CN114070361A - Satellite real-time transmission method and system for helicopter monitoring mountain fire video - Google Patents
Satellite real-time transmission method and system for helicopter monitoring mountain fire video Download PDFInfo
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Abstract
The embodiment of the invention provides a satellite real-time transmission system for a helicopter to monitor mountain fire videos, which comprises: the mountain fire monitoring nacelle, the ultrasonic detector, the airborne communication controller and the airborne satellite antenna are positioned at the end of the helicopter; the system comprises a ground satellite antenna, a background communication controller and a forest fire monitoring video display and command system, wherein the ground satellite antenna is deployed at the ground end of a background of a monitoring center; the mountain fire monitoring nacelle is used for detecting mountain fire; the ultrasonic detector is used for detecting the clearance of the helicopter rotor; the airborne communication controller is used for realizing control, signal modulation and demodulation and power amplification of the transmitting and receiving signals; the airborne satellite antenna is used for transmitting and receiving satellite signals at the helicopter end; the ground satellite antenna is used for transmitting and receiving satellite signals at the background of the monitoring center; the background communication controller is used for realizing control, signal modulation and demodulation and power amplification of the receiving and transmitting signals in the background; the mountain fire monitoring video display and command system is used for monitoring real-time videos of the helicopter by a duty worker and processing mountain fire monitoring alarm information.
Description
Technical Field
The invention relates to the field of electrical engineering, in particular to a satellite real-time transmission method and a satellite real-time transmission system for a helicopter to monitor a forest fire video.
Background
Mountain fire causes insulation damage of air gaps around lines, and tripping is easily caused. In China, the years of mountain fire are as high as 7 thousands, and the power transmission line trips due to mountain fire for many times, so that the production and the living of people are seriously influenced and the stability of a power grid is seriously influenced. The mountain fire has strong randomness and high spreading speed, timely and accurate monitoring and alarming provide the best opportunity for extinguishing the mountain fire, and the trip rate of the mountain fire on the line can be greatly reduced. The existing ground video monitoring has strong real-time performance, but the number of line towers reaches millions of bases, and the device cannot be fully covered; the satellite observation range is wide, the timeliness is high, but the infrared remote sensing of the satellite cannot penetrate through a cloud layer easily, and the forest fire below a cloud area is missed. The helicopter has high flying speed and wide inspection range, is suitable for large-range real-time monitoring in mountain fire high-occurrence areas, and can effectively supplement the defects of satellites and ground observation. However, the flying distance of the helicopter is high above the ground, the signal of the telecommunication cellular network in the area is poor, and the helicopter is particularly obvious in rural and mountain areas, the real-time video and alarm information of the helicopter mountain fire monitoring device is difficult to transmit in a long distance, and the communication mechanism of the helicopter and the ground linkage disposal is lacked.
Disclosure of Invention
The embodiment of the invention aims to solve the problem of real-time video transmission of helicopter mountain fire monitoring, and provides a satellite real-time transmission method and a satellite real-time transmission system of helicopter mountain fire monitoring videos.
In order to achieve the above object, a first aspect of the present invention provides a satellite real-time transmission system for helicopter monitoring video of forest fire, comprising:
the device comprises a forest fire monitoring pod, an ultrasonic detector, an airborne communication controller, an airborne satellite antenna, a ground satellite antenna, a background communication controller and a forest fire monitoring video display and command system;
the mountain fire monitoring pod, the ultrasonic detector, the airborne communication controller and the airborne satellite antenna are positioned at the end of a helicopter, and the ground satellite antenna, the background communication controller and the mountain fire monitoring video display and command system are deployed at the ground end of a background of a monitoring center;
the forest fire monitoring pod comprises a visible light lens and an infrared lens and is used for forest fire detection;
the ultrasonic detector is arranged beside the airborne antenna and used for detecting the gap of the helicopter rotor;
the airborne communication controller is used for realizing control, signal modulation and demodulation and power amplification of a transmitting and receiving signal;
the airborne satellite antenna is used for transmitting and receiving satellite signals at the helicopter end;
the ground satellite antenna is used for transmitting and receiving satellite signals at a background of the monitoring center;
the background communication controller is used for realizing control, signal modulation and demodulation and power amplification of a receiving and transmitting signal in a background;
the mountain fire monitoring video display and command system is used for enabling a person on duty to monitor real-time videos of the helicopter and process mountain fire monitoring alarm information.
