 1 and connects, monitoring network frame 2 is provided with a plurality of monitoring module layers along top to bottom direction, every monitoring module layer includes a plurality of fixes on the monitoring network frame 2 monitoring module 3.
Specifically, the microclimate element synchronous acquisition device provided by the invention drives the monitoring net frame 2 to fly by the unmanned aerial vehicle bearing module 1. A plurality of monitoring module layers are arranged on the monitoring network frame 2, and each monitoring module layer is provided with a plurality of monitoring modules 3.
The data collected by the monitoring module 3 can be returned to the ground in real time through the ground control system of the unmanned aerial vehicle or stored in the monitoring sensor of the monitoring module 3. The acquisition method is generated for a Digital Surface Model (DSM) based flight mission. During operation, firstly, the safe height of the acquisition device is obtained based on the digital surface model of the measurement area, the acquisition device is set to horizontally move among different monitoring points at the safe height, and the acquisition device flies to the monitoring hovering height from the safe height after reaching the monitoring points. Automatic data acquisition of the acquisition device is realized by batch production of monitoring flight tasks.
Because of the plurality of monitoring module layers, and each monitoring module layer is provided with a plurality of monitoring modules 3. Therefore, the multi-layer and multi-point monitoring module 3 can fly to the monitoring points at the same time, the automatic 3D type multi-layer and multi-point scanning type monitoring of the microclimate elements is realized, the synchronous monitoring of the microclimate elements at each point is realized, and the monitoring efficiency is improved.
According to the invention, a plurality of monitoring module layers are fixed through the monitoring network framework, and each monitoring module layer is provided with a plurality of monitoring modules, so that the small meteorological elements of vertical multiple layers and multiple points can be monitored simultaneously, the monitoring cost can be effectively reduced, the monitoring efficiency is improved, and the comparability among data is ensured. The invention realizes the automatic acquisition and storage of microclimate elements by synchronous mesh scanning type monitoring of the microclimate elements. Meanwhile, efficient large-scale monitoring of small meteorological elements is achieved, and a data basis is provided for interactive process simulation and model construction of the underlying surface and the atmospheric environment.
In one embodiment, as shown in fig. 2a to 2d, the monitoring module 3 includes a loading unit 31 and a sensor unit accommodated in the loading unit 31, the loading unit 31 includes a sensor loading cassette 311, a sensor line channel 312 and a sensor probe cassette 313 connected in sequence, the sensor unit includes a sensor accommodated in the sensor loading cassette 311 and a probe accommodated in the sensor probe cassette 313, the probe is connected with the sensor in a sensor line communication manner, and the sensor line is accommodated in the sensor line channel 312.
In particular, the monitoring module 3 is connected to the monitoring net frame 2, and includes a loading unit 31 and a sensor unit. The loading unit 31 includes a sensor loading cassette 311, a sensor line channel 312, and a sensor probe cassette 313. The sensor unit comprises a portable temperature and humidity sensor, an air pressure sensor and a GPS positioning device.
The sensor loading box is arranged to fix the sensor, the probe of the sensor is arranged to fix the probe of the sensor, and a sensor line channel is arranged to protect a line, so that the influence of up-and-down jolting and wind on the sensor when the airplane suspends is reduced, and the safety of the sensor is improved.
In one embodiment, the sensor loading box 311 housing and the sensor line channel 312 housing are provided with a plurality of through holes 315, the sensor loading box 311, the sensor line channel 312 and/or the sensor probe box 313 are provided with an open retaining ring 314 at the back, the open retaining ring 314 is detachably connected with the monitoring net frame 2, and the sensor probe box 313 housing is provided with a louver structure 316.
In one embodiment, the loading unit 31 is made of white plastic to reduce the effect of solar radiation on the microclimate elements in the box.
Specifically, in order to reduce the wind resistance and provide an attachment point for the strap fixing sensor, a plurality of through holes 315 are arranged on the bearing platform, and the through holes 315 are preferably a plurality of round holes with the diameter of 5mm at intervals of 5 mm. Meanwhile, the sensor line path 312 fixes the sensor line and connects the sensor loading cassette 311 and the sensor probe cassette 313. Similarly, a plurality of through holes 315 are formed in the channel, and the through holes 315 are preferably circular holes with the diameter of 5mm at intervals of 5 mm. The arrangement of the louvered structure 316 on both sides of the sensor probe case 313 provides a stable monitoring environment for the sensor. Finally, an open retaining ring 314 is provided on the back of the sensor loading cassette 311, the sensor line channel 312, and the sensor probe cassette 313. The open buckle 314 is an open plastic buckle with an inner diameter of 5mm, and is used for connecting the monitoring module 3 with the combined rod 22 on the monitoring net frame 2. The opening retaining ring 314 includes a first part 3141 and a second part 3142, the first part 3141 and the second part 3142 are connected in a snap-fit manner, the second part 3142 can be disassembled, and after the first part 3141 is buckled to the combination rod 22, the second part 3142 is buckled to complete the connection.
