CN114756050A - Automatic cruise system applied to unmanned aerial vehicle remote sensing scene - Google Patents
Automatic cruise system applied to unmanned aerial vehicle remote sensing scene Download PDFInfo
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Abstract
The invention discloses an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene, which comprises a ground control command transmitting tower and a cruise unmanned aerial vehicle, wherein the ground control command transmitting tower is arranged near a monitoring area to be cruised and is used for controlling the cruise of the cruise unmanned aerial vehicle, supplying energy to the cruise unmanned aerial vehicle and monitoring meteorological conditions in the area; the cruise unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle and is used for monitoring abnormal conditions in a monitoring area and returning a monitoring result to the ground control command launching tower; the ground control commands the launching tower and specifically includes scalable A-frame, unmanned aerial vehicle stops the cabin, follows spot solar panel and sensor group automatically. The system has portability, can be suitable for terrains such as plains and hills, can be widely applied to forest fire prevention inspection and agricultural data acquisition, and realizes unmanned intelligent monitoring.
Description
Technical Field
The invention relates to the technical field of farm monitoring and electronic information, in particular to an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene.
Background
The agricultural monitoring is one of the important links of agricultural production, and the main work of the agricultural monitoring is to monitor the factors of plant diseases and insect pests, lodging, drought and waterlogging, growth vigor and the like of crops in time. Good farming monitoring should achieve high timeliness and accuracy, so that timely management and control of disasters and yield increase and guarantee are achieved. Traditional farming monitoring is mainly realized through manual visual manual inspection in fields, and has the defects of huge workload, poor timeliness, consumption of manpower and material resources and the like. The satellite remote sensing technology is a relatively practical nondestructive monitoring means at present, but has limitations, for example, the satellite image cannot effectively play the role of the satellite remote sensing technology in the paddy rice planting provinces mainly in hilly areas, complex terrains and cloud and rain weather. Unmanned aerial vehicle remote sensing has advantages such as mobility height, convenient to use and with low costs, becomes current hot and practical technological means and is favored.
The existing unmanned aerial vehicle monitoring technology is mature, but the unmanned aerial vehicle monitoring technology is generally realized by manually flying the unmanned aerial vehicle and manually monitoring in real time; on the other hand, the current intelligent inspection equipment has higher cost, needs to build a large amount of ground facilities as reference equipment, and is not suitable for large-scale monitoring operation in agricultural and forestry crop planting areas due to the reasons of cost, difficult operation and the like; therefore, the existing unmanned aerial vehicle cruise system has limitations in the aspects of cruising, full-automatic operation and unmanned operation, and the use flexibility of the cruise unmanned aerial vehicle is greatly limited.
Disclosure of Invention
The invention aims to provide an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene, which has portability, can be suitable for terrains such as plains and hills, can be widely applied to forest fire prevention inspection and agricultural data acquisition, and realizes unmanned intelligent monitoring.
The purpose of the invention is realized by the following technical scheme:
an automatic cruise system for unmanned aerial vehicle remote sensing scene, the system includes ground control commander launching tower and unmanned aerial vehicle cruises, wherein:
the ground control command launching tower is arranged near a to-be-cruise monitoring area and used for controlling the cruise unmanned aerial vehicle to cruise, supplying power to the cruise unmanned aerial vehicle and monitoring meteorological conditions in the area;
the cruise unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle and is used for monitoring abnormal conditions in a monitoring area and returning a monitoring result to the ground control command launching tower;
ground control commander launching tower specifically includes scalable A-frame, unmanned aerial vehicle and stops the cabin, follows spot solar panel and sensor group automatically, wherein:
the unmanned aerial vehicle cabin stopping device, the automatic light following solar panel and the sensor group are all arranged on the telescopic triangular support;
a circular rotating platform is arranged at the top of the telescopic triangular support and can drive the unmanned aerial vehicle to stop the cabin, automatically follow the light of the solar panel and the sensor group to horizontally rotate under the action of control signals;
the unmanned aerial vehicle cabin is of a top horizontal double-opening and closing structure and is used for parking the cruising unmanned aerial vehicle;
the sensor group comprises a wind direction sensor, a wind speed sensor, a humidity sensor and a signal transceiver, which are respectively positioned above four corners of the top of the unmanned aerial vehicle parking space and connected by an L-shaped bracket; wherein the signal transceiver is used for communicating with the cruise drone;
the automatic light following solar panels are three groups in total, are rectangular in shape, and two groups of the automatic light following solar panels are fixed on a horizontal double-opening-closing structure at the top of the unmanned aerial vehicle parking space; and the other group of the unmanned aerial vehicle is fixed on one side of the outer part of the parking cabin.
