CN202481315U - Multifunctional unmanned aerial vehicle (UAV) system for environment emergency monitoring - Google Patents
Multifunctional unmanned aerial vehicle (UAV) system for environment emergency monitoring Download PDFInfo
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Abstract
A multifunctional unmanned aerial vehicle (UAV) system for environment emergency monitoring includes a UAV platform, a ground measurement and control and data processing system and mission payloads, wherein the UAV platform includes a fixed-wing UAV and/or an unmanned helicopter; the ground measurement and control and data processing system includes a remote measuring radio station, a computer, displays, a remote control radio station and a digital video recorder; and the mission payloads include aerial photography equipment, video monitoring equipment, a meteorological parameter monitoring instrument and/or a multi-parameter poisonous and harmful gas detection instrument. Through the transformation of an unmanned aircraft platform, the modular development of mission payload components and the integration of hardware and software, the system overcomes the defect of low mission payload compatibility of the conventional UAV platform, so that one UAV can serve multiple purposes; and the system solves such problems of the conventional environment emergency monitoring system as failure to reach destinations with complex topographic conditions, slow response and limited monitoring range, thereby greatly improving the environment emergency responsiveness.
Description
Technical field
The utility model relates to a kind of design plan of environmental emergency monitoring UAS, belongs to the environmental emergency field.
Background technology
Unmanned plane is that robot airplane (Unmanned Aerial Vehicle) is called for short UAV.It has had more than 80 year history so far since 20 beginnings of the century were born.Particularly under the promotion of electronics and aeronautical technology develop rapidly, the development of unmanned plane has received the attention of various countries.
Obtained using widely as scout and target drone at the military field unmanned plane.Unmanned plane obtains paying attention in the application of civil area day by day in recent years, and correlation technique is day by day ripe.The civil area unmanned plane is main to carry video transmission and digital camera two kind equipments mainly.The video transmission can be used for monitoring fields such as forest protection, air patrol, traffic monitoring, and its outstanding advantage is the data transmission real-time high-efficiency; Digital camera is taken and to be mainly used in mappings among a small circle such as cities and towns, development zone, factories and miness, residential quarter, and its advantage is that the highly low weather effect that receives is little and precision is high.In addition, also be widely used at the platform of scientific research field unmanned plane as a kind of low-altitude detection.Common have a weather monitoring unmanned plane, through carrying the flight of meteorologic parameter sensor, realizes the measurement to differing heights place meteorologic parameter.
Unmanned plane mainly concentrates on aspect two in the application of environmental area at present.Adopt unmanned plane that water pollution range, rubbish distribution limit, chimney exhaust gas emission status etc. are carried out the large tracts of land investigation on the one hand.Through carrying the ambient air quality monitoring instrument, carry out gas (or particle) concentration monitoring on the other hand.The former is just to a kind of expansion that video transmits and the function of taking photo by plane is applied, and technology is ripe relatively; The latter needs technical risk relatively large, and many guardian techniques are still in constantly improving.Ins Atmospheric Physics,Academia Sinica in 2008 adopts unmanned plane to carry improved ozone sensor and particle (number concentration or mass concentration) detection instrument and humidity temperature pickup to carry out sounding and test and achieve success.2009, by Anhui ray machine institute of the Chinese Academy of Sciences and atmospheric physics research, utilize the unmanned aerial vehicle platform to carry out the atmosphere environment supervision flight test, the two-dimension time-space that successfully obtains atmospheric contamination composition NO2 distributes.
Existing serves as that the main environmental emergency monitoring system that constitutes exists under the MODEL OVER COMPLEX TOPOGRAPHY with environmental emergency monitoring car, environmental emergency monitoring ship and portable environment emergency monitoring equipment, is difficult to arrive; Speed of response is not high, the problem that monitoring range is limited.When unexpected environmental accident takes place, through on unmanned plane, carrying image or video monitoring equipment, understand the environment field data fast, realize that aerial panorama inserts; Through carrying gas monitor apparatus and meteorological parameter monitoring equipment, in the quick flight course in low latitude, grasp the concentration distribution of pollutants situation, can effectively remedy the deficiency of existing environmental emergency prison system, promote environment emergency response speed greatly.
