WO2019011117A1

WO2019011117A1 - Unmanned aerial vehicle based two-dimensional visual dynamic display method and system for atmospheric data distribution

Info

Publication number: WO2019011117A1
Application number: PCT/CN2018/092633
Authority: WO
Inventors: 蒋抒彤; 曽建棠; 梅兆瑞; 李琪
Original assignee: 深圳市可飞科技有限公司
Priority date: 2017-07-14
Filing date: 2018-06-25
Publication date: 2019-01-17
Also published as: CN107422397A

Abstract

An unmanned aerial vehicle based two-dimensional visual dynamic display system for atmospheric data distribution, comprising an unmanned aerial vehicle (11) and a ground stations. The unmanned aerial vehicle (11) comprises an atmospheric data monitoring module (115), a positioning module (113) and a data transmission module (117); the unmanned aerial vehicle (11) moves in a selected monitoring area; the positioning module (113) records the geographical location information of the unmanned aerial vehicle (11); the atmospheric data monitoring module (115) monitors in real time actual atmospheric data distribution information corresponding to the current geographical location of the unmanned aerial vehicle (11) and transmits the information to the data transmission module (117). The ground station comprise a data receiving module (113), a data processing module and a display (137); the data receiving module (113) receives the atmospheric data distribution information monitored by the atmospheric data monitoring module (115) of the unmanned aerial vehicle (11); the data processing module processes the atmospheric data distribution information and displays the processed information on the display (137) to form a two-dimensional display diagram for atmospheric data distribution. Further provided is an unmanned aerial vehicle based two-dimensional visual dynamic display method for atmospheric data distribution. The display system and method intuitively display atmospheric data distribution; monitoring is facilitated; the degree of visualization is high; and monitoring precision is high.

Description

Two-dimensional visual dynamic display method and system for atmospheric data distribution based on drone

Technical field

The invention relates to the technical field of atmospheric data distribution visualization in a scene, in particular to a visualization method and system for detecting the distribution of atmospheric data by using a mobile platform of a drone.

Background technique

Conventional atmospheric data monitoring usually uses atmospheric samples collected at the location to be monitored for laboratory analysis. Such monitoring methods cannot quickly, accurately and comprehensively monitor the distribution of atmospheric data, and cannot accurately determine the geographical location of the monitoring location.

In areas with serious air pollution monitoring, it is less suitable for monitoring personnel to approach. Therefore, it is an inevitable trend to seek a monitoring method that can replace people for on-site monitoring.

UAVs have many advantages such as low cost, low loss, reusability and low risk. The use of drones for on-site atmospheric data distribution monitoring can keep operators away from pollution and improve monitoring efficiency.

Therefore, the development of a UAV-based atmospheric data distribution monitoring system and method is an urgent problem to be solved in the field.

Summary of the invention

The object of the present invention is to overcome the above technical problems and to provide a two-dimensional visual dynamic display method for atmospheric data distribution based on a drone.

At the same time, the present invention also provides a display system for realizing the above-mentioned two-dimensional visual dynamic display method for air data distribution based on drones.

A two-dimensional visual dynamic display method for air data distribution based on drones, comprising the following steps:

Step S1, selecting a monitoring area, and obtaining a monitoring area view through a satellite;

Step S2, setting a first dimension direction and a second dimension direction perpendicular to each other in the monitoring area view, and uniformly dividing the monitoring area view in a direction parallel to the first dimension direction and the second dimension direction to form a grid with a grid Monitoring area view;

Step S3, providing a drone to move in the monitoring area, the drone includes a positioning module, an air data detecting module, and a data transmitting module, where the positioning module acquires geographic location information of the drone, the atmosphere The data detecting module monitors the air data distribution information corresponding to the geographical location information, obtains the atmospheric data distribution information with the geographical location information, and the data transmitting module transmits the atmospheric data distribution information with the geographical location information;

Step S4, providing a ground station, the ground station comprising a data receiving module, a data analyzing module and a display, the data receiving module receiving atmospheric data distribution information from the data transmitting module, the data analyzing module receiving the atmosphere The data distribution information is analyzed, and the display displays the atmospheric data distribution information analyzed by the data analysis module in real time in units of grids.

Preferably, the monitoring area view is divided to form a plurality of uniformly continuous grids, each grid corresponding to a geographical range.