According to the technical scheme provided by the invention, the system has portability, can be suitable for terrains such as plains and hills, can be widely applied to forest fire prevention inspection and agricultural data acquisition, realizes unmanned intelligent monitoring, solves the problems of high operation difficulty coefficient and the like in the process of acquiring remote sensing data by the unmanned aerial vehicle, and has wide application prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene according to an embodiment of the present invention;
fig. 2 is an isometric structural view of a parked unmanned aerial vehicle cabin according to an embodiment of the invention;
fig. 3 is a schematic view of an internal structure of the unmanned aerial vehicle parking space according to the embodiment of the invention;
FIG. 4 is a schematic structural diagram of the lifting platform according to the embodiment of the present invention;
FIG. 5 is a schematic structural view of the lifting platform of the embodiment of the present invention;
fig. 6 is a schematic structural diagram of the cruise drone according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments, and this does not limit the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an automatic cruise system applied to an unmanned aerial vehicle remote sensing scene, the system including a ground control command transmitting tower and a cruise unmanned aerial vehicle (5), according to an embodiment of the present invention, wherein:
the ground control command launching tower is arranged near a to-be-cruising monitoring area and used for controlling the cruising unmanned aerial vehicle (5) to cruise, supplying energy to the cruising unmanned aerial vehicle (5) and monitoring meteorological conditions in the area;
the cruise unmanned aerial vehicle (5) is a quad-rotor unmanned aerial vehicle and is used for monitoring abnormal conditions in a monitoring area and returning a monitoring result to the ground control command launching tower;
ground control commander launching tower specifically includes scalable A-frame (1), unmanned aerial vehicle stop cabin (2), follows spot solar panel (3) and sensor group automatically, wherein:
the unmanned aerial vehicle parking cabin (2), the automatic light following solar panel (3) and the sensor group are all arranged on the telescopic triangular support (1);
a circular rotating platform is arranged at the top of the telescopic triangular support (1), and can drive the unmanned aerial vehicle parking room (2), the automatic light-following solar panel (3) and the sensor group to horizontally rotate under the action of control signals;
the unmanned aerial vehicle cabin (2) is of a top horizontal double-opening and closing structure and is used for parking the cruising unmanned aerial vehicle (5);
the sensor group comprises a wind direction sensor (4-1), a wind speed sensor (4-2), a humidity sensor (4-3) and signal transceivers (4-4), and the sensor group is respectively positioned above four corners of the top of the unmanned aerial vehicle parking cabin (2) and connected through L-shaped supports; wherein the signal transceiver (4-4) is used to communicate with the cruise drone (5);
the automatic light following solar panels (3) are three groups in total, are rectangular in shape, and are fixed on a horizontal double-opening and closing structure at the top of the unmanned aerial vehicle parking cabin (2); the other group is fixed on one side of the outer part of the unmanned aerial vehicle parking cabin (2). The solar energy collecting device has the advantages that the group of automatic light following solar panels (3) arranged on the side edges can face the sun all the time under the rotation of the telescopic triangular supports (1) so as to increase the light receiving area and maximize the energy collecting efficiency. Acquire solar energy through adopting automatic solar panel (3) high efficiency of following spot unmanned aerial vehicle (5) of cruising returns unmanned aerial vehicle stops back in cabin (2), will be automatic with the mode of wireless charging to unmanned aerial vehicle energy supply, need artificially charge for unmanned aerial vehicle after avoiding using the longer time.
