CN207301368U - A kind of crop straw burning monitoring and positioning system based on unmanned plane - Google Patents
A kind of crop straw burning monitoring and positioning system based on unmanned plane Download PDFInfo
- Publication number
- CN207301368U CN207301368U CN201721131606.4U CN201721131606U CN207301368U CN 207301368 U CN207301368 U CN 207301368U CN 201721131606 U CN201721131606 U CN 201721131606U CN 207301368 U CN207301368 U CN 207301368U
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned plane
- crop straw
- base station
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of crop straw burning monitoring and positioning system based on unmanned plane, including precise positioning module, detection module and unmanned plane radio receiving transmitting module are burned, further includes base station radio transceiver module, central processing unit, image display and sound and light alarm module；The precise positioning module includes the single frequency receiving and processor control module by antenna and satellite communication；The detection module that burns includes being used for visible opto-collection system and the infrared collecting system for gathering monitoring regional image information, and for judging the Position-Sensitive Detector of infrared anomaly region direction；Unmanned plane radio receiving transmitting module wireless connection base station radio transceiver module, base station radio transceiver module connects the transmitting-receiving port of central processing unit, the signal output part connection image display and sound and light alarm module of central processing unit, the system can accomplish precise positioning, in real time detection, rapid feedback, so that operator on duty is handled at the first time, crop straw burning is controlled.
Description
Technical field
It the utility model is related to unmanned plane monitoring field of locating technology, more particularly to a kind of crop straw burning based on unmanned plane
Monitoring and positioning system.
Background technology
Unmanned plane is the abbreviation of unmanned vehicle (Unmanned Aerial Vehicle, abridge UAV), is a kind of
It is dynamic, controllable, multiplexing Mux can be carried, perform multitask, and the unmanned aviation aircraft that can be reused.
It is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself.Due to its without personnel drive,
So multi-field task can be performed, so, unmanned air vehicle technique is widely applied to the necks such as photography, geological prospecting, investigation search
Domain, operating personnel send control parameter on unmanned plane according to the current location of unmanned plane by Digiplex
Control device, control device controls the flight parameter of driving device adjusting unmanned plane according to control parameter, so as to fulfill unmanned plane
Wireless control.Since its is unmanned, compared with manned aircraft, it has, and small, cost is high, easy to use, quick anti-
Should, maneuverability, to task environment require it is low, survival ability is strong the advantages that, in view of its exclusive advantage.
At present, the air environmental pollution problem that triggers because of the unordered burning of agricultural crop straw, has caused the whole society and at different levels
The highest attention of government.The a large amount of gases and particulate pollutant that crop straw burning produces can cause regional air pollution, endanger people
Class health, can reduce air visibility, trigger traffic accident when serious.In recent years, stalk centralized burning in agricultural production
Phenomenon remain incessant after repeated prohibition, because Open Burning Crop Residue causes the output of a large amount of particulate matters to cause domestic regional air pollution episode to be unequal to
Enumerate, it has also become the society of public's close attention, environmental problem.The presence of the above problem, greatly reduces stalk monitoring technology
The economy of practical application, social and ecological benefit.
Carried out using unmanned plane in crop straw burning monitoring process.Due to needing operating personnel accurately to observe unmanned plane present bit
Put, accomplish to be accurately positioned, then be adjusted control parameter, task is safely and accurately performed to reach.If operator is for nothing
Man-machine flight parameter is not known about with flight environment of vehicle, it is difficult to the information of unmanned plane is accurately controlled, be easy to cause information mistake
Sentence, influence to monitor accuracy.
Utility model content
The purpose of this utility model is to provide a kind of crop straw burning monitoring and positioning system based on unmanned plane, can accomplish essence
Certainly position, in real time detection, rapid feedback so that operator on duty is handled at the first time, controls crop straw burning.
The technical solution adopted in the utility model is：
A kind of crop straw burning monitoring and positioning system based on unmanned plane, including precise positioning module on unmanned plane,
Burn detection module and unmanned plane radio receiving transmitting module, further include the base station radio transceiver module arranged on duty room base sites, in
Central processor, image display and sound and light alarm module；The precise positioning module includes passing through antenna and satellite communication
Single frequency receiving and processor control module, single frequency receiving be connected by USB interface with processor control module, processor
Control module is connected by RS232 interface with unmanned plane radio receiving transmitting module；The burning detection module includes being used to gather
Visible opto-collection system and the infrared collecting system of regional image information is monitored, and for judging the position of infrared anomaly region direction
Put sensing detector, it is seen that the signal output part of opto-collection system, infrared collecting system and Position-Sensitive Detector connects respectively
Unmanned plane radio receiving transmitting module；Unmanned plane radio receiving transmitting module wireless connection base station radio transceiver module, base station radio transmitting-receiving mould
Block connects the transmitting-receiving port of central processing unit, the signal output part of central processing unit be connected to display unmanned plane positional information,
Monitor the signal receiving end of the image display of regional image information, the alarm signal output ends connection acousto-optic of central processing unit
Alarm module.
The visible opto-collection system is coaxial image capturing system with infrared collecting system.
The Position-Sensitive Detector is four-quadrant Position-Sensitive Detector.
Visible ray edge filter is equipped with front of the Position-Sensitive Detector, for will be seen that light filters, infrared light
Pass through.
Be additionally provided with the image display for will be seen that light image and image that infrared image is spliced at
Manage module.
The utility model is utilized obtains satellite data by single frequency receiving, and base is obtained by unmanned plane radio receiving transmitting module
Stand data, processor control module carries out difference processing according to satellite data and base station data, and obtains the position of unmanned plane accordingly
Confidence ceases；Meanwhile unmanned plane is make use of as carrier, using visible opto-collection system and infrared collecting system as letter
Cease harvester, it is seen that opto-collection system can realize that overall region is imaged, and unmanned plane during flying is adjusted with Position-Sensitive Detector
Posture, realizes the infrared anomaly region i.e. blur-free imaging in crop straw burning area, the analysis and use of personnel easy to operation；Central processing
The picture that device carries out the crop straw burning situation that position display and unmanned plane gather by image display shows, operating personnel's root
The discrimination in crop straw burning region is carried out according to visible images and infrared image；After central processing unit differentiates picture, if
There is crop straw burning situation, central processing unit starts sound and light alarm module, carries out sound-light alarm so that duty room staff
Can timely it be handled in first time, so as to reduce burning, environmental protection.
Brief description of the drawings
Fig. 1 is the schematic block circuit diagram of the utility model.
Embodiment
As shown in Figure 1, the utility model include be arranged on unmanned plane on precise positioning module, burn detection module and nobody
Machine radio receiving transmitting module, further includes base station radio transceiver module, central processing unit, image display mould arranged on duty room base sites
Block and sound and light alarm module；It is additionally provided with the image display for it will be seen that light image and infrared image are spliced
Image processing module.
The precise positioning module includes the single frequency receiving and processor control module by antenna and satellite communication,
Single frequency receiving is connected by USB interface with processor control module, and processor control module passes through RS232 interface and unmanned plane
Radio receiving transmitting module connects.
It is described burn visible opto-collection system that detection module includes being used for gathering monitoring regional image information and
Infrared collecting system, and for judging the Position-Sensitive Detector of infrared anomaly region direction, the visible opto-collection system
It is coaxial image capturing system with infrared collecting system.It can be seen that opto-collection system, infrared collecting system and Position-Sensitive Detector
Signal output part connect unmanned plane radio receiving transmitting module respectively；The Position-Sensitive Detector is visited for four-quadrant position sensing
Survey device.Visible ray edge filter is equipped with front of Position-Sensitive Detector, for will be seen that light filters, infrared light passes through.
Unmanned plane radio receiving transmitting module wireless connection base station radio transceiver module, base station radio transceiver module connection centre
The transmitting-receiving port of device is managed, the signal output part of central processing unit is connected to display unmanned plane positional information, monitoring area image
The signal receiving end of the image display of information, the alarm signal output ends connection sound and light alarm module of central processing unit.
The operation principle of the utility model is specifically described below：
First, unmanned plane is monitored the flight in region by the flight control system of itself, in flight course, passes through
Precise positioning module is positioned in real time, mainly by the use of single frequency receiving as receiver user, obtains satellite data.It is single
Frequency receiver receives the data from gps satellite L1 frequency ranges, and is accordingly calculated, and can export the gps satellite in L1 frequency ranges
Pseudo-range Observations, carrier observations and gps satellite almanac data.These data are sent with the form of base station.
Unmanned plane radio receiving transmitting module is used for and base station communication, carries out wireless communication by base station radio transceiver module, obtains
Obtain base station data.Unmanned plane radio receiving transmitting module is according to base station IP address, and port numbers, the information such as account and password, obtains base station
The base station data transmitted.The coordinate of base station radio transceiver module, and pseudorange of the base station under L1 frequency ranges are included in base station data
Observation, carrier observations.Base station data has the form of base station, is known as RTCM format.
The core of processor control module is arm processor.Processor control module receives single frequency receiving and unmanned plane
The data that radio receiving transmitting module is sent.The data that single frequency receiving transmits, are divided into 2 classes.The first kind is known as observation, by it is current when
Between, pseudorange value and L1 frequency ranges carrier value are formed.Pseudorange value refers to the data that receiver is sent by reading satellite, calculates satellite
To the distance of receiver, but since the data that satellite is sent have that the distance value error measured is larger.Carrier wave
Value, refers to that satellite data is transmitted by electromagnetic wave, due to wave frequency it is known that then carrier wave girth determines.Receiver can be counted
Satellite is calculated to the carrier cycle issue of receiver, you can know satellite to receiver distance.Carrier observations are since wavelength is short, week
Issue is accurate, therefore precision is higher, but there are problems that integer ambiguity.Second class is known as satellite almanac data, and satellite is too
Empty real time kinematics, satellite do not broadcast the real-time track coordinate of satellite, but send one group of orbit parameter, user according to it is current when
Carve, you can calculate satellite changing coordinates.The data that base station is transmitted, are also classified into 2 classes.The first kind is observation, is current time,
Pseudo-range Observations and carrier observations of the base station receiver to gps satellite.Second class is the coordinate of base station, which is precisely seat
Mark, precision are high.First the data of single frequency receiving are decoded, run decoder module, extract corresponding value.Again to base station data into
Row decoding, runs RTCM decoder modules, is resolved to base station and is worth accordingly.Star program is selected in operation, is defended observation error is larger
Sing data is deleted, as elevation angle is relatively low, the relatively low satellite of signal-to-noise ratio.Bring the data of remaining star in difference program into, obtain
Receiver user relative to base station offset.Therefore this offset, brings multiprecision arithmetic module into there are larger error,
Lift the precision of offset.Offset is added into base station coordinates, you can obtain high-precision coordinate.
Meanwhile recycle visible opto-collection system and infrared collecting system to carry out Image Acquisition, it is seen that opto-collection system with
Infrared collecting system is coaxial image capturing system, which is used to shoot at the same time when same image is imaged
Infrared image and visible images, imaging are convenient and simple.Wherein infrared collecting system is used to monitor the red of Anomaly in heat source in region
Outer image information, it is seen that opto-collection system is used to be imaged the overall region where infrared anomaly region so that visible ray
Acquisition system and infrared collecting system face infrared anomaly region, easy to gather clearly image information；
Position-Sensitive Detector is four-quadrant Position-Sensitive Detector, red in order to make Position-Sensitive Detector preferably monitor
Outer abnormal area, is equipped with visible ray edge filter in front of Position-Sensitive Detector, and for will be seen that light filters, infrared light leads to
Cross, the shooting effect in crop straw burning region is more preferable.Four-quadrant Position-Sensitive Detector relative position sensing detector visual angle center
Left, right, four quadrant positions of front and back, its be respectively adopted four photodetectors be detected respectively it is infrared
Exceptions area is imaged on the position at visual angle, and when its image space is not on optical axis, the amplitude and position of the imaging signal are sentenced
It is disconnected, automatically control unmanned plane and do position adjustment so that the infrared anomaly area image-forming information detected is adjusted to optical axis center position,
Even if it can be seen that opto-collection system and the imaged viewing angle face infrared anomaly region of infrared collecting system.Specifically, work as crop straw burning
When infrared anomaly region is located at the centre visual angle side to the left of Position-Sensitive Detector, the automatic court of its posture of unmanned aerial vehicle (UAV) control is fed back to
The left side is adjusted into horizontal deflection, the optical axis center view position of visible opto-collection system and infrared collecting system is directed at crop straw burning
Infrared anomaly region, it is clearer easy to be imaged.
When detecting crop straw burning region, then the positional information positioned by precise positioning module, central processing unit lead to
Cross that image display carries out position display and the picture of crop straw burning situation of unmanned plane collection is shown, during display, utilize figure
As what is be equipped with display module is used for it will be seen that the image processing module that light image and infrared image are spliced.The image procossing
Module can utilize dynamical image joining technology to realize and separation visible images and infrared image are spliced into one respectively completely
Image, and complete visible images and infrared image can be shown in display module, operating personnel according to visible images with
Infrared image carries out the discrimination in crop straw burning region.
After central processing unit differentiates picture, if there is crop straw burning situation, central processing unit starts acousto-optic
Alarm module, carries out sound-light alarm so that duty room staff can timely be handled in first time, so as to reduce
Burn, environmental protection.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should manage
Solution：It can still modify the technical solution described in previous embodiment, either to which part or whole technologies
Feature carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from the utility model reality
Apply the scope of a technical solution.
Claims (5)
- A kind of 1. crop straw burning monitoring and positioning system based on unmanned plane, it is characterised in that：Including accurate on unmanned plane Locating module, burn detection module and unmanned plane radio receiving transmitting module, further includes the base station radio receipts arranged on duty room base sites Send out module, central processing unit, image display and sound and light alarm module；The precise positioning module include by antenna with The single frequency receiving and processor control module of satellite communication, single frequency receiving are connected by USB interface and processor control module Connect, processor control module is connected by RS232 interface with unmanned plane radio receiving transmitting module；The burning detection module includes For gathering visible opto-collection system and the infrared collecting system of monitoring regional image information, and for judging infrared anomaly region The Position-Sensitive Detector in direction, it is seen that the signal output part of opto-collection system, infrared collecting system and Position-Sensitive Detector Unmanned plane radio receiving transmitting module is connected respectively；Unmanned plane radio receiving transmitting module wireless connection base station radio transceiver module, base station without Line transceiver module connects the transmitting-receiving port of central processing unit, and the signal output part of central processing unit is connected to show unmanned seat in the plane Confidence ceases, the signal receiving end of the image display of monitoring regional image information, the alarm signal output ends of central processing unit Connect sound and light alarm module.
- 2. the crop straw burning monitoring and positioning system according to claim 1 based on unmanned plane, it is characterised in that：Described can See that opto-collection system with infrared collecting system is coaxial image capturing system.
- 3. the crop straw burning monitoring and positioning system according to claim 1 based on unmanned plane, it is characterised in that：The position It is four-quadrant Position-Sensitive Detector to put sensing detector.