In one embodiment, as shown in fig. 3, the monitoring network frame 2 includes a bearing rod 21 and a combination rod 22, the bearing rod 21 extends horizontally and is connected with the unmanned aerial vehicle bearing module 1, a plurality of combination rods 22 extend vertically and the top of the combination rod 22 is connected with the bearing rod 21, the bottoms of two adjacent combination rods 22 are connected by a connecting rod 23 extending horizontally, and the combination rod 22 is provided with a plurality of monitoring modules 3 along the top-bottom direction.
Specifically, the bearing bar 21 extends horizontally, is connected with the unmanned aerial vehicle carrier module 1, and the combination post 22 extends vertically for setting up the monitoring module 3. The connecting rod 23 is horizontal and has a length equal to the distance between the peripheral connecting units 24 of two adjacent load-bearing rods on the load-bearing rod 21, so as to connect two adjacent combination rods 22.
In one embodiment:
as shown in fig. 4, a plurality of load-bearing rod peripheral connecting units 24 are arranged on the load-bearing rod 21, as shown in fig. 5a to 5d, each load-bearing rod peripheral connecting unit 24 includes a connecting seat 241, a connecting seat through hole 242 is arranged on the connecting seat 241, the load-bearing rod 21 passes through the connecting seat through hole 242, a U-shaped groove 243 is arranged at the top of the connecting seat 241, a screw rod through hole 244, a bidirectional screw rod 245 and a bidirectional nut 246 are arranged on the U-shaped groove 243, the bidirectional screw rod 245 is connected with the unmanned aerial vehicle bearing module 1, and is inserted into the screw rod through hole 244 and is in threaded connection with the bidirectional nut 246, a connecting interface 247 is arranged at the bottom of the connecting seat 241, the connecting interface 247 is connected with the combined rod 22, connecting seat opening retaining rings 248 are arranged at two sides of the connecting seat 241, and the connecting seat opening retaining rings 248 fasten the load-bearing rod 21;
the two ends of the connecting rod 23 are respectively provided with a connecting rod connector 25, the connecting rod connector 25 comprises a first connecting rod connector opening retaining ring 251 and a second connecting rod connector opening retaining ring 252 which are vertically connected with each other, the first connecting rod connector opening retaining ring 251 fastens the connecting rod 23, and the second connecting rod connector opening retaining ring 252 is perpendicular to the rod body of the connecting rod 23 and fastens the combined rod 22.
Specifically, the bearing rod peripheral connection unit 24 provides a connection seat through hole 242 to realize connection with the bearing rod 21, and the connection seat through hole 242 is preferably a round hole with a hollowed-out diameter of 10 mm; two open buckles are taken as the open buckles 248 of the connecting seat and fastened on the bearing rod 21 to fix the position of the external connecting unit 24 of the bearing rod; the hollowed-out U-shaped groove 243 is combined with the bidirectional screw 245 and the bidirectional nut 246 to provide an interface for connection of the unmanned aerial vehicle; the connection interface 247 is preferably a threaded cylinder that provides an interface for the frame assembly rod 22.
As shown in fig. 6, the combination rod 22 is formed by vertically connecting a light magnesium aluminum alloy rod body containing a thread and a nut as a basic unit, wherein the two ends of the magnesium aluminum alloy rod body are respectively provided with a hollow thread 222 and a flat thread 223. The monitoring frame combination is adjusted by adjusting the number and position of the combination rods 22, wherein the combination rods 22 are used to enhance the frame stability by using the connection rods 23 and the frame reinforcing rods 26.
The horizontal position of the vertical layered structure of the monitoring net is fixed by the connecting rod 23, and the horizontal position monitoring error of the monitoring net is reduced. As shown in fig. 7, link connection bodies 25 are provided at both ends of the connection rod 23, respectively. As shown in fig. 8a to 8c, the link connector 25 is formed by two first link connector opening retaining rings 251 and second link connector opening retaining rings 252 perpendicular to each other. The first link connector opening snap ring 251 and the second link connector opening snap ring 252 are preferably open plastic snap rings. Wherein the first link connector opening retaining ring 251 is fastened to the connecting rod 23, and the second link connector opening retaining ring 252 is perpendicular to the shaft of the connecting rod 23 and fastens the combination post 22. The connection of the first link connector opening snap ring 251 and the second link connector opening snap ring 252 to the connecting rod 23 and the combination rod 22 is the same as the connection of the opening snap ring 314 to the combination rod 22.