In the specific implementation, the wind direction sensor (4-1), the wind speed sensor (4-2) and the humidity sensor (4-3) collect meteorological information of the surrounding environment of the system in real time, and the meteorological information is used for judging whether the takeoff condition of the cruise unmanned aerial vehicle (5) is met or not, or judging whether the cruise unmanned aerial vehicle (5) needs to be recalled or not, wherein:
when the humidity sensor (4-3) detects that the current environment is dry, the cruising frequency of the cruising unmanned aerial vehicle (5) is automatically increased;
the wind direction sensor (4-1) and the wind speed sensor (4-2) also send measurement data to the cruising unmanned aerial vehicle (5) to provide references for the cruising path, cruising speed and cruising height of the cruising unmanned aerial vehicle (5);
if the weather of rain, snow and strong wind which do not meet the flight conditions exists, the cruising unmanned aerial vehicle (5) does not receive a takeoff instruction;
if the cruising unmanned aerial vehicle (5) suddenly encounters rain, snow and strong wind in the flying process, the ground control command transmitting tower sends a cabin returning instruction to the cruising unmanned aerial vehicle (5) so as to ensure the safety of the cruising unmanned aerial vehicle (5).
Fig. 2 is an isometric structural view of a parked unmanned aerial vehicle cabin according to an embodiment of the present invention, and fig. 3 is a schematic structural view of an interior of the parked unmanned aerial vehicle cabin, which is combined with fig. 2 and 3:
unmanned aerial vehicle stops cabin (2) and is two structures that open and shut for the top level, is furnished with elevating platform (2-1), transmission structure (2-2), camera (2-3), control module (2-4), bunch ware (2-5) and microphone collection array (2-6), wherein:
the lifting platform (2-1), the transmission structure (2-2), the camera (2-3) and the microphone collection array (2-6) are electrically connected with the control module (2-4);
the lifting platform (2-1) is used for parking the cruising unmanned aerial vehicle (5) and can be lifted under the control of the control module (2-4), as shown in fig. 4, a structural schematic diagram of the lifting platform in the embodiment of the invention is shown, as shown in fig. 5, a structural schematic diagram of the lifting platform in a reversed mode is shown, and the bottom of the platform of the lifting platform (2-1) is provided with a light sensing disc (2-1-1) and a wireless charging device (2-1-2); in order to facilitate the work of the photosensitive disc (2-1-1), the color of the lifting platform (2-1) is transparent;
the transmission structure (2-2) is used for controlling the opening and closing of the unmanned aerial vehicle parking space (2);
the control module (2-4) is used for controlling the action of stopping the cabin (2) of the unmanned aerial vehicle and is also responsible for information storage and information processing;
the camera (2-3) is used for monitoring the ground condition;
the wire harness device (2-5) is used for arranging lines and preventing the lines from being blocked due to disorder when the lifting platform (2-1) is displaced;
the microphone collecting array (2-6) is arranged on the outer side of the unmanned aerial vehicle parking space (2) and used for collecting bug sounds in the surrounding environment to judge whether harmful insects exist or not.
Fig. 6 is a schematic structural diagram of the cruise drone according to the embodiment of the present invention, where the cruise drone (5) includes a drone processing module, a multispectral camera (5-3), a flight control module, a rotating cradle head, and a wireless charging coil (5-2), where:
the unmanned aerial vehicle processing module controls the flight control module, simultaneously sends remote sensing data acquired by the multispectral camera (5-3) to the ground control command launching tower, and receives and processes instructions sent by the ground control command launching tower;
the multispectral camera (5-3) is installed on the rotating holder and used for acquiring visible, near-infrared and long-wave infrared detection ground remote sensing information in real time and sending the acquired data to the ground control command launching tower through the unmanned aerial vehicle processing module;
the flight control module is controlled by the unmanned aerial vehicle processing module and sends sensing data to the unmanned aerial vehicle processing module;
the rotating tripod head is arranged at the bottom of the cruising unmanned aerial vehicle (5), two-degree-of-freedom motion is realized through two stepping motors, and the position and the shooting angle of the multispectral camera (5-3) are adjusted to ensure that the multispectral camera (5-3) is kept stable and is aligned to a target area;
the wireless charging coil (5-2) is used for providing power for the cruise unmanned aerial vehicle (5).
