CN104848893A - Drone drought detection method based on airborne soil moisture sensor - Google Patents
Drone drought detection method based on airborne soil moisture sensor Download PDFInfo
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Abstract
The present invention discloses a drone drought detection method based on an airborne soil moisture sensor. A detection device mainly composed of a drone and the assorted remote control and upper computer is adopted, the upper computer and the drone are connected through a wireless transmission module, and the soil moisture sensor is mounted on the drone. A drought detection area is divided into a plurality of subareas, a plurality of soil water content sampling points are configured and are sampled in turn by the drone, the drone hovers above the sampling points and is controlled to land on the ground by the remote control, the soil water content and soil temperature are measured through the soil moisture sensor and are sent to the upper computer for data processing, and the sampling points are then labeled in combination with an electronic map, thus to computer the detection. According to the drought detection method provided by the present invention, the drone is adopted to perform drought detection through the soil moisture sensor, accurate judgment can be carried out, and satellites can be further replaced to perform real-time detection.
Description
Technical field
The present invention relates to a kind of drought detection method, particularly relate to a kind of unmanned plane drought detection method based on airborne soil moisture sensor.
Background technology
Drought refers to because weather is harsh or abnormal arid and the meteorological disaster formed.Refer generally to because soil moisture is not enough, crop moisture balance is destroyed and the underproduction or poor harvest thus bring food problem, even causes famine.Meanwhile, drought also can make us class and for want of enough potable water of animal and lethal.In addition, after drought, then easily there is the plague of locusts, and then cause more serious famine, cause social unrest.
Since 20th century, China had met with repeatedly great drought, all caused huge loss to the agricultural of China, industry, economic dispatch aspect each time.In " ten large disasters " that the whole world occurred in this century, high the ranking first of drought adds up to 5 times, and in these 5 worldwide Major Drought Catastrophes, China just occupies wherein 3 times, nineteen twenty respectively, north of China great drought, Shandong, Henan, Shanxi, Shaanxi, Hebei etc. are economized and are subject to the Big Dry of not meeting for more than 40 year, and the victims of the disaster 2,000 ten thousand, dead 500,000 people; 1928-nineteen twenty-nine, Shaanxi, China great drought, whole area, Shaanxi totally 940 ten thousand people is disaster-stricken, and the dead reaches 2,500,000 people, the person of fleeing from a calamity more than 40 ten thousand people, is sold women and unexpectedly reaches more than 30 ten thousand people; Nineteen forty-three, Chinese Guangdong great drought, many local year first arrivals are not rained grain rains, and cause serious grain shortage, only Taishan County famine victim is with regard to dead 150,000 people, the village that some the condition of a disaster is serious, and Loss is more than half.China is the country of drought frequent " patronizing " as can be seen here.
The prediction of current damage caused by a drought is mainly undertaken judging by comprehensive Meteorological drought index CI, CI utilizes nearly 30 days and nearly 90 days quantity of precipitation Standardized Precipitation indexes, and nearly 30 days relative humidexs are carried out comprehensive and obtain, its value has quite high representativeness, but only rely on these data to be merely able to understand the roughly damage caused by a drought in the region that CI exponent pair is answered, recognize that concrete damage caused by a drought needs to carry out investigation concrete further and detection to this region.
The MODIS data that the current monitoring for damage caused by a drought is all collected by satellite time many are carried out in conjunction with soil measured data, this method has a very big significance for area monitoring, but the data ultimate resolution that satellite monitoring obtains is 250 meters, so accurate judgement may not be being accomplished in subregion monitoring.
Summary of the invention
The object of the invention is for drought detection more careful in the zone, propose a kind of unmanned plane drought detection method based on airborne soil moisture sensor.
Technical scheme of the present invention comprises the steps:
1) adopt the monitoring device formed primarily of unmanned plane and supporting telepilot thereof and host computer, be connected by wireless transport module between host computer with unmanned plane; Unmanned plane is mounted with GPS locating module, barometer, gyroscope, soil moisture sensor and the cradle head mechanism with camera, soil moisture sensor is for measuring water cut and the soil moisture of sampled point soil;
2) according to the actual conditions in wanted monitor drought using crop region, monitor drought using crop Region dividing is become multiple subregion, multiple soil water content sampled point is set in every sub regions;
3) by the position coordinates of soil water content sampled point input host computer, be sent to unmanned plane by wireless transport module, unmanned plane takes off after receiving the position coordinates of soil water content sampled point and enters automatic cruise mode and sample successively to all soil water content sampled points;
4) for each soil water content sampled point, after unmanned plane works the overhead hovering of flying to this soil water content sampled point position coordinate under automatic cruise mode, unmanned plane is switched to telepilot control model, manipulation unmanned plane drop to ground, measured soil water content and the soil moisture of this soil water content sampled point by airborne soil moisture sensor, and be sent to host computer by airborne PCMS transmitting-receiving module;
5) host computer receive all soil water content sampling numbers that unmanned plane uploads according to after, data processing is carried out to the soil water content of all sampled points of every sub regions, and carries out mark in conjunction with electronic chart and complete detection.