- 4. the crop straw burning monitoring and positioning system according to claim 3 based on unmanned plane, it is characterised in that：The position Put and be equipped with visible ray edge filter in front of sensing detector, for will be seen that light filters, infrared light passes through.
- 5. the crop straw burning monitoring and positioning system according to claim 1 based on unmanned plane, it is characterised in that：The figure As being additionally provided with the image processing module for will be seen that light image and infrared image is spliced in display module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721131606.4U CN207301368U (en) | 2017-09-05 | 2017-09-05 | A kind of crop straw burning monitoring and positioning system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721131606.4U CN207301368U (en) | 2017-09-05 | 2017-09-05 | A kind of crop straw burning monitoring and positioning system based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207301368U true CN207301368U (en) | 2018-05-01 |
Family
ID=62445976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721131606.4U Active CN207301368U (en) | 2017-09-05 | 2017-09-05 | A kind of crop straw burning monitoring and positioning system based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207301368U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945440A (en) * | 2018-07-23 | 2018-12-07 | 河南机电职业学院 | A kind of automatic tour unmanned plane |
-
2017
- 2017-09-05 CN CN201721131606.4U patent/CN207301368U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945440A (en) * | 2018-07-23 | 2018-12-07 | 河南机电职业学院 | A kind of automatic tour unmanned plane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103353285B (en) | The multi-light axis consistency pick-up unit of platform photoelectric instrument and detection method thereof | |
| CN109961157B (en) | Inspection method and system of solar photovoltaic power generation system | |
| CN110244314A (en) | One kind " low slow small " target acquisition identifying system and method | |
| CN104015931B (en) | Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle | |
| CN105869340B (en) | A kind of fiery point monitoring system of exception based on unmanned plane and monitoring method | |
| CN106324651B (en) | A kind of radiation-resource intelligent search engine and its working method | |
| CN103941746A (en) | System and method for processing unmanned aerial vehicle polling image | |
| KR101881121B1 (en) | Drone for measuring distance and method for controlling drone | |
| CN106647804A (en) | Automatic routing inspection method and system | |
| CN108257145A (en) | A kind of UAV Intelligent based on AR technologies scouts processing system and method | |
| CN106379536A (en) | Natural gas pipeline tour-inspection system based on drone | |
| CN103400463B (en) | A kind of forest fires localization method based on two dimensional image and device | |
| CN103675609A (en) | Power line patrol equipment and system | |
| CN205071219U (en) | Object detection system | |
| CN107356945A (en) | A kind of portable low-altitude unmanned plane management-control method and system | |
| CN110207743B (en) | Online shaft correcting device and method suitable for airborne photoelectric viewing and aiming system | |
| CN107390699B (en) | Route planning system and route planning method of sugarcane planter | |
| CN208636717U (en) | A kind of natural gas line Small leak cruising inspection system | |
| CN114241177A (en) | Airport pavement apparent image detection system based on linear array scanning imaging | |
| CN105094143A (en) | Unmanned aerial vehicle based map display method and apparatus | |
| CN105676861A (en) | Unmanned aerial vehicle-based straw burning monitoring system and measurement method | |
| CN207301368U (en) | A kind of crop straw burning monitoring and positioning system based on unmanned plane | |
| CN203912092U (en) | Visualized information acquisition apparatus of agricultural plant protection unmanned helicopter | |
| CN108036856A (en) | Multi-rotor unmanned aerial vehicle airborne imaging spectrum instrument real-time calibration system | |
| CN204228958U (en) | To take photo by plane laser ranging device for dotting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 74, Nongye Road, Jinshui District, Zhengzhou, Henan 450002 Patentee after: China Nuclear Power Survey, design and Research Co.,Ltd. Address before: No. 27, Huayuan Road, Jinshui District, Zhengzhou, Henan 450008 Patentee before: ZHENGZHOU CNEC GEOTECHNICAL ENGINEERING CO.,LTD. |
|
| CP03 | Change of name, title or address |