In the concrete realization, flight control module includes laser emitter (5-1), high accuracy gyroscope, ultrasonic ranging sensor and orientation module, wherein:
each part in the flight control module is electrically connected with the unmanned aerial vehicle processing module, and is controlled by the unmanned aerial vehicle processing module to send sensing data to the unmanned aerial vehicle processing module;
the laser emitter (5-1) is installed on the side wall of the cruising unmanned aerial vehicle (5), a cylindrical object connected to the side wall in the figure 6 is the laser emitter (5-1), and when the cruising unmanned aerial vehicle (5) falls back to the cabin, laser is vertically emitted downwards to assist the cruising unmanned aerial vehicle (5) to land;
the high-precision gyroscope is used for monitoring the flight attitude, speed, acceleration and direction of the cruising unmanned aerial vehicle (5) in real time;
the number of the ultrasonic ranging sensors is four, the ultrasonic ranging sensors are respectively installed on four side faces of the cruising unmanned aerial vehicle (5), and when unexpected obstacles appear around the unmanned aerial vehicle, feedback is given to the unmanned aerial vehicle so as to finish instant obstacle avoidance;
the positioning module is used for acquiring position information in real time and ensuring that the cruising unmanned aerial vehicle (5) moves according to a preset track.
In the concrete implementation, when the cruising unmanned aerial vehicle (5) returns to the unmanned aerial vehicle parking space (2), the method comprises the following operations:
the first step is as follows: the cruising unmanned aerial vehicle (5) returns to the vicinity of the ground control command transmitting tower through a GPS navigation system;
the second step is that: the signal transceiver (4-4) on the ground control command transmitting tower transmits electromagnetic waves to the surrounding space, and the cruising unmanned aerial vehicle (5) further determines the position of the cabin according to the radio direction finding technology;
the third step: a laser transmitter on the cruising unmanned aerial vehicle (5) vertically emits laser downwards, and a light sensing disc (2-1-1) in a cabin (2) of the unmanned aerial vehicle sends a fine adjustment instruction to the cruising unmanned aerial vehicle (5) by sensing the laser irradiation position; when cruise unmanned aerial vehicle (5) descend to shutting down the under-deck after reaching best horizontal position, realize accurate full-automatic back cabin.
In addition, in consideration of bandwidth limitation, in the cruising process of the cruising unmanned aerial vehicle (5), the cruising unmanned aerial vehicle (5) firstly transmits low-image-quality and low-frame-rate images back to the ground control command transmitting tower; and after the cruising unmanned aerial vehicle (5) returns to the cabin, transmitting high-definition image information to the ground control command transmitting tower in a WIFI mode.
In specific implementation, the automatic cruise system can be used for monitoring fire, the cruise unmanned aerial vehicle (5) positions the fire in a cruise area by using a target identification technology, and after the fire is found, the cruise unmanned aerial vehicle (5) sends a disaster warning to the ground control command launching tower;
after receiving the disaster warning, the ground control command launching tower sends the disaster information to the relevant software platform, and the user can take corresponding measures after receiving the warning on the relevant software platform, such as sending out the fire extinguishing unmanned aerial vehicle to fly to the ignition point to throw the fire extinguishing bomb to control the fire and the like.
In addition, the number of the ground control command launching tower can be flexibly adjusted according to the use requirement, and the purpose is two: firstly, gather the meteorological information of multiple spot in the monitoring area, secondly prevent that unmanned aerial vehicle (5) of cruising need the distance of turning back and extravagant energy when returning to the cabin.
The automatic cruise system has high use freedom, and cruise routes, unmanned aerial vehicles photographing points, automatic cruise parameters and the like can be set randomly on a software platform and can be flexibly used according to requirements.
It is noted that those skilled in the art will recognize that embodiments of the present invention are not described in detail herein.
The following describes the operation of the above-mentioned auto-cruise system as follows:
before the cruise unmanned aerial vehicle (5) takes off, cruise parameters of the unmanned aerial vehicle, including cruise time, cruise route, cruise speed, data acquisition points and the like, need to be set on a software platform; then the parameters are sent to the ground control command launching tower through a network, and then the ground control command launching tower and the meteorological information collected by the sensor group are transmitted to the cruising unmanned aerial vehicle (5) in a WIFI network mode; after receiving the information, the cruising unmanned aerial vehicle (5) can judge weather information, residual electric quantity and the like. If the takeoff condition is met, the unmanned aerial vehicle parking cabin (2) is automatically opened, and the cruising unmanned aerial vehicle (5) is automatically closed after flying away; and if the takeoff condition is not met, the unmanned aerial vehicle waits for the next parameter transmission and repeats the judgment process.
And after the cruise unmanned aerial vehicle (5) takes off, cruising is carried out according to preset parameters. In the cruising process, the ground control command launching tower continuously sends meteorological information to the cruising unmanned aerial vehicle (5) so that the cruising unmanned aerial vehicle (5) can judge whether the returning is needed or not; meanwhile, the cruise unmanned aerial vehicle (5) reports the flight parameters (such as coordinates, flight speed, electric quantity, flight direction and the like) of the cruise unmanned aerial vehicle to the ground control command transmitting tower through a network so as to ensure safety. When the cruising unmanned aerial vehicle (5) flies to a cruising place which is set in advance, the cruising unmanned aerial vehicle keeps hovering, and the multispectral camera (6-3) rotates in an omnibearing mode to obtain a remote sensing image.
Cruise unmanned aerial vehicle (5) accomplish and return the back of cabin, cruise unmanned aerial vehicle (5) can convey the remote sensing image to unmanned aerial vehicle stops cabin (2), later unmanned aerial vehicle stops cabin (2) and can upload to the software platform with data and handle data to feedback analysis result gives the user, simultaneously unmanned aerial vehicle stops cabin (2) will be right with the wireless mode of charging cruise unmanned aerial vehicle (5) charge, for next cruise the task and prepare.
In conclusion, the system provided by the embodiment of the invention has portability, can be suitable for terrains such as plains and hills, can be widely applied to forest fire prevention inspection and agricultural data acquisition, realizes unmanned intelligent monitoring, solves the problems of high operation difficulty coefficient and the like in the process of acquiring remote sensing data by the unmanned aerial vehicle, and has wide application prospect.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.
Claims (9)
1. The utility model provides an automatic cruise system for unmanned aerial vehicle remote sensing scene, its characterized in that, the system includes ground control commander launching tower and unmanned aerial vehicle that cruises, wherein:
the ground control command transmitting tower is arranged near a to-be-cruising monitoring area and used for controlling the cruising unmanned aerial vehicle to cruise, supplying energy to the cruising unmanned aerial vehicle and monitoring meteorological conditions in the area;
the cruise unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle and is used for monitoring abnormal conditions in a monitoring area and returning a monitoring result to the ground control command launching tower;
ground control commander launching tower specifically includes scalable A-frame, unmanned aerial vehicle and stops the cabin, follows spot solar panel and sensor group automatically, wherein:
the unmanned aerial vehicle cabin stopping device, the automatic light following solar panel and the sensor group are all arranged on the telescopic triangular support;
a circular rotating platform is arranged at the top of the telescopic triangular support and can drive the unmanned aerial vehicle to stop the cabin, automatically follow the light of the solar panel and the sensor group to horizontally rotate under the action of control signals;
the unmanned aerial vehicle cabin is of a top horizontal double-opening and closing structure and is used for parking the cruising unmanned aerial vehicle;
the sensor group comprises a wind direction sensor, a wind speed sensor, a humidity sensor and a signal transceiver, which are respectively positioned above four corners of the top of the unmanned aerial vehicle parking space and connected by an L-shaped bracket; wherein the signal transceiver is used for communicating with the cruise drone;
the automatic light following solar panels are three groups in total, are rectangular in shape, and two groups of the automatic light following solar panels are fixed on a horizontal double-opening-closing structure at the top of the unmanned aerial vehicle parking space; and the other group of the unmanned aerial vehicle is fixed on one side of the outer part of the parking cabin.