In one embodiment, the monitoring net frame 2 further comprises one or more horizontally extending reinforcing bars 26, the reinforcing bars 26 are respectively connected with two adjacent combination bars 22, as shown in fig. 9, two ends of each reinforcing bar 26 are respectively provided with a reinforcing connector 27, as shown in fig. 10a to 10c, each reinforcing connector 27 comprises a first reinforcing connector opening buckle 271 and a second reinforcing connector opening buckle 272 which are vertically connected with each other, the first reinforcing connector opening buckle 271 fastens the connecting bar 23, and the second reinforcing connector opening buckle 272 is perpendicular to the shaft of the reinforcing bar 26 and fastens the adjacent combination bars 22.
To further stabilize the monitoring net frame, reinforcing rods 26 are provided. The reinforcing bar 26 vertically connects adjacent frame segment modules by the reinforcing connection body 27. The reinforcing rods 26 are made of light magnesium aluminum alloy. The reinforcing connector 27 is identical to the connecting rod connector 25 and comprises a first reinforcing connector opening buckle 271 and a second reinforcing connector opening buckle 272 which are vertically connected with each other, wherein the first reinforcing connector opening buckle 271 is used for fastening the connecting rod 23, and the second reinforcing connector opening buckle 272 is vertical to the rod body of the reinforcing rod 26 and is used for fastening the adjacent combined rod 22. The connection of the first and second reinforcing connector opening clasps 271, 272 to the connecting rod 23 and the combination post 22 is the same as the connection of the opening clasp 314 to the combination post 22.
In one embodiment, the unmanned aerial vehicle bearing module 1 comprises an unmanned aerial vehicle 11 and a telescopic connecting rod 12, wherein one end of the telescopic connecting rod 12 is connected with a mounting beam of the unmanned aerial vehicle 11, and the other end of the telescopic connecting rod is connected with the monitoring net frame 2.
In particular, as shown in fig. 11, the retractable connecting rod 12 serves as a connecting module between the unmanned aerial vehicle 11 and the monitoring net frame. The telescopic connecting rod 12 consists of an inner embedded rod 121 and an outer embedded rod 122, and the two rods are combined by adopting a spiral nesting mode. The length adjustment can be made in use. The two ends of the embedded rod 121 and the outer sleeve rod 122 are respectively designed with a round opening buckle 123 as a connection hinge.
Shown in fig. 12 is a drone 11. In one embodiment, the retractable connecting rod 12 has a circular opening buckle 123 at one end sleeved on the mounting cross beam 111 of the drone 11, and a circular opening buckle 123 at the other end sleeved on the U-shaped groove 243 of the bearing rod peripheral connecting unit 24, and is fixed by a bidirectional screw 245 passing through a screw through hole 244 and tightening a bidirectional nut 246.
The drone 11 is powered by an onboard power supply 112, containing a functional module 113. The function module 113 includes: the system comprises a GPS navigation module, a data transmission module, a data storage module and a control module (IMU). And the data transmission and data storage module is used for transmitting and storing the flight tasks and data from the sensor modules on the monitoring network framework. The control module receives signals in real time, and the unmanned aerial vehicle flight task can fly autonomously.
Fig. 13 is a flowchart illustrating an operation of the acquisition method of the synchronous microclimate element acquisition device according to the foregoing embodiment of the present invention, including:
step S1301, generating a flight task based on a digital surface model of a region to be detected, wherein the flight task comprises a plurality of monitoring target positions;
step S1302, controlling the unmanned aerial vehicle bearing module 1 to execute the flight mission, and horizontally flying to a plurality of monitoring target positions from a flying point along a preset safety height in sequence, controlling the unmanned aerial vehicle bearing module 1 to descend to a preset monitoring hovering height after the unmanned aerial vehicle bearing module 1 reaches the monitoring target positions, and controlling the unmanned aerial vehicle bearing module 1 to return to the safety height and horizontally fly to the next monitoring target position by the safety height after data is acquired by preset hovering time;
and step S1303, after data acquisition is carried out on all monitoring target positions of the flight mission, the flight is horizontally returned to the flying starting point by the safe altitude, and acquisition is completed.
In particular, DSM-based flight mission batch generation modules. The safe height of unmanned aerial vehicle horizontal flight is designed, namely all horizontal movements of the unmanned aerial vehicle are at the safe height. Specifically, the unmanned aerial vehicle descends to the monitoring hovering position at the monitoring target position, and automatically returns to the safe height to fly to the next monitoring point after data is acquired. And generating the flight tasks and air lines of the unmanned aerial vehicles in batches according to the rules.
