CN114427906A - Solar radiation observation method and system based on unmanned aerial vehicle - Google Patents
Solar radiation observation method and system based on unmanned aerial vehicle Download PDFInfo
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/4204—Photometry, e.g. photographic exposure meter using electric radiation detectors with determination of ambient light
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J2001/4266—Photometry, e.g. photographic exposure meter using electric radiation detectors for measuring solar light
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application provides a solar radiation observation method and system based on an unmanned aerial vehicle, and the method comprises the following steps: determining a flight path according to the position of the scientific investigation ship and the target observation area; controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route; acquiring first visible light observation information and first infrared light observation information corresponding to a target observation area through a first dual-light camera; judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information; when the target observation region accords with the observation condition, horizontally push out the solar radiation instrument connecting rod on the unmanned aerial vehicle to make the solar radiation instrument located at the tail end of the solar radiation instrument connecting rod acquire solar radiation data. Therefore, the method can realize the solar radiation observation required by scientific research based on the unmanned aerial vehicle, thereby realizing the fine observation of the target observation area while ensuring the safety of the working personnel.
Description
Technical Field
The application relates to the field of solar radiation observation, in particular to a solar radiation observation method and system based on an unmanned aerial vehicle.
Background
At present, solar radiation is mostly based on field observation by workers. However, when the environment is harsh, the staff often cannot reach the observation area, so that the observation cannot be performed, and finally the observation blank is caused, which is particularly prominent in ocean observation.
For example, islands in an ocean environment are often shallow in water depth, scientific ships cannot reach directly, and are not familiar with the environment of unknown islands, and workers are not usually on the island for observation from a personnel safety perspective. At the same time, similar problems exist with north-south pology, where even if a meaningful observation area is encountered because of ice cover, the staff is not scheduled to go to the survey because of safety issues.
However, in order to solve the technical problem, the staff member usually calls the satellite observation data to fill the observation blank. However, the satellite observation data has a problem of low accuracy, and cannot realize refined observation of the target observation region.
Disclosure of Invention
The embodiment of the application aims to provide a solar radiation observation method and system based on an unmanned aerial vehicle, which can realize the solar radiation observation required by scientific investigation based on the unmanned aerial vehicle, so that the fine observation of a target observation area can be realized while the safety of workers is ensured.
The first aspect of the embodiment of the application provides a solar radiation observation method based on an unmanned aerial vehicle, which comprises the following steps:
determining a flight path according to the position of the scientific investigation ship and the target observation area;
controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route;
acquiring first visible light observation information and first infrared light observation information corresponding to the target observation area through a first dual-optical camera; the first twin-camera is located above the unmanned aerial vehicle;
judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information;
when the target observation area accords with when observing the condition, the last level of unmanned aerial vehicle releases the solar radiation appearance connecting rod to the messenger is located solar radiation appearance acquisition solar radiation data at solar radiation appearance connecting rod terminal.
Further, after the step of horizontally pushing out a solar radiation instrument connecting rod on the unmanned aerial vehicle so that a solar radiation instrument located at the tail end of the solar radiation instrument connecting rod acquires solar radiation data, the method further comprises:
inputting the first visible light observation information, the first infrared light observation information and the solar radiation data into a preset environment recognition model, so that the environment recognition model matches the existing observation environment corresponding to the first visible light observation information, the first infrared light observation information and the solar radiation data in a preset observation environment database.
Further, the step of inputting the first visible light observation information, the first infrared light observation information, and the solar radiation data into a preset environment recognition model, so that the environment recognition model matches an existing observation environment corresponding to the first visible light observation information, the first infrared light observation information, and the solar radiation data in a preset observation environment database includes:
inputting the first visible light observation information and the first infrared light observation information into a preset underlying surface environment recognition model, so that the underlying surface environment recognition model matches an underlying surface environment matched with the first visible light observation information and the first infrared light observation information in a preset underlying surface environment database;
inputting the solar radiation data into a preset solar radiation recognition model so that the solar radiation recognition model matches a solar radiation environment corresponding to the solar radiation data in a preset solar radiation environment library;
inputting the underlying surface environment and the solar radiation environment into a preset environment recognition model so that the environment recognition model matches the existing observation environment corresponding to the underlying surface environment and the solar radiation environment in a preset observation environment database.
Further, the step of controlling the unmanned aerial vehicle to fly to the specified observation position in the target observation area according to the flight route includes:
controlling the unmanned aerial vehicle to fly to the target observation area according to the flight route;
acquiring second visible light observation information and second infrared light observation information corresponding to the target observation area through a second dual-optical camera; the second dual-camera is located below the drone;
determining a designated observation position according to the second visible light observation information and the second infrared light observation information;
controlling the unmanned aerial vehicle to move to the specified observation position.