2. The automatic cruise system applied to the unmanned aerial vehicle remote sensing scene as claimed in claim 1, wherein said wind direction sensor, wind speed sensor and humidity sensor collect weather information of the system surroundings in real time for judging whether the take-off condition of said cruise unmanned aerial vehicle is reached or whether the cruise unmanned aerial vehicle needs to be recalled, wherein:
when the humidity sensor detects that the current environment is dry, the cruising times of the cruising unmanned aerial vehicle are automatically increased;
the wind direction sensor and the wind speed sensor also send measurement data to the cruise unmanned aerial vehicle to provide reference for the cruise path, the cruise speed and the cruise height of the cruise unmanned aerial vehicle;
if the weather of rain, snow and strong wind which do not meet the flight conditions exists, the cruising unmanned aerial vehicle does not receive a take-off instruction;
if the cruising unmanned aerial vehicle suddenly encounters rain, snow and strong wind in the flying process, the ground control command transmitting tower sends a cabin returning instruction to the cruising unmanned aerial vehicle so as to ensure the safety of the cruising unmanned aerial vehicle.
3. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle parking space is a top horizontal double-opening and closing structure, and is provided with a lifting platform, a transmission structure, a camera, a control module, a wire harness and a microphone collection array, wherein:
the lifting platform, the transmission structure, the camera and the microphone acquisition array are electrically connected with the control module;
the lifting platform is used for parking the cruise unmanned aerial vehicle, can be lifted under the control of the control module, and is provided with a light sensing disc and a wireless charging device at the bottom;
the transmission structure is used for controlling the opening and closing of the unmanned aerial vehicle parking space;
the control module is used for controlling the action of stopping the cabin of the unmanned aerial vehicle and is also responsible for information storage and information processing;
the camera is used for monitoring the ground condition;
the wire harness is used for arranging the lines and preventing the lines from being blocked due to disorder when the lifting platform is displaced;
the microphone collecting array is arranged on the outer side of the unmanned aerial vehicle cabin and used for collecting bug sounds in the surrounding environment to judge whether harmful insects exist.
4. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, wherein the cruise unmanned aerial vehicle comprises an unmanned aerial vehicle processing module, a multispectral camera, a flight control module, a rotating cradle head and a wireless charging coil, wherein:
the unmanned aerial vehicle processing module controls the flight control module, simultaneously sends remote sensing data acquired by the multispectral camera to the ground control command launching tower, and receives and processes instructions sent by the ground control command launching tower;
the multispectral camera is mounted on the rotating holder and used for acquiring visible, near-infrared and long-wave infrared detection ground remote sensing information in real time and sending acquired data to the ground control command transmitting tower through the unmanned aerial vehicle processing module;
the flight control module is controlled by the unmanned aerial vehicle processing module and sends sensing data to the unmanned aerial vehicle processing module;
the rotating tripod head is installed at the bottom of the cruising unmanned aerial vehicle, two-degree-of-freedom motion is realized through two stepping motors, and the position and the shooting angle of the multispectral camera are adjusted to ensure that the multispectral camera is kept stable and is aligned to a target area;
the wireless charging coil is used for providing electric power for the unmanned aerial vehicle that cruises.