According to the invention, a plurality of monitoring module layers are fixed through the monitoring network framework, and each monitoring module layer is provided with a plurality of monitoring modules, so that the small meteorological elements of vertical multiple layers and multiple points can be monitored simultaneously, the monitoring cost can be effectively reduced, the monitoring efficiency is improved, and the comparability among data is ensured. The invention realizes the automatic acquisition and storage of microclimate elements by synchronous mesh scanning type monitoring of the microclimate elements. Meanwhile, efficient large-scale monitoring of small meteorological elements is achieved, and a data basis is provided for interactive process simulation and model construction of the underlying surface and the atmospheric environment.
In one embodiment:
the safety height H0= Max (DSM) + dv × m + H, where H is a safety distance from the ground, m is the number of layers of the monitoring module layer, dv is an interlayer vertical distance of the monitoring module layer, and Max (DSM) is a maximum height of the digital surface model in the area to be measured;
the monitored hover height is a relative height of the digital surface model between an height of the monitored target location and Max (DSM).
The method comprises the steps of acquiring DSM with horizontal resolution and vertical resolution higher than 1m in a monitoring area, and utilizing Create Fishnet and Select By Location in ArcGIS according to horizontal distance d according to preset research area position and monitoring area map h Generating uniform spatial sampling points (P) 1 ,…,P n ) (ii) a Setting the flying point (P) 0 ) As final return position (P) end ) To generate P 0 ,P 1 ,…,P n ,P end A sequence of flight positions; setting height d between sensor mounting platforms v Monitoring the number m with the vertical layers; based on the data of the monitoring area DSM, the interference prevention distance (h) is determined according to the safety distance (h) from the ground d ) Maximum DSM (Max (DSM)) in flight range, vertical load platform distance (d) v ) And the number m of the vertical carrying platforms calculates the safety height H in the whole research area 0 (H 0 ＝Max(DSM)+d v * m + h) as initial value of flying height, wherein the safety distance h from the ground comprises an interference-proof distance (h) d ). On this basis, the relative height Rh between the monitoring point DSM and the DSM maximum point is calculated point by point. The vertical course of the aircraft is determined on the basis of Rh. When the monitoring point is P end Automatically generating a return route.
Fig. 14 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 1401; and the number of the first and second groups,
a memory 1402 communicatively coupled to at least one of the processors 1401; wherein the content of the first and second substances,
the memory 1402 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the acquisition method of the synchronous microclimate element acquisition apparatus as described above.
Fig. 14 illustrates an example of a processor 1401.
The electronic device may further include: an input device 1403 and a display device 1404.
The processor 1401, the memory 1402, the input device 1403, and the display device 1404 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 1402, serving as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the acquisition method of the synchronous microclimate element acquisition device in the embodiment of the present application, for example, the method flow shown in fig. 13. The processor 1401 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 1402, and thus implements the acquisition method of the synchronous acquisition apparatus for microclimate elements in the above embodiments.
The memory 1402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the acquisition method of the microclimate element synchronous acquisition apparatus, and the like. Further, the memory 1402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1402 may optionally include a memory remotely located with respect to the processor 1401, and these remote memories may be connected via a network to a device that performs the acquisition method of the microclimate element synchronization acquisition device. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Input device 1403 may receive input user clicks and generate signal inputs related to user settings and function controls of the acquisition method of the microclimate element synchronous acquisition device. The display device 1404 may include a display screen or the like.
When the one or more modules are stored in the memory 1402, the one or more processors 1401, when running, may perform the acquisition method of the microclimate element synchronization acquisition apparatus in any of the above-described method embodiments.
According to the invention, a plurality of monitoring module layers are fixed through the monitoring network framework, and each monitoring module layer is provided with a plurality of monitoring modules, so that the small meteorological elements of vertical multiple layers and multiple points can be monitored simultaneously, the monitoring cost can be effectively reduced, the monitoring efficiency is improved, and the comparability among data is ensured. The invention realizes the automatic acquisition and storage of microclimate elements by synchronous mesh scanning type monitoring of the microclimate elements. Meanwhile, efficient large-scale monitoring of small meteorological elements is achieved, and a data basis is provided for interactive process simulation and model construction of the underlying surface and the atmospheric environment.
As a preferred embodiment of the present invention, as shown in fig. 1, a synchronous microclimate element acquisition device and an acquisition method according to an embodiment of the present invention include: an acquisition device and an acquisition method. The acquisition device is composed of monitoring network combination equipment. This equipment complex comprises monitoring module 3, monitoring network frame 2 and unmanned aerial vehicle and bears module 1. The acquisition method consists of a DSM-based flight mission batch generation module.