The invention provides a helicopter mountain fire monitoring video satellite real-time transmission method, which is applied to the helicopter mountain fire monitoring video satellite real-time transmission system, and the transmission method comprises the following steps:
step S1: the helicopter forest fire monitoring pod carries out real-time video shooting and transmits the obtained real-time video data to the airborne communication controller;
step S2: the ultrasonic detector sends out ultrasonic waves to detect the rotating speed, the shielding, the gap and the state of a rotating blade of the helicopter and transmits corresponding ultrasonic detector data to the airborne communication controller;
step S3: the airborne communication controller modulates the video data and the ultrasonic detector data, converts the video data and the ultrasonic detector data into a protocol format, and transmits the data converted into the protocol format at intervals of wing gaps; receiving information sent by a monitoring center, splicing and demodulating data frames, and transmitting the data frames to a forest fire monitoring pod, a voice talkback module and the like;
step S4: the airborne communication controller amplifies the power of the information to be sent, transmits the information to an airborne antenna in a signal mode in a frame with a set format, and transmits the information to a monitoring center satellite receiving antenna after passing through a space-based communication satellite;
step S5: the background communication controller performs frequency reduction and modulation and demodulation on the received signals and then transmits the information to a forest fire monitoring video display and command system;
step S6: the background communication controller receives an instruction from an operator on duty, and transmits the instruction to the helicopter end after modulation and demodulation, format conversion and power amplification.
In an embodiment of the present invention, the method further comprises: and the airborne communication controller determines the wing gap interval according to the ultrasonic detector data transmitted by the ultrasonic detector.
In an embodiment of the present invention, the determining, by the onboard communication controller, the wing gap interval according to the ultrasonic probe data transmitted by the ultrasonic probe includes:
when delta t is 2h/v, determining that the ultrasonic wave passes through the rotor wing, and when delta t is greater than 2h/v, determining that the ultrasonic wave passes through the rotor wing gap, wherein delta t is the time interval between the ultrasonic pulse sent by the ultrasonic detector and the reflected ultrasonic pulse transmitted by the rotor wing after the sent ultrasonic pulse is received, h is the height distance between the transmission end and the receiving end of the ultrasonic detector and the rotor wing, and v is the transmission speed of the ultrasonic wave;
the length of time t from the beginning of rotor detection to the beginning of rotor non-detection of the ultrasound probe is determined as:
the rotational angular velocity w of the rotor is determined as:
wherein d is the width of the rotor, t is the time length from the beginning of detecting the rotor to the beginning of not detecting the rotor by the ultrasonic detector, and r is the distance from the ultrasonic detector to the rotor center;
time length delta t of shielded satellite antenna1Is determined as:
wherein D is the diameter of the antenna, and R is the distance from the antenna to the center of the rotor wing;
time length delta t of satellite antenna not being shielded2Is determined as:
wherein theta is an included angle between two adjacent rotor wings;
recording a time stamp of the ultrasonic detector for detecting the rotor shielding so as to calculate the shielded time and the non-shielded time of the satellite antenna;
determining the wing gap spacing based on the occluded and non-occluded times.
In an embodiment of the invention, the ultrasonic detector is mounted with an onboard satellite antenna.
In the embodiment of the present invention, step S6 includes:
when the monitoring center gives an instruction to the helicopter, the time for the data to reach the airborne receiving antenna through satellite forwarding is estimated.
In this embodiment of the present invention, step S6 further includes:
and reserving a time margin after the time of the estimated data reaching the airborne receiving antenna through satellite forwarding so as to realize that the airborne satellite receiving antenna receives the data in the time which is not shielded.
Through the technical scheme, the problem that the field real-time video cannot be transmitted to the background monitoring center in the mountain fire monitoring process of the helicopter can be solved, the data loss rate and the retransmission times can be effectively reduced, the data transmission efficiency is improved, the bidirectional and reliable information transmission between the monitoring center and the helicopter is realized, and the support is provided for mountain fire monitoring and linkage fire extinguishing of the helicopter.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 schematically shows a schematic diagram of a satellite real-time transmission system for a helicopter monitoring video of a mountain fire according to an embodiment of the present invention.