Preferably, the geographical location information is a rectangular planar area whose length and width are set values.

Preferably, the geographical location information is a square area having a length and a width of 10 meters.

Preferably, along the moving direction of the UAV, the atmospheric data detecting module sequentially monitors the atmospheric data distribution information of the corresponding grid area, sequentially obtains the atmospheric data distribution information of the passing grid area, and the atmospheric data distribution information. Corresponding to the geographical location of the grid.

Preferably, the ground station comprises a memory, the memory pre-stores various types of atmospheric data distribution information standard intervals, the memory receives actual atmospheric data distribution information from the data receiving module, and pre-stored various types of atmospheric data distribution information The interval values are compared and the comparison results are fed back to the data analysis module.

Preferably, the standard interval value of the various types of atmospheric data distribution information is set to correspond to different hue values of visible light, and the actual atmospheric data distribution information of the geographical area of the grid corresponds to different hue values, thereby obtaining two-dimensional color atmospheric data. Distribution.

Preferably, the atmospheric data detection module is an electrochemical sensor.

A two-dimensional visual dynamic display system for air data distribution based on a drone, comprising a drone and a ground station, the drone comprising an atmospheric data detecting module, a positioning module and a data transmitting module, wherein the drone is selected Moving in a predetermined monitoring area, the positioning module records geographic location information of the drone, and the atmospheric data detecting module monitors real-time atmospheric data distribution information of the current location of the drone in real time, and transmits it to the location The data transmitting module includes: a data receiving module, a data analyzing module, and a display, wherein the data receiving module receives geographic location information of the drone and corresponding actual atmospheric data distribution information, where the data analysis module pairs The atmospheric data distribution information with geographic location information is analyzed, and a two-dimensional visualization diagram of the atmospheric data distribution is displayed on the display in units of grids.

Preferably, the ground station further includes a storage, the storage device pre-stores various standard values of atmospheric data distribution information, different visible light hue values corresponding to each standard interval value, and the ground station corresponds to atmospheric data to be received. The distribution information is converted into a hue value, and a two-dimensional atmospheric data distribution hue map is obtained.

Compared with the related art, the two-dimensional visual dynamic display system for the distribution of atmospheric data based on the UAV provided by the present invention uses a gridding method to provide an atmospheric data distribution information for each grid, and according to different grids The size can be adjusted to adjust the resolution of the atmospheric data distribution.

Secondly, in the near ground station of the present invention, a memory is provided such that the atmospheric data distribution standard interval value matches the hue value, and the invisible atmospheric data is converted into a visible two-dimensional color map, which is visually presented Monitor the distribution of atmospheric data in the area to increase the degree of visualization.

Furthermore, by controlling the sensing frequency of the atmospheric data detecting module, dynamic atmospheric data distribution information can be obtained. Correspondingly, the display correspondingly can present a dynamic schematic diagram of the atmospheric data distribution of the to-be-monitored region.

DRAWINGS

1 is a structural block diagram of a two-dimensional visual dynamic display system for atmospheric data distribution based on a drone according to the present invention; and

2 is a schematic diagram showing the working flow of the two-dimensional visual dynamic display system for air data distribution based on the UAV shown in FIG. 1;

Figure 3 is a view of the selected monitoring area;

4 is a schematic view of a grid formed after the division of the monitoring area view shown in FIG. 3;

FIG. 5 is a grid corresponding to determining the position of the current drone in the monitoring area view A according to the positioning module; and

Fig. 6 is an air data distribution information having grid information shown in Fig. 5.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Please refer to FIG. 1 , which is a structural block diagram of a two-dimensional visual dynamic display system for atmospheric data distribution based on a drone according to the present invention. The UAV-based atmospheric data distribution two-dimensional visual dynamic display system 1 includes a drone 11, a near ground station 13 and a remote ground station 15. The drone 11 monitors the distribution of atmospheric data in the set height space and collects actual atmospheric data distribution information. The near ground station 13 and the drone 11 communicate with each other through a near field communication technology to receive actual atmospheric data distribution information collected from the drone 11 and correspondingly process and analyze the received atmospheric data distribution. The information is converted into display data information to realize two-dimensional visual display. The remote ground station 15 and the near ground station 13 implement data transmission through an internet network to obtain actual atmospheric data distribution information and visual display information.