Example 1 the specific steps of the embodiment of the invention are as follows:
1) Build up the monitoring module 3
The module is a functional module for microclimate element monitoring. The module consists of a loading unit 31 and a sensor unit (not shown in the figure). The loading unit 31 is composed of a sensor loading cassette 311, a sensor line channel 312, and a sensor probe cassette 313. Fig. 2a to 2d are schematic diagrams illustrating the monitoring module 3 in front view, top view, side view and an open plastic snap ring.
Preferably, in order to reduce the up-and-down bump and the influence of wind on the sensor when the airplane is suspended, and improve the safety of the sensor, the sensor loading box 311 is designed to fix the sensor. Simultaneously for reducing the resistance of wind and for the ribbon fixed sensor provides the attachment point, lay the round hole of 5mm interval 5mm diameter on sensor loading box 311.
Preferably, the sensor wires are fixed by the sensor wire path 312 while connecting the sensor loading cassette 311 with the sensor probe cassette 313. Similarly, round holes with the diameter of 5mm are arranged on the channel at intervals of 5 mm.
Preferably, the two sides of the sensor probe box 313 are arranged into the louver structures 316 to provide a stable monitoring environment for the sensor.
Preferably, an open plastic snap ring with an inner diameter of 5mm is arranged on the back of the sensor loading box 311, the sensor wire channel 312 and the sensor probe box 313 for connecting the monitoring module with the combined rod 22 on the monitoring net frame.
Preferably, the loading unit 31 is made of white plastic material to reduce the influence of solar radiation on microclimate elements in the box body.
Preferably, the sensor unit comprises a portable temperature and humidity sensor, a barometric pressure sensor and a GPS positioning device.
Preferably, the temperature and humidity sensor adopts HOBO MX2300, and the weight of a single sensor is less than 150g. The sensor is internally provided with a Bluetooth data transmission function and can monitor the atmospheric temperature, the atmospheric relative humidity and the dew point temperature. Under normal conditions, the temperature monitoring range is-40-158 degrees F (40-70 ℃), the temperature resolution is 0.02 ℃, the temperature monitoring precision is +/-0.2 ℃, the humidity monitoring range is 0-100%, the humidity resolution is 0.01%, and the humidity monitoring precision is +/-2.5%.
2) Construction of a monitoring network framework 2
The monitoring net frame 2 is the basis for realizing microclimate element surface scanning type monitoring. The module is used as a connecting pivot and is respectively connected with the monitoring module and the unmanned aerial vehicle bearing module. The monitoring net frame 2 is composed of a bearing module, a frame combination module, a monitoring net connecting module and a monitoring net reinforcing module. Fig. 3 shows the monitoring net framework of the present invention.
The bearing module is composed of a bearing rod 21 and a bearing rod peripheral connecting unit 24. The bearing rod 21 is used for determining the horizontal monitoring range of the frame and the distribution of horizontal monitoring points. Bearing bar peripheral hardware linkage unit 24 provides the interface for bearing bar 21 is connected with unmanned aerial vehicle and frame connecting rod.
Preferably, the bearing rod 21 is made of high-strength light carbon fiber with a diameter of 10mm.
Preferably, the bearing rod peripheral connecting unit 24 provides a hollow round hole with a diameter of 10mm to realize connection with the bearing rod; two open buckles are used as bayonets for fixing the position of the connecting unit; the hollowed U-shaped groove is combined with the bidirectional nut to provide an interface for connection of the unmanned aerial vehicle; the threaded cylinder provides an interface for the frame assembly rod. Fig. 4 is a schematic view of a monitoring net frame load bearing module of the present invention. Fig. 5a to 5d are schematic structural diagrams of the bearing rod peripheral connection unit.
Preferably, the frame combination module is a combination rod 22 which is formed by vertically connecting light magnesium aluminum alloy rods containing threads and nuts as basic units, wherein the two ends of each magnesium aluminum alloy rod are respectively provided with a hollow thread 222 and a flat thread 223. The monitoring frame combination form is adjusted by adjusting the number and position of the frame combination module combination rods, wherein the frame stability is enhanced by the connecting rods 23 and the frame reinforcing rods 26 for the combination rods 22.
Preferably, the horizontal position of the vertical layered structure of the monitoring net is fixed by the connecting module, so that the horizontal position monitoring error of the monitoring net is reduced. The connection module includes a connection rod 23 and a connection rod connector 25.
The connecting rod connector 25 is composed of two mutually perpendicular open plastic buckles. Fig. 7 is a schematic view of a monitoring net frame connection module of the present invention. Fig. 8a to 8c are schematic structural views of the connecting rod connector.