The second aspect of the embodiments of the present application provides an unmanned aerial vehicle-based solar radiation observation system, the unmanned aerial vehicle-based solar radiation observation system includes:
the determining unit is used for determining a flight route according to the position of the scientific investigation ship and the target observation area;
the navigation unit is used for controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route;
an acquisition unit configured to acquire first visible light observation information and first infrared light observation information corresponding to the target observation area by a first dual-optical camera; the first twin-camera is located above the unmanned aerial vehicle;
the judging unit is used for judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information;
and the control unit is used for horizontally pushing out the solar radiation instrument connecting rod on the unmanned aerial vehicle when the target observation area accords with the observation condition so as to enable the solar radiation instrument positioned at the tail end of the solar radiation instrument connecting rod to acquire solar radiation data.
A third aspect of embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor runs the computer program to cause the electronic device to perform the method for observing solar radiation based on a drone according to any one of the first aspect of embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, where the computer program instructions, when read and executed by a processor, perform the method for observing solar radiation based on unmanned aerial vehicles according to any one of the first aspect of the embodiments of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for observing solar radiation based on an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a solar radiation observation system based on an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural view of an unmanned aerial vehicle provided with a solar radiation instrument according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a solar radiation observation method based on an unmanned aerial vehicle according to the present embodiment. The solar radiation observation method based on the unmanned aerial vehicle comprises the following steps:
s101, determining a flight path according to the position of the scientific research ship and the target observation area.
S102, controlling the unmanned aerial vehicle to fly to a target observation area according to the flight route.
S103, acquiring second visible light observation information and second infrared light observation information corresponding to a target observation area through a second dual-light camera; the second double-camera is located the unmanned aerial vehicle below.
As an alternative embodiment, after the step of acquiring the second visible light observation information and the second infrared light observation information corresponding to the target observation area by the second two-light camera, the method further includes:
judging whether the target observation area meets a preset landing condition or not according to the second visible light observation information and the second infrared light observation information;
when the target observation area meets the landing condition, determining an observation landing position according to the second visible light observation information and the second infrared light observation information;
and determining the observation landing position as an appointed observation position, and executing the step of controlling the unmanned aerial vehicle to move to the appointed observation position.
In this embodiment, the method can observe whether the target observation area has a hard underlying surface through visible light and infrared light. And if the target observation area has a hard underlying surface, determining that the landing condition is met. Wherein, the hard underlying surface is the observation landing position.
In this embodiment, the descending condition specifically can be for the underlying surface be firm underlying surface such as soil property, sand matter, stone matter, wooden, ice matter, can supply the underlying surface of many rotor unmanned aerial vehicle normal take off and land. In the implementation process, whether the underlying surface is firm underlying surface such as soil, sand, stone, wood, ice and the like can be judged through videos acquired by the double-optical camera.
In this embodiment, if the bifocal camera detects that the underlying surface is a non-solid underlying surface such as mud, water, broken ice, etc., the landing is prohibited. This condition is, therefore, a condition for prohibiting the landing.
And S104, determining the appointed observation position according to the second visible light observation information and the second infrared light observation information.
As an alternative embodiment, the step of determining the observed landing position based on the second visible light observation and the second infrared light observation includes:
analyzing according to the second visible light observation information to obtain a plurality of field underlying surface environments;
analyzing according to the second infrared light observation information to obtain a plurality of temperature interval information which correspond to a plurality of field underlying surface environments one to one;
and determining an observation landing position according to the plurality of on-site underlying surface environments and the plurality of temperature interval information.
In this embodiment, the method may determine the landing area based on the second visible light observation information, determine and analyze the landing range through the visible light data (analyzing different on-site underlying surface environments) and the second infrared light observation information (similar to the highest temperature area, the moderate temperature area, and the lowest temperature area in the underlying surface environment), and plan a specific landing position for observation.
And S105, controlling the unmanned aerial vehicle to move to the appointed observation position, and setting the appointed observation position as an aerial position or a ground position.
S106, acquiring first visible light observation information and first infrared light observation information corresponding to a target observation area through a first double-optical camera; the first double-light camera is located above the unmanned aerial vehicle.
As an optional implementation, the method further comprises:
judging whether preset danger factors exist in the target observation area or not according to the first visible light observation information and the first infrared light observation information;
and when dangerous factors exist in the target observation area, controlling the unmanned aerial vehicle to return.