Referring to FIG. 2 again, it is a schematic diagram of the workflow of monitoring the selected monitoring area based on the two-dimensional visual dynamic display system of the air data distribution of the drone according to FIG. 1 . When the UAV-based atmospheric data distribution two-dimensional visualization dynamic display system 1 is used to monitor the monitoring area for atmospheric data, the method includes the following steps:

Step S1, selecting the area to be detected, and acquiring the monitoring area view A through the satellite;

As shown in FIG. 3, the selected monitoring area is a to-be-detected area located at a certain height of the environment, and the plane where the area to be monitored is located is parallel to the horizontal plane. The area to be monitored is displayed by the satellite image to form a monitoring area view A, and its boundary contour is set to L.

Step S2, in the monitoring area view A in the first dimension direction and the second dimension direction perpendicular to each other, the monitoring area view A is evenly divided to form a monitoring area view A with a grid;

As shown in FIG. 4, in the monitoring area view A, first dimension directions and second dimension directions perpendicular to each other are set, wherein the first dimension direction is an X-axis direction, and the first dimension direction is perpendicular to the first dimension direction. The two-dimensional direction is a Y-axis direction, and the X-axis direction and the Y-axis direction define a plane in which the monitoring area view A is located. The monitoring area view A is evenly divided along the X-axis direction and the Y-axis direction, respectively, and defines a plurality of array-distributed grids a, wherein each grid a corresponds to a geographical area in the monitoring area view A. Taking ann represents the geographical location area information of the area of the grid a, then the grid a is distributed according to the ranks:

First row first column grid a11, first row second column grid a12, ...;

Second row first column grid a21, second row second column grid a22, ...;

......

The nth row first column grid an1, the nth row nth column grid ann, ....

The details are as shown in the following table, where n is greater than or equal to 1.

Table 1 Geographical area information parameter value of the grid a

Each geographic location information may correspond to a plurality of geographic location information. For example, in the present embodiment, the length of the grid is ten meters, and the width is also ten meters. The geographic location area information corresponding to the grid is a geographical location area having a length of ten meters and a width of ten meters. Within the geographic location area, one geographic location information may be corresponding to multiple geographic location information.

Step S3, providing the drone 11 to move within the area to be monitored, and acquiring atmospheric data distribution information bnn corresponding to a geographic location area corresponding to the grid ann;

The drone 11 includes a body 111, a positioning module 113, an air data detecting module 115, a data transmitting module 117, and a controller 119. The body 111 carries the positioning module 113, the air data detecting module 115, the data transmitting module 117, and the controller 119. The controller 119 is electrically connected to the positioning module 113, the air data detecting module 115, and the data transmitting module 117, respectively. The controller 119 generates a control signal to drive the working states of the positioning module 113, the air data detecting module 115, and the data transmitting module 117.

In this step, the drone 11 moves in the area to be monitored, including the following steps:

In step S31, the controller 119 provides a first instruction to drive the positioning module 113 to work, and obtain specific geographic location information of the drone 11 in the monitoring area view A, the geographic location information and the The geographical location information ann corresponds.

In step S32, the controller 119 provides a second instruction to drive the drone 11 to move in the area to be monitored, and the positioning module 113 determines that the drone 11 is sequentially in the monitoring area view. A plurality of continuous grids that pass through.

As shown in FIG. 5, according to the positioning module 113, a grid corresponding to the position of the drone 11 in the monitoring area view A is determined. In this embodiment, the geographic location information of the current UAV 11 is set to (X, Y), and the location corresponding to the geographical location information is axy, such that the geographic location information and each cell Corresponding to the grid. Specifically, when the UAV 11 is moved along the X-axis direction, the first grid a11, the second grid a12, the seventh grid a17, and the first row are sequentially passed through the first row. Eight grille a18.

In step S33, the controller 119 provides a third instruction to drive the atmospheric data detecting module 115 to monitor the atmospheric data distribution information of the current geographic location in real time.

As shown in FIG. 6, in this step, when the atmospheric data detecting module 115 is located in the area of the grid a11, the corresponding monitoring result of the atmospheric data detecting module 113 is the distribution of atmospheric data for the area where the grid a11 is located. Information, setting the atmospheric data distribution information to b11, the atmospheric data distribution information b11 corresponding to the grid a11, and so on, thereby obtaining atmospheric data distribution information (ann, bnn) having grid information, The details are as shown in the following table, where n is greater than or equal to 1.