Preferably, to further stabilize the monitoring net frame, a reinforcement module is provided. The modules are vertically connected with adjacent frame combined modules through connecting assemblies. The reinforcement module includes reinforcement rods 26. The reinforcing rods 26 are made of light magnesium-aluminum alloy. Fig. 9 is a monitoring net frame reinforcement module of the present invention. As shown in fig. 10a to 10c, the reinforcing connector 27 is formed of two open loops perpendicular to each other in conformity with the link connector 25.
3) Installing unmanned aerial vehicle bearing module
Preferably, the drone carrying module 1 consists of a scalable frame connection assembly and a drone system.
Preferably, the telescopic frame connection assembly serves as a connection module for the drone 11 and the monitoring net frame 2. The telescopic connecting rod 12 consists of an inner embedded rod 121 and an outer embedded rod 122, and the two rods are combined by adopting a spiral nesting mode. The length adjustment can be made in use. The two ends of the embedded rod 121 and the outer rod 122 are respectively designed with a round opening buckle 123 as a connection hinge. Fig. 11 shows a telescopic frame connection assembly according to the invention.
Preferably, as shown in fig. 12, the drone system includes the drone 11, and an onboard power supply 112 and a functional module 113 mounted on the drone 11. The function module 113 includes: the system comprises a GPS navigation module, a data transmission module, a data storage module and a control module (IMU). And the data transmission and data storage module transmits and stores the flight mission and data from the sensor module on the monitoring network frame. The control module receives signals in real time, and the unmanned aerial vehicle flight task can fly autonomously.
According to the load bearing and endurance requirements of the invention, a DJI WIND 4 series quad-rotor unmanned aerial vehicle system is preferably selected, and the parameters are shown in Table 1. The unmanned aerial vehicle system has the GPS positioning and cruising function, the maximum remote control distance is 5km, the endurance time is 50min under the condition of adopting 2 DZ-12000mAh batteries, and the maximum effective load is 10 kg. The drone entity is shown in fig. 12.
TABLE 1 DJI WIND 4 unmanned aerial vehicle system
4) The DSM-based flight mission batch generation module. The safe height of unmanned aerial vehicle level flight is designed, namely all horizontal movements of the unmanned aerial vehicle are at the safe height. Specifically, the unmanned aerial vehicle descends to the monitoring hovering position at the monitoring target position, and automatically returns to the safe height to fly to the next monitoring point after data is acquired. And generating the flight tasks and air lines of the unmanned aerial vehicles in batches according to the rules.
Preferably, the specific route generation flow is shown in fig. 15, and includes:
step S1501, acquiring a DSM with horizontal resolution and vertical resolution of a monitoring area both higher than 1m, and according to a preset research area position and a monitoring area map;
step S1052, using in ArcGISCreate Fishnet and Select By Location according to horizontal distance d h Generating uniform spatial sampling points (P) 1 ,…,P n ) (ii) a Setting the flying point (P) 0 ) As final return position (P) end ) To generate P 0 ,P 1 ,…,P n ,P end A sequence of flight positions;
step S1503, setting height d between sensor mounting platforms v Monitoring the number m with the vertical layers;
step S1504, based on the monitoring area DSM as data, according to the safety distance (h) to the ground and the anti-interference distance (h) d ) Maximum DSM (Max (DSM)) in flight range, vertical load platform distance (d) v ) And the number m of the vertical carrying platforms calculates the safety height H in the whole research area 0 (H 0 ＝Max(DSM)+d v * m + h) as initial value of flying height, on the basis of which the relative height Rh between the monitoring point DSM and the maximum point of DSM is calculated point by point. The vertical course of the aircraft is determined on the basis of Rh. When the monitoring point is P end Automatically generating a return route.