In this embodiment, in the process, the first two-camera continuously acquires the first visible light observation information and the first infrared light observation information, so that the method detects the surrounding environment through the information. And when the dangerous factors are found, the ship can return immediately.
S107, judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information, and if so, executing the step S108; if not, the flow is ended.
In this embodiment, the observation condition is used to indicate a condition under which the surrounding environment is safe on the basis of the possibility of landing conditions. Wherein the observation condition is the condition that no tiger, crocodile, polar bear, snake and the like can interfere with radiation observation; or a condition without potential accidental risks such as trees, iceberg collapses, and the like. When the conditions are met, radiation observation can be carried out.
In this embodiment, the unmanned aerial vehicle is controlled to return when the process is finished.
S108, horizontally pushing out the solar radiation instrument connecting rod on the unmanned aerial vehicle so that the solar radiation instrument positioned at the tail end of the solar radiation instrument connecting rod acquires solar radiation data.
Referring to fig. 3, fig. 3 shows a schematic structural diagram of an unmanned aerial vehicle provided with a solar radiation instrument. Wherein, the solar radiation appearance connecting rod is D, and the solar radiation appearance is G, and first two optical camera is I, and the two optical camera of second is C.
S109, inputting the first visible light observation information and the first infrared light observation information into a preset underlying surface environment recognition model, so that the underlying surface environment recognition model matches underlying surface environments matched with the first visible light observation information and the first infrared light observation information in a preset underlying surface environment database.
In this embodiment, the computer reads the first visible light observation information and the first infrared light observation information acquired by the system, performs database automated identification on the underlying surface environment through machine learning (for example, fully connected to a neural network, and controls input parameters to perform multiple element learning), selects a known underlying surface environment library with the highest similarity, and provides a basis for a remote operator to further judge the environment state and observe a target.
And S110, inputting the solar radiation data into a preset solar radiation recognition model so that the solar radiation recognition model matches a solar radiation environment corresponding to the solar radiation data in a preset solar radiation environment library.
In this embodiment, the computer performs classified online calculation on the solar radiation collected by the system according to the research focus, performs database automatic identification on the solar radiation through machine learning (for example, fully connected to a neural network, and controls input parameters to perform multiple element learning), selects a known solar radiation environment library with the highest similarity, and provides a basis for a remote operator to further judge an environment state and observe an object.
And S111, inputting the underlying surface environment and the solar radiation environment into a preset environment recognition model, so that the environment recognition model matches the existing observation environment corresponding to the underlying surface environment and the solar radiation environment in a preset observation environment database.
In this embodiment, the computer performs data fusion on the underlying surface environment data and the solar radiation environment data, and obtains a known observation environment system with the highest similarity through machine learning (for example, fully connected to a neural network, and controlling input parameters to perform multiple element learning), thereby providing a reliable observation basis for further studying the relationship between the local environment and the solar radiation.
In this embodiment, the execution subject of the method may be a computing system such as a computer and a server, and is not limited in this embodiment.
In this embodiment, the meanings of the method and the similar descriptions in the open sea and the deep sea are all the meanings of the ocean, and the description thereof is omitted.
Therefore, the unmanned aerial vehicle-based solar radiation observation method can overcome various observation problems generated when workers cannot arrive at the site. Specifically, the method can be used for landing observation at a target ground or aerial observation at the target ground through a solar radiation observation system of the shipborne multi-rotor unmanned aerial vehicle, so that a three-dimensional observation effect is realized. Meanwhile, the method can realize automatic observation, and avoids arrangement of an observation system by workers; moreover, the information of the observation environment can be judged more intelligently by using various machine learning models, so that a more direct observation basis can be provided for workers, and the blank that direct observation cannot be carried out is filled. In addition, the method can make up for the defects of the existing observation method, and improves the solar radiation observation to a brand-new height from the aspects of time, space, capacity, efficiency and the like.
Example 2
Please refer to fig. 2, fig. 2 is a schematic structural diagram of a solar radiation observation system based on an unmanned aerial vehicle according to the present embodiment. As shown in fig. 2, the solar radiation observation system based on unmanned aerial vehicle includes:
the determining unit 210 is used for determining a flight path according to the position of the scientific research ship and the target observation area;
the navigation unit 220 is used for controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route;
an acquisition unit 230 configured to acquire first visible light observation information and first infrared light observation information corresponding to a target observation region by a first two-optical camera; the first double-light camera is positioned above the unmanned aerial vehicle;
a determining unit 240, configured to determine whether the target observation area meets a preset observation condition according to the first visible light observation information and the first infrared light observation information;
and the control unit 250 is used for horizontally pushing out the solar radiation instrument connecting rod on the unmanned aerial vehicle when the target observation area meets the observation condition so that the solar radiation instrument positioned at the tail end of the solar radiation instrument connecting rod acquires solar radiation data.
As an optional implementation, the solar radiation observation system based on the unmanned aerial vehicle further includes:
the identifying unit 260 is configured to input the first visible light observation information, the first infrared light observation information, and the solar radiation data into a preset environment identification model, so that the environment identification model matches an existing observation environment corresponding to the first visible light observation information, the first infrared light observation information, and the solar radiation data in a preset observation environment database.
As an alternative embodiment, the recognition unit 260 includes:
an underlying surface environment identifying subunit 261, configured to input the first visible light observation information and the first infrared light observation information into a preset underlying surface environment identifying model, so that the underlying surface environment identifying model matches an underlying surface environment that matches the first visible light observation information and the first infrared light observation information in a preset underlying surface environment database;
a solar radiation environment identification subunit 262, configured to input the solar radiation data into a preset solar radiation identification model, so that the solar radiation identification model matches a solar radiation environment corresponding to the solar radiation data in a preset solar radiation environment library;
the existing observation environment identification subunit 263 is configured to input the underlying surface environment and the solar radiation environment into a preset environment identification model, so that the environment identification model matches the existing observation environment corresponding to the underlying surface environment and the solar radiation environment in a preset observation environment database.
As an alternative embodiment, the navigation unit 220 includes:
the control subunit 221 is configured to control the unmanned aerial vehicle to fly to the target observation area according to the flight route;
an acquisition subunit 222 configured to acquire, by the second two-optical camera, second visible light observation information and second infrared light observation information corresponding to the target observation region; the second double-light camera is positioned below the unmanned aerial vehicle;
a determination subunit 223 configured to determine a specified observation position based on the second visible light observation information and the second infrared light observation information;
and the control subunit 221 is configured to control the unmanned aerial vehicle to move to the specified observation position.
As an alternative embodiment, the navigation unit 220 further comprises:
a determining subunit 224, configured to determine whether the target observation region meets a preset landing condition according to the second visible light observation information and the second infrared light observation information;
a determining subunit 223, configured to determine, when the target observation region meets the landing condition, an observation landing position according to the second visible light observation information and the second infrared light observation information;
the determining subunit 223 is further configured to determine the observation landing position as the designated observation position, and perform a step of controlling the unmanned aerial vehicle to move to the designated observation position.
As an optional implementation manner, the determining subunit 223 is specifically configured to perform analysis according to the second visible light observation information to obtain a plurality of under-floor environments in the field; analyzing according to the second infrared light observation information to obtain a plurality of temperature interval information which correspond to a plurality of field underlying surface environments one to one; and determining an observation landing position according to the plurality of on-site underlying surface environments and the plurality of temperature interval information.
As an optional implementation manner, the determining unit 240 is further configured to determine whether a preset risk factor exists in the target observation region according to the first visible light observation information and the first infrared light observation information;
and the navigation unit 250 is also used for controlling the unmanned aerial vehicle to return when dangerous factors exist in the target observation area.
In the embodiment of the present application, for the explanation of the solar radiation observation system based on the unmanned aerial vehicle, reference may be made to the description in embodiment 1, and further description is not repeated in this embodiment.
It can be seen that, the unmanned aerial vehicle-based solar radiation observation system described in the embodiment can overcome various observation problems generated when workers cannot arrive at the site. Specifically, the method can be used for landing observation at a target ground or aerial observation at the target ground through a solar radiation observation system of the shipborne multi-rotor unmanned aerial vehicle, so that a three-dimensional observation effect is realized. Meanwhile, the method can realize automatic observation, and avoids arrangement of an observation system by workers; moreover, the information of the observation environment can be judged more intelligently by using various machine learning models, so that a more direct observation basis can be provided for workers, and the blank that direct observation cannot be carried out is filled. In addition, the method can make up for the defects of the existing observation method, and improves the solar radiation observation to a brand-new height from the aspects of time, space, capacity, efficiency and the like.
The embodiment of the application provides an electronic device, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic device to execute the unmanned aerial vehicle-based solar radiation observation method in embodiment 1 of the application.
The embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the method for observing solar radiation based on an unmanned aerial vehicle in embodiment 1 of the present application is executed.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A solar radiation observation method based on an unmanned aerial vehicle is characterized by comprising the following steps:
determining a flight path according to the position of the scientific investigation ship and the target observation area;
controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route;
acquiring first visible light observation information and first infrared light observation information corresponding to the target observation area through a first dual-optical camera; the first twin-camera is located above the unmanned aerial vehicle;
judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information;
when the target observation area accords with when observing the condition, the last level of unmanned aerial vehicle releases the solar radiation appearance connecting rod to the messenger is located solar radiation appearance acquisition solar radiation data at solar radiation appearance connecting rod terminal.