But; Present most of unmanned plane design lacks the consideration compatible to the multi-task load, and a unmanned plane platform can only be applicable to one or more specific task load, is difficult to according to different according to demand; Change mission payload flexibly, thereby realize a tractor serves several purposes.And lack needs to the environmental emergency monitoring, provide take photo by plane, video monitoring, toxic and harmful detects and the environmental emergency monitoring UAS of meteorological parameter monitoring all-around service.
The utility model content
To present China environmental emergency Study of Monitoring present situation and demand; The purpose of the utility model is to send out through melting to the transformation of unmanned plane during flying applicator platform with to the mission payload assembly module; And software and hardware is integrated, realizes that a unmanned plane platform can carry one or the multi-task load in digital camera, camera, toxic and harmful detector and the meteorological parameter monitoring appearance.When environment event takes place; Can realize that through adopting this environmental emergency unmanned plane aerial panorama inserts; Quick-speed large-scale carries out gaseous state and dyes the condition survey of thing concentration profile; And weather monitoring, and the real-time Transmission and the fast processing and analysis of guarantee monitoring data, for the environmental emergency response provides decision-making foundation.
To achieve these goals, the technical scheme of the utility model employing is following:
A kind of multi-functional environment emergency monitoring UAS comprises unmanned plane platform, ground observing and controlling and data processing system and mission payload; Said unmanned plane platform comprises fixed-wing unmanned plane and/or depopulated helicopter; Said ground observing and controlling and data processing system comprise remote measurement radio station, computing machine, telltale, remote control radio and DVR; Said mission payload comprises the equipment of taking photo by plane and/or video monitoring equipment and/or meteorologic parameter monitor and/or multi-parameter toxic and harmful detector.
The said equipment of taking photo by plane, said video monitoring equipment, said meteorologic parameter monitor, said multi-parameter toxic and harmful detector are the assembly type modular design.
Said multi-parameter toxic and harmful detection detector comprises can detect CO and/or H
2S and/or SO
2, and/or NO
2, and/or NO and/or CI
2, and/or HCN and/or NH
3, and/or PH
3, and/or CIO
2, and/or the gas detection sensor of HCI and/or VOC.
Described video monitoring equipment comprises camera and/or daylight type colour TV camera and/or low-light B and/or thermal infrared imaging camera.
Described meteorologic parameter monitor comprises the meteorologic parameter monitoring sensor, and said meteorologic parameter monitoring sensor comprises temperature sensor and/or humidity sensor and/or pressure sensor.
Described ground observing and controlling and data processing system are based on the software and hardware combining device of GIS platform development; Can realize integrated operations such as flicon, mission payload device control, environmental monitoring data handings; Can realize the flight path of unmanned plane is shown and Long-distance Control; Receive the monitoring data of mission payload, the data that receive are showed and spatial analysis based on GIS, the image of taking photo by plane is proofreaied and correct and spliced processing.
Described ground observing and controlling and data processing system comprise observing and controlling car and/or portable type ground station.
Described unmanned plane platform is an aircraft, comprises aircraft such as dirigible, balloon.
Said aircraft comprises dirigible or balloon.
Multi-functional environment emergency monitoring UAS in the utility model: comprise unmanned plane platform, ground observing and controlling and data processing system and mission payload; The unmanned plane platform comprises fixed-wing unmanned plane, depopulated helicopter etc.; Ground observing and controlling and data processing system comprise remote measurement radio station, computing machine, telltale, remote control radio, DVR etc.; Mission payload comprises that mission payload comprises four types of the equipment of taking photo by plane, video monitoring equipment, meteorologic parameter monitor and multi-parameter toxic and harmful detectors.
Its characteristic of said mission payload comprises the equipment of taking photo by plane, video monitoring equipment, meteorologic parameter monitor and multi-parameter toxic and harmful detector; This 4 generic task load is all with the assembly type modular design; Can on the unmanned plane platform, select for use flexibly also easily as required and can carry simultaneously, thereby realize taking photo by plane, video monitoring, toxic and harmful detect and the multinomial function of weather monitoring.
Described multi-parameter toxic and harmful detects detector, it is characterized in that carrying the multiple gases detecting sensor simultaneously, and can change flexibly as required.The concrete content that detects comprises: CO, H
2S, SO
2, NO
2, NO, CI
2, HCN, NH
3, PH
3, CIO
2, HCI, VOC etc.After the toxic and harmful concentration data that multi-parameter toxic and harmful detector monitors is changed through data converting circuit; Send to ground observing and controlling and data processing system in real time through the remote measurement radio station, and and then carry out Treatment Analysis by the computing machine of ground observing and controlling and data processing system.
Described meteorologic parameter monitor comprises multiple meteorologic parameter monitoring sensors such as temperature sensor, humidity sensor, pressure sensor.After weather datas such as the temperature that the meteorologic parameter monitor monitors, humidity, pressure are changed through data converting circuit; Send to ground observing and controlling and data processing system in real time through the remote measurement radio station, and and then carry out Treatment Analysis by the computing machine of ground observing and controlling and data processing system.
Described video monitoring equipment can be the multiple equipment of taking photo by plane such as camera, daylight type colour TV camera, low-light B, thermal infrared imaging camera.Video monitoring information can be real-time transmitted to ground observing and controlling and data processing system through the remote measurement radio station, and and then show by the telltale of ground observing and controlling and data processing system, simultaneously video data is stored in the DVR.
Described ground observing and controlling and data processing system is characterized in that realizing to integrated operations such as flicon, mission payload device control, environmental monitoring data handings.Send to the flight control system of unmanned plane by ground observing and controlling and data processing system through remote control radio to unmanned plane flat-bed flicon order with to the instruction of controlling of mission payload (toxic and harmful detector, meteorologic parameter monitor, the equipment of taking photo by plane), and have flight control system that dependent instruction is sent to corresponding mission payload.
Described ground observing and controlling and data processing system are based on the GIS platform development; Can realize the flight path of unmanned plane is shown and Long-distance Control; Receive the monitoring data of mission payload, the data that receive are showed and spatial analysis based on GIS, the image of taking photo by plane is proofreaied and correct and spliced processing.
This serial environment emergency monitoring unmanned plane can realize that through the adjustment mission payload environmental emergency of difference in functionality is monitored under given conditions, comprises the following aspects:
1, taking photo by plane is one of basic function of this serial environment emergency monitoring unmanned plane.Can realize the operation of taking photo by plane to all kinds of love scenes, the software of ground observing and controlling and data processing system can be realized the correction of the image of taking photo by plane and splicing, thereby dispose the high precision image data that provides necessary for event handling fast.Also can investigate for ecology simultaneously, electronic chart production etc. provides the data necessary resource.
2, said mission payload change do pick up camera (or camera) can be in emergency command the on-the-spot aerial panorama of realization event insert.This function mainly is under environmental emergency monitoring car, environmental emergency monitoring ship and personnel's ungetable situation, gives full play to the flexible characteristics of unmanned plane platform, obtains incident scene information in real time.Decision-making in-situ person on ground through TT&C system can the real time inspection pollution incident on-the-spot situation, can also be through the flying height and the orientation of control unmanned plane, the angle of adjustment real-time video monitoring.
3,, can realize the specific pollutants in the empty gas in place, aircraft place is detected and measurement of concetration through on the unmanned plane platform, carrying toxic and harmful inspection appearance.The data of being obtained send to ground observing and controlling and data processing system then through the remote measurement radio station with Wireless transmission mode in real time, and carry out Treatment Analysis, for emergency response provides decision-making foundation.
4, through on aircraft, carrying the meteorologic parameter detecting sensor; Can realize monitoring to meteorologic parameters such as temperature, pressure, humidity; The monitoring data of being obtained is through the remote measurement radio station; Send to ground observing and controlling and data processing system in real time with Wireless transmission mode, and carry out Treatment Analysis, for emergency response provides decision-making foundation.