Preferably, in order to guarantee the safe height of the unmanned aerial vehicle for automatic return flight, as shown in fig. 16, the unmanned aerial vehicle flying between monitoring points is in a mission of three routes. A route A: at monitoring point P i Fly from H0 altitude to H si And hovering for 5 minutes; and a route B: monitoring point target height (H) si ) Fly to H 0 (ii) a And a route C: h 0 Level at height from current monitoring point (P) i ) Fly to the next monitoring point (P) i+1 )。
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The utility model provides a microclimate element synchronous acquisition device which characterized in that includes: the unmanned aerial vehicle monitoring system comprises an unmanned aerial vehicle bearing module (1), a monitoring network frame (2) and monitoring modules (3), wherein the top of the monitoring network frame (2) is connected with the unmanned aerial vehicle bearing module (1), the monitoring network frame (2) is provided with a plurality of monitoring module layers along the direction from the top to the bottom, and each monitoring module layer comprises a plurality of monitoring modules (3) fixed on the monitoring network frame (2);
the monitoring net frame (2) comprises a bearing rod (21) and combined rods (22), the bearing rod (21) extends horizontally and is connected with the unmanned aerial vehicle bearing module (1), the combined rods (22) extend vertically, the tops of the combined rods (22) are connected with the bearing rod (21), the bottoms of every two adjacent combined rods (22) are connected through a connecting rod (23) extending horizontally, and the combined rods (22) are provided with a plurality of monitoring modules (3) along the direction from top to bottom;
the unmanned aerial vehicle bearing module is characterized in that a plurality of bearing rod peripheral connecting units (24) are arranged on the bearing rod (21), each bearing rod peripheral connecting unit (24) comprises a connecting seat (241), a connecting seat through hole (242) is formed in the connecting seat (241), the bearing rod (21) penetrates through the connecting seat through hole (242), a U-shaped groove (243) is formed in the top of the connecting seat (241), a screw rod through hole (244), a bidirectional screw rod (245) and a bidirectional nut (246) are formed in the U-shaped groove (243), the bidirectional screw rod (245) is connected with the unmanned aerial vehicle bearing module (1), inserted into the screw rod through hole (244) and in threaded connection with the bidirectional nut (246), a connecting interface (247) is arranged at the bottom of the connecting seat (241), the connecting interface (247) is connected with the combined rod (22), connecting seat openings (248) are formed in two sides of the connecting seat (241), and the bearing rod (21) is fastened by the connecting seat opening retaining rings (248);
two tip of connecting rod (23) are provided with connecting rod connector (25) respectively, connecting rod connector (25) are including first connecting rod connector opening buckle (251) and second connecting rod connector opening buckle (252) that mutually perpendicular connects, first connecting rod connector opening buckle (251) straining connecting rod (23), second connecting rod connector opening buckle (252) with the pole body of connecting rod (23) is perpendicular and the straining combination pole (22).
2. The microclimate element synchronous acquisition device according to claim 1, characterized in that the monitoring module (3) includes a loading unit (31) and a sensor unit accommodated in the loading unit (31), the loading unit (31) includes a sensor loading box (311), a sensor line channel (312) and a sensor probe box (313) connected in sequence, the sensor unit includes a sensor accommodated in the sensor loading box (311) and a probe accommodated in the sensor probe box (313), the probe is in communication connection with the sensor through a sensor line, and the sensor line is accommodated in the sensor line channel (312).
3. The microclimate element synchronous acquisition device according to claim 2, characterized in that a plurality of through holes (315) are formed in the sensor loading box (311) housing and the sensor line channel (312) housing, an open retaining ring (314) is arranged on the back of the sensor loading box (311), the sensor line channel (312) and/or the sensor probe box (313), the open retaining ring (314) is detachably connected with the monitoring net frame (2), and a louver structure (316) is arranged on the sensor probe box (313).
4. The microclimate element synchronous acquisition device according to claim 1, characterized in that the monitoring net frame (2) further comprises one or more horizontally extending reinforcing rods (26), the reinforcing rods (26) are respectively connected with two adjacent combination rods (22), reinforcing connectors (27) are respectively arranged at two ends of each reinforcing rod (26), each reinforcing connector (27) comprises a first reinforcing connector opening buckle (271) and a second reinforcing connector opening buckle (272) which are vertically connected with each other, the first reinforcing connector opening buckle (271) fastens the connecting rod (23), and the second reinforcing connector opening buckle (272) is perpendicular to the rod body of the reinforcing rod (26) and fastens the adjacent combination rods (22).
5. The microclimate element synchronous acquisition device according to claim 1, characterized in that, unmanned aerial vehicle bears module (1) and includes unmanned aerial vehicle (11) and telescopic connection pole (12), unmanned aerial vehicle (11)'s mount crossbeam is connected to telescopic connection pole (12) one end, and the other end is connected with monitoring net frame (2).
6. An acquisition method of the synchronous acquisition device of microclimate elements according to any one of claims 1 to 5, comprising:
generating a flight task based on a digital surface model of a region to be detected, wherein the flight task comprises a plurality of monitoring target positions;
controlling an unmanned aerial vehicle bearing module (1) to execute the flight task, sequentially and horizontally flying to a plurality of monitoring target positions from a flying point along a preset safety height, controlling the unmanned aerial vehicle bearing module (1) to descend to the preset monitoring hovering height after the unmanned aerial vehicle bearing module (1) reaches the monitoring target positions, acquiring data after preset hovering time, controlling the unmanned aerial vehicle bearing module (1) to return to the safety height, and horizontally flying to the next monitoring target position at the safety height;
and after data are acquired at all monitoring target positions of the flight mission, returning to a flying starting point by the safe altitude horizontal flight to finish acquisition.