Description of the reference numerals
1. A mountain fire monitoring pod; 2. An ultrasonic detector;
3. an airborne communication controller; 4. An airborne satellite antenna;
5. a ground satellite antenna; 6. A background communication controller;
7. a mountain fire monitoring video display and command system; 8. And (5) communication satellites.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 schematically shows a schematic diagram of a satellite real-time transmission system for a helicopter monitoring video of a mountain fire according to an embodiment of the present invention. As shown in fig. 1, in the embodiment of the present invention, the transmission system may include:
the device comprises a mountain fire monitoring pod 1, an ultrasonic detector 2, an airborne communication controller 3, an airborne satellite antenna 4, a ground satellite antenna 5, a background communication controller 6 and a mountain fire monitoring video display and command system 7;
the mountain fire monitoring pod 1, the ultrasonic detector 2, the airborne communication controller 3 and the airborne satellite antenna 4 are positioned at the end of a helicopter, and the ground satellite antenna 5, the background communication controller 6 and the mountain fire monitoring video display and command system 7 are deployed at the ground end of a background of a monitoring center;
the forest fire monitoring nacelle 1 comprises a visible light lens and an infrared lens and is used for forest fire detection;
the ultrasonic detector 2 is arranged beside the airborne antenna and used for detecting the gap of the helicopter rotor;
the airborne communication controller 3 is used for realizing control, signal modulation and demodulation and power amplification of a transmitting and receiving signal;
the airborne satellite antenna 4 is used for transmitting and receiving satellite signals at a helicopter end;
the ground satellite antenna 5 is used for transmitting and receiving satellite signals in a monitoring center background;
the background communication controller 6 is used for realizing control, signal modulation and demodulation and power amplification of the receiving and transmitting signals in the background;
the mountain fire monitoring video display and command system 7 is used for a watchman to monitor the real-time video of the helicopter and process mountain fire monitoring alarm information.
Another embodiment of the present invention provides a method for transmitting a video of mountain fire monitored by a helicopter in real time by using a satellite, which is applied to the system for transmitting a video of mountain fire monitored by a helicopter in real time by using a satellite, and the method for transmitting the video of mountain fire monitored by a helicopter comprises:
step S1: the helicopter forest fire monitoring pod carries out real-time video shooting and transmits the obtained real-time video data to the airborne communication controller; specifically, the mountain fire monitoring pod may include a visible light lens (e.g., a camera) and an infrared lens (e.g., an infrared detector) for capturing a selected area and transmitting captured real-time video data to the on-board communication controller.
Step S2: the ultrasonic detector sends out ultrasonic waves to detect the rotating speed, the shielding, the gap and the state of a rotating blade of the helicopter and transmits corresponding ultrasonic detector data to the airborne communication controller;
step S3: the airborne communication controller modulates the video data and the ultrasonic detector data, converts the video data and the ultrasonic detector data into a protocol format, and transmits the data converted into the protocol format at intervals of wing gaps; receiving information sent by a monitoring center, splicing and demodulating data frames of the information and transmitting the information to a corresponding module; here, the respective modules may include, for example, a mountain fire monitoring pod, a voice intercom module, and the like; the transmitted data may include video data, and may also include other data, such as latitude and longitude, location, etc.
Step S4: the airborne communication controller amplifies the power of the information to be sent, transmits the information to the airborne antenna in a signal mode in a frame with a set format, and transmits the information to the ground satellite antenna of the monitoring center after passing through the space-based communication satellite 8; here, the information to be transmitted may include, for example, video data, latitude and longitude, location, and the like.
Step S5: the background communication controller performs frequency reduction and modulation and demodulation on signals received through the ground satellite antenna and then transmits the information to the mountain fire monitoring video display and command system;
step S6: the background communication controller receives an instruction from an operator on duty, and transmits the instruction to the helicopter end after modulation and demodulation, format conversion and power amplification.
In the embodiment of the present invention, the transmission method further includes: and the airborne communication controller determines the wing gap interval according to the ultrasonic detector data transmitted by the ultrasonic detector.
Specifically, in the embodiment of the present invention, the transmitting end of the ultrasonic detector may transmit an ultrasonic pulse, if the ultrasonic pulse encounters the wing, the ultrasonic pulse may be reflected back through the wing to form a reflected ultrasonic pulse, the receiving end of the ultrasonic detector may receive the reflected ultrasonic pulse, and the time interval Δ t between the transmission of the ultrasonic pulse and the reception of the reflected ultrasonic pulse may be known by recording the transmission time stamp and the reception time stamp of the ultrasonic detector. The onboard communication controller may determine the wing gap spacing appropriate for sending or receiving data based on such data received.
Specifically, the determining, by the airborne communication controller, the wing gap interval according to the ultrasonic probe data transmitted by the ultrasonic probe includes:
when delta t is 2h/v, determining that the ultrasonic wave passes through the rotor wing, and when delta t is greater than 2h/v, determining that the ultrasonic wave passes through the rotor wing gap, wherein delta t is the time interval between the ultrasonic pulse sent by the ultrasonic detector and the reflected ultrasonic pulse transmitted by the rotor wing after the sent ultrasonic pulse is received, h is the height distance between the transmission end and the receiving end of the ultrasonic detector and the rotor wing, and v is the transmission speed of the ultrasonic wave;
the length of time t from the beginning of rotor detection to the beginning of rotor non-detection of the ultrasound probe is determined as:
the rotational angular velocity w of the rotor is determined as:
wherein d is the width of the rotor, t is the time length from the beginning of detecting the rotor to the beginning of not detecting the rotor by the ultrasonic detector, and r is the distance from the ultrasonic detector to the rotor center;
time length delta t of shielded satellite antenna1Is determined as:
wherein D is the diameter of the antenna, and R is the distance from the antenna to the center of the rotor wing;
time length delta t of satellite antenna not being shielded2Is determined as:
wherein theta is an included angle between two adjacent rotor wings;
recording a time stamp of the ultrasonic detector for detecting the rotor shielding so as to calculate the shielded time and the non-shielded time of the satellite antenna;
determining the wing gap spacing based on the occluded and non-occluded times.
In an embodiment of the invention, the ultrasonic detector is mounted with an onboard satellite antenna.
In the embodiment of the present invention, step S6 includes:
when the monitoring center gives an instruction to the helicopter, the time for the data to reach the airborne receiving antenna through satellite forwarding is estimated.
In this embodiment of the present invention, step S6 further includes:
and reserving a time margin after the time of the estimated data reaching the airborne receiving antenna through satellite forwarding so as to realize that the airborne satellite receiving antenna receives the data in the time which is not shielded.
Embodiments of the present invention are further described below with specific examples.
Fig. 1 is a schematic diagram of a real-time satellite transmission system for helicopter monitoring of a forest fire video in the embodiment. The satellite real-time transmission system for monitoring mountain fire videos by the helicopter in the embodiment comprises: the device comprises a mountain fire monitoring pod 1, an ultrasonic detector 2, an airborne communication controller 3, an airborne satellite antenna 4, a ground satellite antenna 5, a background communication controller 6 and a mountain fire monitoring video display and command system 7. Wherein, 1 mountain fire monitoring nacelle, 2 ultrasonic detector, 3 airborne communication controller, 4 airborne satellite antenna are located the helicopter end, 5 ground satellite antenna, 6 backstage communication controller and 7 mountain fire monitoring video show and command system belong to monitoring center backstage ground end. 1, the mountain fire monitoring pod consists of a visible light and an infrared lens and is used for detecting mountain fire; 2, an ultrasonic detector is arranged beside the airborne antenna and used for detecting the gap of the helicopter rotor; 3 the onboard communication controller is used for realizing the functions of controlling the receiving and transmitting signals, modulating and demodulating the signals, amplifying the power and the like; the 4 airborne satellite antenna is used for transmitting and receiving satellite signals at the helicopter end. The ground satellite antenna is used for transmitting and receiving satellite signals at the background of the monitoring center; 6, the background communication controller is used for realizing the functions of controlling the receiving and transmitting signals, modulating and demodulating the signals, amplifying the power and the like in the background; and 7, the mountain fire monitoring video display and command system is used for monitoring the real-time video of the helicopter by the attendant and processing mountain fire monitoring alarm information.
A satellite real-time transmission method for a helicopter to monitor a forest fire video comprises the following concrete implementation steps:
the method comprises the following steps: the helicopter forest fire monitoring pod carries out real-time video shooting and transmits real-time video data to the airborne communication controller.
Step two: the ultrasonic detector sends out ultrasonic waves, detects parameters and states of the rotating blades such as rotating speed, shielding and clearance, and transmits the parameters and the states to the airborne communication controller.
Step three: the airborne communication controller modulates the data according to the video data of the nacelle and the data of the ultrasonic detector, converts the data into a protocol format, and transmits the data in the wing gap interval. Meanwhile, the system also receives information sent by the monitoring center, performs data frame splicing and demodulation and transmits the data frames to corresponding modules, such as a forest fire monitoring nacelle and a voice talkback module.
Step four: the airborne communication controller amplifies the power of information to be sent in a frame with a specific format and transmits the information to the airborne antenna, and the information passes through the space-based communication satellite and then transmits signals to the satellite receiving antenna of the monitoring center.
Step five: and the background communication controller performs frequency reduction and modulation and demodulation on the received signals and transmits the information to the mountain fire monitoring video display and command system.
Step six: meanwhile, the background communication controller can also receive instructions from the operator on duty, and the instructions are transmitted to the helicopter end after modulation and demodulation, format conversion and power amplification.
Further, in the second step, the method for detecting the parameters and states of the rotating blade, such as the rotating speed, the shielding, the clearance and the like by the ultrasonic wave emitted by the ultrasonic detector comprises the following steps:
the ultrasonic detector sends out ultrasonic pulse, and when ultrasonic pulse met rotor, the reflection returned, ultrasonic detector received corresponding reflection ultrasonic pulse signal. Supposing that the time interval of the ultrasonic detector receiving the corresponding ultrasonic pulse is delta t, the height distance between the ultrasonic detection transmitting end and the receiving end and the rotor wing is h equal to 1.7m, the ultrasonic transmission speed is v equal to 340m/s, and supposing that the ultrasonic detector and the airborne satellite antenna are installed together, the ultrasonic detection device and the airborne satellite antenna are installed together
When the delta t is 2h/v 0.01s, the ultrasonic wave passes through the rotor, and when the delta t is more than 2h/v 0.01s, the ultrasonic wave passes through the rotor gap and emits a signal without a sound wave.
Assuming that the diameter of the antenna is 0.6m, the distance from the antenna to the center of the rotor is 4.4m, the width of the rotor is 0.5m, the included angle between two adjacent rotors is 120 °, the ultrasonic detector is installed on the entering side of the rotor, and the distance from the ultrasonic detector to the center of the rotor is 4.4m, then:
the time length t from the beginning of rotor detection to the beginning of rotor non-detection of the ultrasonic detector is 0.00036 s:
the rotational angular velocity of the rotor is then:
the time length of the shielded satellite antenna is as follows:
the length of time that the satellite antenna is not shielded is as follows:
the time stamp that the rotor sheltered from is detected through the record ultrasonic detector, can calculate the sheltered time of satellite antenna and not sheltered from the time to can realize the accurate sending of data.
Furthermore, in the sixth step, when the monitoring center issues an instruction to the helicopter, the time for the data to reach the airborne receiving antenna through satellite forwarding cannot be accurately calculated, and the data can be received by the airborne satellite receiving antenna in the time which is not shielded by a method of estimating the time and reserving sufficient margin.
Specifically, the instruction is sent to the helicopter from the background, and because the signal transmission time from the background to the helicopter cannot be accurately calculated, the signal transmission time of the background can be reversely deduced through the communication gap time of the rotor and the signal transmission time according to theoretical estimation or a value according to actual test, and a certain time margin is reserved, and the time margin can be obtained according to field test.
The embodiment of the invention has the following beneficial effects:
the satellite real-time transmission method and the satellite real-time transmission system for the helicopter to monitor the mountain fire videos solve the problem that the field real-time videos cannot be transmitted to a background monitoring center in the mountain fire monitoring process of the helicopter, can effectively reduce the data loss rate and the retransmission times, improve the data transmission efficiency, realize the bidirectional and reliable information transmission between the monitoring center and the helicopter, and provide support for the mountain fire monitoring and the linked fire extinguishing of the helicopter.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. The utility model provides a helicopter monitoring mountain fire video's satellite real-time transmission system which characterized in that includes:
the device comprises a forest fire monitoring pod, an ultrasonic detector, an airborne communication controller, an airborne satellite antenna, a ground satellite antenna, a background communication controller and a forest fire monitoring video display and command system;
the mountain fire monitoring pod, the ultrasonic detector, the airborne communication controller and the airborne satellite antenna are positioned at the end of a helicopter, and the ground satellite antenna, the background communication controller and the mountain fire monitoring video display and command system are deployed at the ground end of a background of a monitoring center;
the forest fire monitoring pod comprises a visible light lens and an infrared lens and is used for forest fire detection;
the ultrasonic detector is arranged beside the airborne antenna and used for detecting the gap of the helicopter rotor;
the airborne communication controller is used for realizing control, signal modulation and demodulation and power amplification of a transmitting and receiving signal;
the airborne satellite antenna is used for transmitting and receiving satellite signals at the helicopter end;
the ground satellite antenna is used for transmitting and receiving satellite signals at a background of the monitoring center;
the background communication controller is used for realizing control, signal modulation and demodulation and power amplification of a receiving and transmitting signal in a background;
the mountain fire monitoring video display and command system is used for enabling a person on duty to monitor real-time videos of the helicopter and process mountain fire monitoring alarm information.