5. The automatic cruise system applied to unmanned aerial vehicle remote sensing scenes of claim 4, wherein said flight control module comprises a laser transmitter, a high precision gyroscope, an ultrasonic ranging sensor and a positioning module, wherein:
each part in the flight control module is electrically connected with the unmanned aerial vehicle processing module, and is controlled by the unmanned aerial vehicle processing module to send sensing data to the unmanned aerial vehicle processing module;
the laser emitter is installed on the side wall of the cruise unmanned aerial vehicle, and when the cruise unmanned aerial vehicle falls back to the cabin, laser is vertically emitted downwards to assist the cruise unmanned aerial vehicle to land;
the high-precision gyroscope is used for monitoring the flight attitude, speed, acceleration and direction of the cruising unmanned aerial vehicle in real time;
the number of the ultrasonic ranging sensors is four, the ultrasonic ranging sensors are respectively installed on four side faces of the cruise unmanned aerial vehicle, and when unexpected obstacles appear around the unmanned aerial vehicle, feedback is given to the unmanned aerial vehicle, so that immediate obstacle avoidance is completed;
the positioning module is used for acquiring position information in real time and ensuring that the cruise unmanned aerial vehicle moves according to a preset track.
6. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, characterized in that during the process of returning the cruise unmanned aerial vehicle to the unmanned aerial vehicle parking space, the following operations are included:
the first step is as follows: the cruising unmanned aerial vehicle returns to the position near the ground control command transmitting tower through a GPS navigation system;
the second step is that: the signal transceiver on the ground control command launching tower launches electromagnetic waves to the surrounding space, and the cruising unmanned aerial vehicle further determines the position of the cabin to be stopped according to the radio direction finding technology;
the third step: a laser transmitter on the cruising unmanned aerial vehicle vertically emits laser downwards, and a photosensitive disc in the unmanned aerial vehicle parking cabin sends a fine adjustment instruction to the cruising unmanned aerial vehicle by sensing the laser irradiation position; when unmanned aerial vehicle that cruises descends to shutting down the under-deck after reaching best horizontal position, realize accurate full-automatic back of the cabin.
7. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1, wherein in the cruise process of the cruise unmanned aerial vehicle, the cruise unmanned aerial vehicle firstly returns low-image-quality and low-frame-rate images to the ground control command transmitting tower; and after the cruising unmanned aerial vehicle returns to the cabin, transmitting high-definition image information to the ground control command transmitting tower in a WIFI mode.
8. The automatic cruise system applied to the unmanned aerial vehicle remote sensing scene as claimed in claim 1, wherein the cruise unmanned aerial vehicle uses a target recognition technology to locate the fire in the cruise area, and after the fire is found, the cruise unmanned aerial vehicle sends a disaster warning to the ground control command launching tower;
and after receiving the disaster warning, the ground control command transmitting tower sends disaster information to the relevant software platform, and the user can take corresponding measures after receiving the warning on the relevant software platform.
9. The automatic cruise system applied to the remote sensing scene of the unmanned aerial vehicle according to claim 1,
the number of the ground control command launching towers can be flexibly adjusted according to the use requirement.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116923761A (en) * | 2023-09-15 | 2023-10-24 | 山东省国土空间数据和遥感技术研究院(山东省海域动态监视监测中心) | Unmanned aerial vehicle forestry remote sensing monitoring ground beacon and forestry information acquisition station |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116923761A (en) * | 2023-09-15 | 2023-10-24 | 山东省国土空间数据和遥感技术研究院(山东省海域动态监视监测中心) | Unmanned aerial vehicle forestry remote sensing monitoring ground beacon and forestry information acquisition station |
| CN116923761B (en) * | 2023-09-15 | 2023-12-05 | 山东省国土空间数据和遥感技术研究院(山东省海域动态监视监测中心) | Unmanned aerial vehicle forestry remote sensing monitoring ground beacon and forestry information acquisition station |
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