7. The acquisition method of the synchronous microclimate element acquisition device according to claim 6, characterized in that:
the safety height H 0 The method comprises the following steps of = Max (DSM) + dv m + h, wherein h is a safe distance from the ground, m is the number of layers of monitoring module layers, dv is the vertical distance between the layers of the monitoring module layers, and Max (DSM) is the maximum height of a digital surface model in a region to be measured;
the monitored hover height is a relative height of the digital surface model between an height of the monitored target location and Max (DSM).
8. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the acquisition method of the synchronous microclimate element acquisition apparatus according to any one of claims 6 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110290509.4A CN113064219B (en) | 2021-03-18 | 2021-03-18 | Microclimate element synchronous acquisition device and method and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110290509.4A CN113064219B (en) | 2021-03-18 | 2021-03-18 | Microclimate element synchronous acquisition device and method and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113064219A CN113064219A (en) | 2021-07-02 |
| CN113064219B true CN113064219B (en) | 2023-04-07 |
Family
ID=76561592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110290509.4A Active CN113064219B (en) | 2021-03-18 | 2021-03-18 | Microclimate element synchronous acquisition device and method and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113064219B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608675A (en) * | 2012-02-22 | 2012-07-25 | 中国农业科学院农业环境与可持续发展研究所 | Monitoring system, device and method for microclimate of farm environment |
| CN105891908B (en) * | 2016-04-19 | 2018-04-13 | 华南农业大学 | A kind of airbome weather station arrangement and its application method suitable for unmanned plane |
| JP2020530114A (en) * | 2017-08-01 | 2020-10-15 | ナショナル ユニバーシティ オブ シンガポール | Barometer and barometric pressure distribution determination method |
| CN109164509B (en) * | 2018-07-06 | 2024-02-06 | 中铁建设集团有限公司 | Intelligent rainwater system based on runoff simulation and multi-sensor monitoring and operation method |
| CN209117896U (en) * | 2018-12-26 | 2019-07-16 | 峡江南农园农业发展有限公司 | A kind of agricultural weather monitoring device |
| CN211033053U (en) * | 2019-11-15 | 2020-07-17 | 圣尧(苏州)航空科技有限公司 | Support unmanned aerial vehicle to carry on meteorological sensor's data connection expansion board |
| CN112040007B (en) * | 2020-09-11 | 2023-08-25 | 中国林业科学研究院森林生态环境与保护研究所 | Method and device for monitoring underground fire risk of expandable ball matrix |
| CN112327387A (en) * | 2020-10-21 | 2021-02-05 | 西北工业大学 | Atmospheric pollutant wind-following monitoring system and monitoring method based on multi-rotor unmanned aerial vehicle |
-
2021
- 2021-03-18 CN CN202110290509.4A patent/CN113064219B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113064219A (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11840152B2 (en) | Survey migration system for vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) | |
| US11216015B2 (en) | Geographic survey system for vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) | |
| JP6805430B2 (en) | Aircraft and control method of air vehicle | |
| JP6207746B2 (en) | Aircraft attitude control method and apparatus | |
| Nonami | Prospect and recent research & development for civil use autonomous unmanned aircraft as UAV and MAV | |
| JP6080189B2 (en) | Inline sensor calibration method and calibration apparatus | |
| JP6585673B2 (en) | Aircraft attitude control method | |
| CN104583073B (en) | A kind of rotor assemblies and the loose impediment of self-propelled | |
| CN108883825A (en) | System and method for unmanned vehicle transport and data acquisition | |
| DE69919905T2 (en) | AUTONOMOUS STRATOSPHERE AIR SHIP | |
| CN110740932A (en) | Systems, methods, and apparatus to improve safety and functionality of aircraft having or more rotors | |
| CN103231794B (en) | A kind of many air bags aerial work platform | |
| Flores et al. | Aerial photography for 3D reconstruction in the Peruvian Highlands through a fixed-wing UAV system | |
| CN108910040A (en) | Mobile device aircraft | |
| CN113064219B (en) | Microclimate element synchronous acquisition device and method and electronic equipment | |
| JP2017102942A (en) | Sensor calibration method and sensor calibration device | |
| RU2609660C1 (en) | Air taxi | |
| CN204808047U (en) | Digit accurate controlling means of gesture that takes photo by plane | |
| RU2734559C2 (en) | Aerospace electric train | |
| RU2652322C1 (en) | Aerostat | |
| CN110665239B (en) | Remotely-controllable electric kite based on solar sail and control method thereof | |
| JP7004962B1 (en) | Unmanned aerial vehicle controls and unmanned aerial vehicle systems | |
| AT16518U1 (en) | GROUND CONTROL OF VEHICLES | |
| Eldridge et al. | Design and build a search and rescue uav | |
| WO2022168536A1 (en) | Unmanned aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |