CN104062980A - Onboard panorama monitoring system of unmanned aerial vehicle - Google Patents
Onboard panorama monitoring system of unmanned aerial vehicle Download PDFInfo
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- CN104062980A CN104062980A CN201410256963.8A CN201410256963A CN104062980A CN 104062980 A CN104062980 A CN 104062980A CN 201410256963 A CN201410256963 A CN 201410256963A CN 104062980 A CN104062980 A CN 104062980A
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Abstract
The invention discloses an onboard panorama monitoring system of an unmanned aerial vehicle. An aerial remote sensing image is transmitted to the ground in real time, and then the real-time panorama remote sensing image monitoring system is generated. The system is composed of the unmanned aerial vehicle, a remote sensor subsystem, an information transmission and ground safeguard subsystem and a panorama stitching treatment subsystem, wherein the unmanned aerial vehicle carries a remote sensor to acquire remote sensing information, an information transmission device in the information transmission and ground safeguard subsystem is used for transmitting the state of the unmanned aerial vehicle, the state of a pan-tilt, the state of the remote sensor and control signals and downloading images, a ground safeguard device in the information transmission and ground safeguard subsystem is used for transporting and storing system devices and providing comprehensive ground safeguard for the system devices, and the panorama stitching treatment subsystem is used for achieving automatic panorama stitching of downloaded image information and real-time monitoring. The system ensures that the monitoring device can be used by nonprofessional users conveniently, is easy to operate, can be applied to various industries, and has the advantages that deployment is convenient, maneuverability is high, and the real-time property of information is high.
Description
Technical field
The invention belongs to airborne remote sensing field, particularly a kind of unmanned aerial vehicle onboard panorama monitoring system, and generate the real-time monitoring system of panorama remote sensing images.
Background technology
In recent years, development along with national economy, aeroplane photography application is more and more extensive, especially country has announced open low null resource, therefore adopt unmanned plane as aeroplane photography platform, to become the main flow of current development, and adopt unmanned plane as payload platform, to avoid the elaborate formalities such as application spatial domain, and flight cost is low.
On the other hand, along with population explosion increases, all kinds of disasteies and accident (as East Turkistan, Tibetan independence etc.) take place frequently, if can not understand in time the progress of the state of affairs, can serious restriction the rescue of disaster be assessed and the control of accident is processed, thereby cause even more serious casualties and economic loss, therefore, in the urgent need to thering is the real-time dynamic monitoring equipment convenient, maneuverability is high, information real-time is high of disposing.
At present, existing product is the simple combination of unmanned plane, remote sensor and transmission equipment, after image information is passed back, need further to process, can not obtain in time first hand information, its each ingredient interdependence is poor, co-operating when needing a plurality of professional, and operating personnel's specialty is had relatively high expectations, and product systems are poor, function singleness, reliability are low.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, a kind of unmanned aerial vehicle onboard panorama surveillance is provided, can obtain in real time panorama information in airborne remote sensing photographic process, and system has diverse in function, reliability is high, simple to operate, extendability is strong feature, can avoid in the disaster and event of all kinds of bursts the unnecessary casualties and the economic loss that cause due to information delay.
Technical scheme of the present invention is: a kind of unmanned aerial vehicle onboard panorama monitoring system, comprise unmanned plane and remote sensor subsystem, communication and ground safeguard subsystem, panorama splicing processing subsystem, and above-mentioned three subsystems are all positioned at vehicle mounted square cabin; Unmanned plane and remote sensor subsystem comprise unmanned plane and remote sensor, and remote sensor is stablized The Cloud Terrace by remote sensor and is equipped on unmanned plane, and during work, unmanned plane flies away from the remote sensing images information of vehicle mounted square cabin Real-time Obtaining demand; Communication and ground safeguard subsystem comprise information transmission equipment and ground safeguard subsystem; Information transmission equipment is divided into emitter and receiving trap, be loaded on unmanned plane and ground safeguard subsystem, for transmitting unmanned plane, remote sensor, remote sensor, stablize the state control signal of The Cloud Terrace, meanwhile, the remote sensing images information that information transmission equipment obtains remote sensor on unmanned plane is sent to panorama splicing processing subsystem; Panorama splicing processing subsystem carries out processing in real time splicing by the remote sensing images information of passing back in real time, forms panoramic picture; Ground safeguard subsystem comprises communication facilities, flight control system, air-conditioning equipment, unmanned plane accumulating cabin, when communication facilities is used for work and outside communicates, flight control system is for control that unmanned plane is flown, air-conditioning equipment carries out temperature control to vehicle mounted square cabin inside, and when unmanned plane accumulating cabin is used for off working state, unmanned plane deposits.