5, ground observing and controlling and data processing system can realize unmanned plane flat-bed flicon, and monitoring, monitor data are carried out analyzing and processing.Ground observing and controlling and data processing system are based on the GIS platform development, can realize the flight path of unmanned plane is shown and Long-distance Control, receive the data of unmanned plane transmission, and the data that receive are showed and spatial analysis based on GIS.And combine the decision Analysis function of software system, for the formulation of emergency response scheme (like the evacuating personnel scope) provides foundation.
The required instrument and equipment performance of the utility model is following:
1, unmanned plane during flying device
The unmanned plane during flying device can adopt two kinds of fixed-wing unmanned plane and depopulated helicopters.
(1) fixed-wing unmanned plane: Standard Task load＞15kg, landing wind loading rating＞5 grade, ceiling 5000m, communication distance (non-relay) can reach 20km above (nothing is blocked), be with maximum mission payload cruise duration＞1.5h.
(2) depopulated helicopter: ceiling altitude can reach more than the 2500m, and maximum load is greater than reaching 20Kg, being with maximum mission payload cruise duration＞1h.
2, multi-parameter toxic and harmful detector
Battery working time＞8 continuous throughout the twenty-four hour24s, pump suction type sampling, sampling flow velocity 400cc/min, temperature-10～+ 45 ℃, working relative humidity 0%～95% relative humidity (frozen-free).
Monitoring index comprises: CO, H
2S, SO
2, NO
2, NO, CI
2, HCN, NH
3, PH
3, CIO
2, HCl, VOC, index can be expanded, precision 1ppm, measuring range adjustable joint.
3, meteorologic parameter monitoring sensor
Temperature measurement range-90 ℃～50 ℃; Survey precision is less than being 0.3 ℃; The humidity measurement scope is 0～100%; Survey precision is less than being 5%; The barometric surveying scope is 500～1050hPa; Survey precision is less than being 0.5hPa.
Can make the system of the utility model reach best performance through above-mentioned preferred parameter.
Therefore, the beneficial effect of the utility model comprises:
1, the utility model is sent out through melting to the transformation of unmanned plane during flying applicator platform with to the mission payload assembly module, and software and hardware is integrated, has improved the shortcoming of the compatible mission payload scarce capacity of existing unmanned plane platform, has realized a tractor serves several purposes.
2; The utility model is in accident; Can take photo by plane in the zone that on-the-spot manpower can't arrive to polluting, video monitoring, toxic and harmful detect and meteorological parameter monitoring, solved existing environmental emergency monitoring system and under MODEL OVER COMPLEX TOPOGRAPHY, be difficult to arrive, speed of response is not high; The problem that monitoring range is limited has improved the environmental emergency responding ability greatly.
Description of drawings
The multi-functional environment of Fig. 1 UAS constructional drawing of meeting an urgent need;
The multi-functional environment of Fig. 2 UAS software function figure that meets an urgent need.
The specific embodiment
Clearer for technical matters, technical scheme and beneficial effect that the utility model is solved, below in conjunction with accompanying drawing and embodiment, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
Multi-functional environment emergency monitoring UAS as shown in Figure 1 comprises unmanned plane platform, ground observing and controlling and data processing system and mission payload.The unmanned plane platform comprises fixed-wing unmanned plane, depopulated helicopter etc.; Ground observing and controlling and data processing system comprise remote measurement radio station, computing machine, telltale, remote control radio, DVR etc.; Mission payload comprises that mission payload comprises four types of the equipment of taking photo by plane, video monitoring equipment, meteorologic parameter monitor and multi-parameter toxic and harmful detectors.This 4 generic task load can be selected for use flexibly also on the unmanned plane platform easily as required and can carry simultaneously all with the assembly type modular design.
Weather monitoring appearance and multi-parameter toxic and harmful monitor are passed to change-over circuit with monitoring data.Change-over circuit is connected with the remote measurement radio station.Through the remote measurement radio station weather data and gas monitoring data are transferred to ground observing and controlling and data processing system, the computing machine of ground observing and controlling and data processing system carries out analyzing and processing to data.