Table 2 Matching table between grid information and atmospheric data distribution information

As can be seen from the above table, the atmospheric data distribution information bnn corresponds to the grid information ann, in other words, the atmospheric data distribution information bnn is atmospheric data distribution information bnn marked with the grid information ann.

In this step, the operating frequency of the atmospheric data detecting module 113 is related to the flying speed and the flying direction of the drone 11, for example, it can be set to be sensed once per second.

Of course, in the actual actual monitoring process, the operating frequency of the atmospheric data detecting module 113 is not limited to one atmospheric data distribution information corresponding to each grid, and may also be a set of atmospheric data distribution information, when it is required to improve atmospheric data. For the monitoring accuracy, the average value, the mode method, the highest value method, and the lowest value method of a set of atmospheric data distribution information acquired by multiple inductions in each grid may be taken as effective values.

In the present invention, the atmospheric data detecting module 113 may be one or more of various types of electrochemical sensors such as a particle detecting sensor, a gas detecting sensor, and a weather data detecting sensor.

The gas detecting sensor includes one or more of a hydrogen sulfide sensor, a nitric oxide sensor, a carbon dioxide sensor, and a sulfur dioxide sensor.

The weather data detecting sensor includes a temperature sensor and a humidity sensor.

So far, the drone 11 completes the collection of ambient atmospheric data distribution information.

Step S4, the data transmitting module 117 transmits the collected atmospheric data distribution information to the near ground station 13 in real time;

The near ground station 13 includes a data receiving module 131, a data analyzing module 133, a memory 135, and a display 137. The data receiving module 131 receives the atmospheric data distribution information bnn from the corresponding grid ann collected by the drone 11 . The hue spectrum corresponding to the standard atmospheric data distribution standard interval value is pre-stored in the memory 133, that is, each atmospheric data distribution information value corresponds to a hue, and different hue is matched for different atmospheric data distribution interval value information.

In this step, each actual atmospheric data distribution information bnn corresponds to a hue value cnn, as shown in the following table, where n is greater than or equal to 1.

Table 3 Atmospheric data distribution information and hue value matching table

Step S5, the data receiving module 131 compares the received actual atmospheric data distribution information with the standard atmospheric data distribution information, converts it into hue information according to the comparison result, and transmits it to the display 137 for display in real time;

When the drone 11 moves in the area to be monitored, a hue value cnn corresponding to the actual atmospheric data distribution information is formed in each of the grids ann, and the matching relationship is as shown in the following table, wherein n Greater than or equal to 1.

Table 4 Grid information, atmospheric data distribution information and hue value matching table

When the movement of the drone 11 passes through all the grids in sequence, the display 137 acquires n*n hue values, and the hue values correspond to the geographical location information of the monitoring area view A, similarly painted The color principle is to form a two-dimensional color distribution map on the display 137, wherein different hue values correspond to different atmospheric data distribution values, and the same hue value represents that the atmospheric data distribution of the corresponding grid is consistent, that is, the two-dimensional The distributed hue diagram visually shows the distribution of atmospheric data in the area to be monitored and improves the degree of visualization.

In step S6, the near ground station 13 synchronously transmits the atmospheric data distribution information to the remote ground station 15 through real-time network communication.

So far, the two-dimensional visual display method of the atmospheric data distribution is completed.

Of course, as a further improvement of the above embodiment, the hue value corresponds to the matching time parameter, and the UAV-based atmospheric data distribution two-dimensional visual dynamic display system 1 presents a dynamic atmospheric data distribution, that is, real-time presentation.

Compared with the prior art, in the two-dimensional visual dynamic display system for air data distribution based on the drone 11 of the present invention, a grid-forming method is used to provide a geographical location information for each area to be monitored, and according to different grids. The size of the grid can adjust the resolution of the air mass distribution correspondingly. For example, the larger the size of the grid, the smaller the resolution corresponding to it, and vice versa.

On the other hand, in the near ground station 13 of the present invention, the memory 135 is provided such that the air quality parameter matches the hue value, and the invisible atmospheric data is converted into a visible two-dimensional color map, and the visual presentation is performed. The distribution of atmospheric data in the area to be monitored increases the degree of visualization.