Described unmanned plane adopts depopulated helicopter or unmanned fixed-wing aircraft.
Described remote sensor adopts commercial remote sensor, high-definition remote sensing device or multispectral remote sensor.
The present invention's advantage is compared with prior art:
1, the present invention processes groups of subsystems by unmanned plane and remote sensor subsystem, communication with ground safeguard subsystem and panorama splicing to become unmanned aerial vehicle onboard panorama monitoring system, can carry out real-time monitored to target, realize the feature that deployment is convenient, maneuverability is high, information real-time is high of monitoring equipment;
2, not only can to adopt helicopter can be also fixed-wing unmanned plane to unmanned plane of the present invention, adopts the advantage of depopulated helicopter to be: landing take up an area little, landform require low, can aloft hover, can implement tracking as accompanying in shadow to moving target; Adopt the advantage of fixed-wing unmanned plane to be: the situation of effective acquisition monitoring objective at short notice;
3, the remote sensor type in the present invention can be changed according to the different demand of user, meets user and realizes the multiple requirements such as different spectrum monitorings, high resolving power monitoring;
4, the ground safeguard subsystem in the present invention and panorama are processed the motor-driven deployment that splicing subsystem not only can be guaranteed whole system, and the panorama that inner support equipment and control system can realize autonomous flight control, flight course planning and image thereof to unmanned plane splices in real time, be convenient to controlling and guaranteeing that user obtains the monitoring result needing of layman, improve monitoring efficiency, and can reduce operating personnel's labour intensity.
5, the ground safeguard subsystem in the present invention and panorama processing splicing subsystem all can carry out functional expansion, for panorama, process splicing subsystem, can not only realize real time panoramic splicing, also can the quick location of realize target, the generation in image three-dimensional stereo data storehouse etc.; Ground safeguard subsystem also can carry out according to user's actual needs the exploitation of new function, as can be increased chamber of commerce's consultation system, increase with the relevant device contacting of the department of commander etc.
Accompanying drawing explanation
Fig. 1 is system theory of constitution figure of the present invention;
Fig. 2 is the work schematic diagram of system of the present invention;
Fig. 3 is the transmission control system framework of unmanned plane, remote sensor, The Cloud Terrace and the ground safeguard subsystem of unmanned aerial vehicle onboard panorama monitoring system;
Fig. 4 is workflow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1 and Figure 2, unmanned aerial vehicle onboard panorama monitoring system of the present invention comprises unmanned plane and remote sensor subsystem, communication and ground safeguard subsystem, panorama splicing processing subsystem, and above-mentioned three subsystems are all positioned at vehicle mounted square cabin; Unmanned plane and remote sensor subsystem comprise unmanned plane and remote sensor, and remote sensor is stablized The Cloud Terrace by remote sensor and is equipped on unmanned plane, and during work, unmanned plane flies away from the remote sensing images information of vehicle mounted square cabin Real-time Obtaining demand; Communication and ground safeguard subsystem comprise information transmission equipment and ground safeguard subsystem; Information transmission equipment is divided into emitter and receiving trap, be loaded into unmanned plane and ground safeguard subsystem, for transmitting unmanned plane, remote sensor, remote sensor, stablize the state control signal of The Cloud Terrace, meanwhile, the remote sensing images information that information transmission equipment also obtains remote sensor on unmanned plane is sent to panorama splicing processing subsystem; Panorama splicing processing subsystem, the remote sensing images information that system works is passed back in real time carries out processing in real time splicing, forms panoramic picture; Ground safeguard subsystem comprises communication facilities, flight control system, air-conditioning equipment, unmanned plane accumulating cabin, when communication facilities is used for work and outside communicates, flight control system is for control that unmanned plane is flown, air-conditioning equipment carries out temperature control to vehicle mounted square cabin inside, and when unmanned plane accumulating cabin is used for off working state, unmanned plane deposits.