2. A satellite real-time transmission method for a helicopter wildfire monitoring video, which is applied to the satellite real-time transmission system for the helicopter wildfire monitoring video according to claim 1, and comprises the following steps:
step S1: the helicopter forest fire monitoring pod carries out real-time video shooting and transmits the obtained real-time video data to the airborne communication controller;
step S2: the ultrasonic detector sends out ultrasonic waves to detect the rotating speed, the shielding, the gap and the state of a rotating blade of the helicopter and transmits corresponding ultrasonic detector data to the airborne communication controller;
step S3: the airborne communication controller modulates the video data and the ultrasonic detector data, converts the video data and the ultrasonic detector data into a protocol format, and transmits the video data converted into the protocol format at intervals of wing gaps; receiving information sent by a monitoring center, splicing and demodulating data frames of the information and transmitting the information to a corresponding module;
step S4: the airborne communication controller amplifies the power of the information to be sent, transmits the information to an airborne antenna in a signal mode in a frame with a set format, and transmits the information to a monitoring center satellite receiving antenna after passing through a space-based communication satellite;
step S5: the background communication controller performs frequency reduction and modulation and demodulation on signals received by a ground satellite antenna of the monitoring center, and then transmits information to a mountain fire monitoring video display and command system;
step S6: the background communication controller receives an instruction from an operator on duty, and transmits the instruction to the helicopter end after modulation and demodulation, format conversion and power amplification.
3. The method of claim 1, further comprising: and the airborne communication controller determines the wing gap interval according to the ultrasonic detector data transmitted by the ultrasonic detector.
4. The method of claim 3, wherein the determining, by the onboard communications controller, airfoil clearance spacing based on the ultrasonic probe data transmitted by the ultrasonic probe comprises:
when delta t is 2h/v, determining that the ultrasonic wave passes through the rotor wing, and when delta t is greater than 2h/v, determining that the ultrasonic wave passes through the rotor wing gap, wherein delta t is the time interval between the ultrasonic pulse sent by the ultrasonic detector and the reflected ultrasonic pulse transmitted by the rotor wing after the sent ultrasonic pulse is received, h is the height distance between the transmission end and the receiving end of the ultrasonic detector and the rotor wing, and v is the transmission speed of the ultrasonic wave;
the length of time t from the beginning of rotor detection to the beginning of rotor non-detection of the ultrasound probe is determined as:
the rotational angular velocity w of the rotor is determined as:
wherein d is the width of the rotor, t is the time length from the beginning of detecting the rotor to the beginning of not detecting the rotor by the ultrasonic detector, and r is the distance from the ultrasonic detector to the rotor center;
time length delta t of shielded satellite antenna1Is determined as:
wherein D is the diameter of the antenna, and R is the distance from the antenna to the center of the rotor wing;
time length delta t of satellite antenna not being shielded2Is determined as:
wherein theta is an included angle between two adjacent rotor wings;
recording a time stamp of the ultrasonic detector for detecting the rotor shielding so as to calculate the shielded time and the non-shielded time of the satellite antenna;
determining the wing gap spacing based on the occluded and non-occluded times.
5. The method of claim 4, wherein the ultrasound probe is mounted with an onboard satellite antenna.
6. The method according to claim 4, wherein step S6 includes:
when the monitoring center gives an instruction to the helicopter, the time for the data to reach the airborne receiving antenna through satellite forwarding is estimated.
7. The method according to claim 6, wherein step S6 further comprises:
and reserving a time margin after the time of the estimated data reaching the airborne receiving antenna through satellite forwarding so as to realize that the airborne satellite receiving antenna receives the data in the time which is not shielded.
8. The method of claim 2, wherein the respective modules comprise:
the mountain fire monitoring pod and the voice talkback module.
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| CN212211399U (en) * | 2020-06-04 | 2020-12-22 | 西安通航装备科技开发有限公司 | Helicopter air-ground integrated communication platform based on high-flux satellite |
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