2. The drone-based solar radiation observation method of claim 1, wherein after the step of pushing horizontally on the drone a solar radiation meter connection rod to cause a solar radiation meter at a distal end of the solar radiation meter connection rod to acquire solar radiation data, the method further comprises:
inputting the first visible light observation information, the first infrared light observation information and the solar radiation data into a preset environment recognition model, so that the environment recognition model matches the existing observation environment corresponding to the first visible light observation information, the first infrared light observation information and the solar radiation data in a preset observation environment database.
3. The unmanned aerial vehicle-based solar radiation observation method of claim 2, wherein the step of inputting the first visible light observation information, the first infrared light observation information and the solar radiation data into a preset environment recognition model so that the environment recognition model matches an existing observation environment corresponding to the first visible light observation information, the first infrared light observation information and the solar radiation data in a preset observation environment database comprises:
inputting the first visible light observation information and the first infrared light observation information into a preset underlying surface environment recognition model, so that the underlying surface environment recognition model matches an underlying surface environment matched with the first visible light observation information and the first infrared light observation information in a preset underlying surface environment database;
inputting the solar radiation data into a preset solar radiation recognition model so that the solar radiation recognition model matches a solar radiation environment corresponding to the solar radiation data in a preset solar radiation environment library;
inputting the underlying surface environment and the solar radiation environment into a preset environment recognition model so that the environment recognition model matches the existing observation environment corresponding to the underlying surface environment and the solar radiation environment in a preset observation environment database.
4. The unmanned-aerial-vehicle-based solar radiation observation method of claim 1, wherein the step of controlling the unmanned aerial vehicle to fly to a designated observation location in the target observation area according to the flight route comprises:
controlling the unmanned aerial vehicle to fly to the target observation area according to the flight route;
acquiring second visible light observation information and second infrared light observation information corresponding to the target observation area through a second dual-optical camera; the second dual-camera is located below the drone;
determining a designated observation position according to the second visible light observation information and the second infrared light observation information;
controlling the unmanned aerial vehicle to move to the specified observation position.
5. The drone-based solar radiation observation method of claim 4, wherein subsequent to the step of acquiring second visible light observation information and second infrared light observation information corresponding to the target observation region with a second bi-optic camera, the method further comprises:
judging whether the target observation area meets a preset landing condition or not according to the second visible light observation information and the second infrared light observation information;
when the target observation area meets the landing condition, determining an observation landing position according to the second visible light observation information and the second infrared light observation information;
and determining the observation landing position as a specified observation position, and executing the step of controlling the unmanned aerial vehicle to move to the specified observation position.
6. The UAV-based solar radiation observation method of claim 5, wherein the step of determining an observed landing position based on the second visible light observation and the second infrared light observation comprises:
analyzing according to the second visible light observation information to obtain a plurality of field underlying surface environments;
analyzing according to the second infrared light observation information to obtain a plurality of temperature interval information which are in one-to-one correspondence with the plurality of on-site underlying surface environments;
and determining an observation landing position according to the plurality of field underlying surface environments and the plurality of temperature interval information.
7. The drone-based solar radiation observation method of claim 1, further comprising:
judging whether a preset risk factor exists in the target observation area or not according to the first visible light observation information and the first infrared light observation information;
and when the dangerous factors exist in the target observation area, controlling the unmanned aerial vehicle to return to the home.
8. A solar radiation observation system based on unmanned aerial vehicle, its characterized in that, solar radiation observation system based on unmanned aerial vehicle includes:
the determining unit is used for determining a flight route according to the position of the scientific investigation ship and the target observation area;
the navigation unit is used for controlling the unmanned aerial vehicle to fly to a specified observation position in the target observation area according to the flight route;
an acquisition unit configured to acquire first visible light observation information and first infrared light observation information corresponding to the target observation area by a first dual-optical camera; the first twin-camera is located above the unmanned aerial vehicle;
the judging unit is used for judging whether the target observation area meets a preset observation condition or not according to the first visible light observation information and the first infrared light observation information;
and the control unit is used for horizontally pushing out the solar radiation instrument connecting rod on the unmanned aerial vehicle when the target observation area accords with the observation condition so as to enable the solar radiation instrument positioned at the tail end of the solar radiation instrument connecting rod to acquire solar radiation data.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the drone-based solar radiation observation method of any one of claims 1 to 7.
10. A readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the drone-based solar radiation observation method of any one of claims 1 to 7.
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