The video monitoring information of video monitoring equipment collection can be real-time transmitted to ground observing and controlling and data processing system through the remote measurement radio station, and and then show by the telltale of ground observing and controlling and data processing system, simultaneously video data is stored in the DVR.
Ground observing and controlling and data processing system send to the flight control system of unmanned plane by ground observing and controlling and data processing system through remote control radio to unmanned plane flat-bed flicon instruction with to the instruction of controlling of mission payload (toxic and harmful detector, meteorologic parameter monitor, the equipment of taking photo by plane), and have flight control system that dependent instruction is sent to corresponding mission payload.
Fig. 2 is the emergent UAS software function figure of multi-functional environment.This Software deployment is based on the GIS platform development on ground observing and controlling and data processing system computing machine, can realize integrated operations such as flicon, mission payload device control, environmental monitoring data handings.The subsystem of these software system comprises: flight subsystem, toxic and harmful detection subsystem, the subsystem of taking photo by plane, video monitoring subsystem, meteorologic parameter monitoring subsystem and on-the-spot emergent aid decision making are supported subsystem.Wherein flight subsystem can be realized the control to unmanned plane during flying attitude and flight path; The toxic and harmful detection subsystem can realize the Real-time and Dynamic displaying and the statistical analysis of monitoring information; The subsystem of taking photo by plane to realize taking photo by plane management and correction, the splicing of image; The video monitoring subsystem can be realized the real time inspection, history playback of video monitoring information and differentiate based on the blackness of exhaustion of video image; The meteorologic parameter monitoring subsystem can be realized the Real-time and Dynamic displaying of weather monitoring information, and on-the-spot emergent aid decision making supports subsystem can realize environment risk source, emergency resources, danger article management of information, maintenance and inquiry.
More than through the detailed description of concrete and preferred embodiment the utility model; But those skilled in the art should be understood that; The utility model is not limited to the above embodiment; All within the spirit and principle of the utility model, any modification of being done, be equal to replacement etc., all should be included within the protection domain of the utility model.
Claims (8)
1. a multi-functional environment emergency monitoring UAS is characterized in that: comprise unmanned plane platform, ground observing and controlling and data processing system and mission payload; Said unmanned plane platform comprises fixed-wing unmanned plane and/or depopulated helicopter; Said ground observing and controlling and data processing system comprise remote measurement radio station, computing machine, telltale, remote control radio and DVR; Said mission payload comprises the equipment of taking photo by plane and/or video monitoring equipment and/or meteorologic parameter monitor and/or multi-parameter toxic and harmful detector.
2. multi-functional environment emergency monitoring UAS according to claim 1 is characterized in that: the said equipment of taking photo by plane, said video monitoring equipment, said meteorologic parameter monitor, said multi-parameter toxic and harmful detector are the assembly type modular design.
3. multi-functional environment emergency monitoring UAS according to claim 1 is characterized in that: said multi-parameter toxic and harmful detection detector comprises can detect CO and/or H
2S and/or SO
2, and/or NO
2, and/or NO and/or CI
2, and/or HCN and/or NH
3, and/or PH
3, and/or CIO
2, and/or the gas detection sensor of HCI and/or VOC.
4. multi-functional environment emergency monitoring UAS according to claim 1 is characterized in that: described video monitoring equipment comprises camera and/or daylight type colour TV camera and/or low-light B and/or thermal infrared imaging camera.
5. multi-functional environment emergency monitoring UAS according to claim 1; It is characterized in that: described meteorologic parameter monitor comprises the meteorologic parameter monitoring sensor, and said meteorologic parameter monitoring sensor comprises temperature sensor and/or humidity sensor and/or pressure sensor.
6. multi-functional environment emergency monitoring UAS according to claim 1, it is characterized in that: described ground observing and controlling and data processing system comprise observing and controlling car and/or portable type ground station.
7. multi-functional environment emergency monitoring UAS according to claim 1, it is characterized in that: described unmanned plane platform is an aircraft.
8. multi-functional environment emergency monitoring UAS according to claim 7, it is characterized in that: said aircraft comprises dirigible or balloon.
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