Described remote sensor carrying platform, not only can select depopulated helicopter, also can select unmanned fixed-wing aircraft;
Described remote sensor not only can be selected commercial remote sensor, the special-purpose remote sensor of high resolving power or multispectral remote sensor, also can, according to user's different demands, select other available optics load;
Described remote sensor is stablized The Cloud Terrace by remote sensor and is equipped on unmanned plane, can guarantee the functions such as search, tracking and location of remote sensor when obtaining image information; At present, the The Cloud Terrace mostly using is three axle stable inertia The Cloud Terraces.
Described flight control system can be controlled automatically to the carrying out of unmanned plane, is convenient to non-unmanned plane specialty operating personnel's operation;
Described panorama splicing processing subsystem can carry out the image information of system acquisition real-time panorama splicing, and this subsystem also can be extended to other real-time processing and the extractions that can carry out image remote sensing monitoring confidence, be convenient to the expansion of this systemic-function, as the generation in the quick location of realize target, image three-dimensional stereo data storehouse etc.; Wherein panorama splicing processing subsystem can be selected < < Panoramic dynamic data acquisitionsystem based on unmanned helicopter > >, Process of SPIE2012, mode in the middle of 2012, Vol.8542.
The present invention is directed to Remote Sensing Information Extraction and need to have the real-time dynamic monitoring equipment that deployment is convenient, maneuverability is high, information real-time is high, its system works schematic diagram as shown in Figure 2.The all equipment of whole system work loads armamentarium by a shelter vehicle, the ground safeguard function such as transportation, storage, power supply of a complete set of equipment can not only be provided, also can carry out the expansion of hommization function, as form commercial consultation system etc., can be according to the real-time motor-driven deployment of user's mission requirements; Remote sensor is stablized The Cloud Terrace by remote sensor and is loaded on unmanned plane, remote sensor can select corresponding remote sensor according to user's demand, mainly contain general commercial remote sensor, high-definition remote sensing device or multispectral remote sensor, as while needing the higher image information of high resolving power, the special-purpose remote sensor of high-resolution can be installed, if need the image information of different spectrum, multispectral remote sensor can be installed; And unmanned plane carries the image that remote sensor obtains and is real-time transmitted to by information transmission equipment in the shelter vehicle of ground safeguard, by panorama splicing processing subsystem, it is carried out to the panoramic picture that user's monitoring is convenient in real-time being spliced into; In addition ground safeguard subsystem has also comprised communication facilities, flight control system, air-conditioning equipment, unmanned plane accumulating cabin, and can be layman provides operation unmanned plane, remote sensor stablize The Cloud Terrace to submit necessary information and ensure and specialty guarantee.
As shown in Figure 4, the workflow of unmanned aerial vehicle onboard panorama monitoring system is as follows:
(1), during system works, first remote sensor is powered;
(2) to The Cloud Terrace, transmission equipment power supply;
(3) according to aerial mission, flight control system is arranged;
(4) to unmanned plane, remote sensor and The Cloud Terrace, send work order;
(5) remote sensor work is taken, and obtains remote sensing images information;
(6) remote sensing images are transferred to panorama splicing processing subsystem;
(7) panorama splicing processing subsystem carries out effective information extraction to remote sensing images, and carries out Image Mosaics, obtains the image information in area to be monitored;
(8) system cut-off end-of-job.
The transmission control system framework of the unmanned plane of unmanned aerial vehicle onboard panorama monitoring system, remote sensor, The Cloud Terrace and ground safeguard subsystem as shown in Figure 3, the motion state of unmanned plane, the motion control of unmanned plane, the control of remote sensor and the digital signals such as control of The Cloud Terrace, all by digital channel and the ground safeguard subsystem communication of communication facilities, and the image information that optics load is obtained by the image transmitting channel transfer of communication facilities the panorama splicing processing subsystem to ground, carry out real-time image panorama splicing and process.
The content not being described in detail in instructions of the present invention belongs to those skilled in the art's known technology.
Claims (3)
1. a unmanned aerial vehicle onboard panorama monitoring system, is characterized in that: comprise unmanned plane and remote sensor subsystem, communication and ground safeguard subsystem, panorama splicing processing subsystem, above-mentioned three subsystems are all positioned at vehicle mounted square cabin; Unmanned plane and remote sensor subsystem comprise unmanned plane and remote sensor, and remote sensor is stablized The Cloud Terrace by remote sensor and is equipped on unmanned plane, and during work, unmanned plane flies away from the remote sensing images information of vehicle mounted square cabin Real-time Obtaining demand; Communication and ground safeguard subsystem comprise information transmission equipment and ground safeguard subsystem; Information transmission equipment is divided into emitter and receiving trap, be loaded on unmanned plane and ground safeguard subsystem, for transmitting unmanned plane, remote sensor, remote sensor, stablize the state control signal of The Cloud Terrace, meanwhile, the remote sensing images information that information transmission equipment obtains remote sensor on unmanned plane is sent to panorama splicing processing subsystem; Panorama splicing processing subsystem carries out processing in real time splicing by the remote sensing images information of passing back in real time, forms panoramic picture; Ground safeguard subsystem comprises communication facilities, flight control system, air-conditioning equipment, unmanned plane accumulating cabin, when communication facilities is used for work and outside communicates, flight control system is for control that unmanned plane is flown, air-conditioning equipment carries out temperature control to vehicle mounted square cabin inside, and when unmanned plane accumulating cabin is used for off working state, unmanned plane deposits.
2. a kind of unmanned aerial vehicle onboard panorama monitoring system according to claim 1, is characterized in that: described unmanned plane adopts depopulated helicopter or unmanned fixed-wing aircraft.
3. a kind of unmanned aerial vehicle onboard panorama monitoring system according to claim 1, is characterized in that: described remote sensor adopts commercial remote sensor, high-definition remote sensing device or multispectral remote sensor.
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| CN106791659A (en) * | 2016-12-26 | 2017-05-31 | 安徽天立泰科技股份有限公司 | A kind of forest pest and disease monitoring and guard system based on splicing of taking photo by plane |
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| CN108765284A (en) * | 2018-05-04 | 2018-11-06 | 哈尔滨理工大学 | A kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method and device |
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| CN104333411A (en) * | 2014-11-26 | 2015-02-04 | 成都中远信电子科技有限公司 | Remote-measuring, remote-control and data transmission system for unmanned aerial vehicle |
| CN104333411B (en) * | 2014-11-26 | 2018-03-16 | 成都中远信电子科技有限公司 | One kind is used for unmanned plane remote measurement, remote control and Data transfer system |
| CN106791659A (en) * | 2016-12-26 | 2017-05-31 | 安徽天立泰科技股份有限公司 | A kind of forest pest and disease monitoring and guard system based on splicing of taking photo by plane |
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| CN110249281A (en) * | 2017-02-10 | 2019-09-17 | 深圳市大疆创新科技有限公司 | Position processing unit, flying body, position processing system, flight system, position processing method, flight control method, program and recording medium |
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| CN109076193A (en) * | 2017-11-07 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Panoramic image display method and system, panoramic picture processing method and earth station |
| CN108765284A (en) * | 2018-05-04 | 2018-11-06 | 哈尔滨理工大学 | A kind of autonomous driving vehicle vehicle-mounted unmanned aerial vehicle image processing method and device |
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