Furthermore, by controlling the sensing frequency of the atmospheric data detecting module 113, dynamic atmospheric data distribution information can be obtained. Correspondingly, the display 137 can present the dynamic distribution of atmospheric data of the to-be-monitored area A.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A two-dimensional visual dynamic display method for air data distribution based on drones, comprising the following steps:

Select a monitoring area and obtain a monitoring area view via satellite;

Setting a first dimension direction and a second dimension direction perpendicular to each other in the monitoring area view, and uniformly dividing the monitoring area view in a direction parallel to the first dimension direction and the second dimension direction to form a monitoring area view with a grid ;

Providing a drone to move in the monitoring area, the drone includes a positioning module, an air data detecting module, and a data transmitting module, wherein the positioning module acquires geographic location information of the drone, and the air data detecting module Monitoring the atmospheric data distribution information of the geographic location information of the current drone to obtain atmospheric data distribution information with geographic location information, and the data transmitting module transmitting the atmospheric data distribution information with the geographical location information;

Providing a ground station, the ground station comprising a data receiving module, a data analyzing module and a display, the data receiving module receiving atmospheric data distribution information from the data transmitting module, and the data analyzing module receiving the collected atmospheric data distribution information Performing an analysis, the display displays the atmospheric data distribution information analyzed by the data analysis module in real time in units of grids.
The two-dimensional visual dynamic display method for air data distribution based on unmanned aerial vehicles according to claim 1, wherein the plurality of uniformly distributed grids are formed after the monitoring area view is divided, and each grid corresponds to a geography. Location range.
The two-dimensional visual dynamic display method for air data distribution based on a drone according to claim 2, wherein the geographical location information is a rectangular planar area whose length and width are set values.
The two-dimensional visual dynamic display method for air data distribution based on a drone according to claim 3, wherein the geographical location information is a square area having a length and a width of 10 meters.
The two-dimensional visual dynamic display method for air data distribution based on unmanned aerial vehicles according to claim 2, wherein the air data detecting module sequentially monitors atmospheric data of the corresponding grid region along the moving direction of the drone The distribution information sequentially obtains the atmospheric data distribution information of the passing grid area, and the atmospheric data distribution information corresponds to the geographical location area of the grid.
The two-dimensional visual dynamic display method for air data distribution based on unmanned aerial vehicles according to claim 5, wherein the ground station comprises a memory, and the memory prestores various standard intervals of atmospheric data distribution information, and the memory receives The actual atmospheric data distribution information from the data receiving module is compared with pre-stored various types of atmospheric data distribution information interval values, and the comparison result is fed back to the data analysis module.
The two-dimensional visual dynamic display method for air data distribution based on unmanned aerial vehicles according to claim 6, wherein the standard interval values of the various types of atmospheric data distribution information are set to correspond to different hue values of visible light, the grid The actual atmospheric data distribution information corresponds to the set hue value, thereby obtaining a two-dimensional color atmospheric data distribution map.
The method according to claim 1, wherein the atmospheric data detecting module is an electrochemical sensor.
A two-dimensional visual dynamic display system for air data distribution based on drones, comprising: a drone and a ground station, characterized in that:

The drone includes a positioning module, an air data detecting module and a data transmitting module, wherein the drone moves within a selected monitoring area, and the positioning module records geographical location information of the drone, the atmosphere The data detecting module monitors actual air data distribution information of the area where the current geographic location of the drone is located in real time, and transmits the information to the data transmitting module;

The ground station includes a data receiving module, a data analyzing module, and a display, and the data receiving module receives geographical location information of the drone and corresponding actual atmospheric data distribution information, and the data analyzing module has the geographical location The atmospheric data distribution information of the information is analyzed, and a two-dimensional visualization of the atmospheric data distribution is displayed on the display in units of grids.
The two-dimensional visual dynamic display system for air data distribution based on unmanned aerial vehicles according to claim 9, wherein the ground station comprises a near ground station and a far ground station, and the near ground station and the drone Communicating with each other by short-range communication, the remote ground station and the near-ground station communicate with each other through an internetwork, the near-ground station further includes a storage, and the storage pre-stores standard interval values of various types of atmospheric data distribution information. Each standard interval value corresponds to a different visible light hue value, and the data analysis module correspondingly converts the received atmospheric data distribution information into a hue value to obtain a two-dimensional atmospheric data distribution hue map.