Described step 5) in, the soil water content of each sampled point of subregion received and great damage caused by a drought critical value compare by described host computer, if soil water content is greater than this critical value, then the soil water content of this sampled point is labeled in the respective coordinates position of electronic chart, again the soil water content of all sampled points under the every sub regions received is averaged, the damage caused by a drought grade of this subregion is judged according to damage caused by a drought grade, damage caused by a drought grade at this subregion marker color corresponding to electronic chart, the color that different damage caused by a drought grade marks is different.
Described damage caused by a drought grade divides in such a way: soil moisture content be greater than 30% do not carry out damage caused by a drought grade classification, soil moisture content is divided into four grades between 0 ~ 30%, 20% ~ 30% is the first order, 10% ~ 15% is the second level, 5% ~ 10% is the third level, and 0 ~ 5% is the fourth stage.
Multiple soil water content sampled points in described every sub regions at least comprise the soil water content sampled point on farmland, meadow in every sub regions.
Described monitor drought using crop region becomes multiple subregion according to administrative division.
The invention has the beneficial effects as follows:
The present invention adopts unmanned plane to carry out drought detection by soil moisture sensor, can judge accurately, and satellite can be replaced further to detect in real time, and this detection mode is simple to operate, and intelligence degree is higher, can promote on a large scale.Unmanned plane be a kind of structure simple, can vertical takeoff and landing, many rotary wind types unmanned vehicle, by means of its reliable stability, unmanned plane is often used in takes photo by plane, bridge machinery, and fixed point such as to be cruised at the scene, and its application is expanded rapidly.
Accompanying drawing explanation
Fig. 1 is schematic flow sheet of the present invention.
Fig. 2 is the connected mode schematic diagram of each parts of unmanned plane of the present invention.
Embodiment
Hereinafter with reference to accompanying drawing, preferred embodiment of the present invention is described in detail.Should be appreciated that preferred embodiment only in order to the present invention is described, instead of in order to limit the scope of the invention.
As shown in Figure 1, the present invention includes following steps:
1) adopt the monitoring device formed primarily of unmanned plane and supporting telepilot thereof and host computer, be connected by wireless transport module between host computer with unmanned plane,
Unmanned plane is mounted with GPS locating module, barometer, gyroscope, soil moisture sensor and the cradle head mechanism with camera, soil moisture sensor is for measuring water cut and the soil moisture of sampled point soil;
2) according to the actual conditions in wanted monitor drought using crop region, monitor drought using crop Region dividing is become multiple subregion, multiple soil water content sampled point is set in every sub regions; In every sub regions, according to the concrete condition in this subregion, several soil water content sampled points are set in conjunction with electronic chart;
3) by the position coordinates of soil water content sampled point input host computer, be sent to unmanned plane by wireless transport module, unmanned plane takes off after receiving the position coordinates of soil water content sampled point and enters automatic cruise mode and sample successively to all soil water content sampled points;
4) for each soil water content sampled point, after unmanned plane works the overhead hovering of flying to this soil water content sampled point position coordinate under automatic cruise mode, unmanned plane is switched to telepilot control model, fly hand manipulation unmanned plane and drop to ground, measured soil water content and the soil moisture of this soil water content sampled point by airborne soil moisture sensor, and be sent to host computer by airborne PCMS transmitting-receiving module;
5) host computer receive all soil water content sampling numbers that unmanned plane uploads according to after, data processing is carried out to the soil water content of all sampled points of every sub regions and the soil moisture, and carries out mark in conjunction with electronic chart and complete detection.Final on electronic chart, obtain a complete Regional Drought situation distribution plan, complete Monitoring of drought.
Step 5) in, the soil water content of each sampled point of subregion received and great damage caused by a drought critical value compare by described host computer, if soil water content is greater than this critical value, then the soil water content of this sampled point is labeled in the respective coordinates position of electronic chart, again the soil water content of all sampled points under the every sub regions received is averaged, the damage caused by a drought grade of this subregion is judged according to damage caused by a drought grade, damage caused by a drought grade at this subregion marker color corresponding to electronic chart, the color that different damage caused by a drought grade marks is different.Damage caused by a drought grade is the most serious grade, can mark especially.
Damage caused by a drought grade divides in such a way: soil moisture content be greater than 30% do not carry out damage caused by a drought grade classification, soil moisture content is divided into four grades between 0 ~ 30%, 20% ~ 30% is the first order, 10% ~ 15% is the second level, 5% ~ 10% is the third level, and 0 ~ 5% is the fourth stage.
Multiple soil water content sampled points in every sub regions at least comprise the soil water content sampled point on farmland, meadow in every sub regions.Soil water content sampled point in every sub regions sets according to the actual conditions of each sub regions, and the emphasis acquisition target such as farmland, meadow will relatively many relating to.
Monitor drought using crop region can become multiple subregion according to administrative division.Concrete condition in subregion refers to the distribution situation of mountains and rivers in this subregion, river, lake, farmland, the woods, groups of building.Monitor drought using crop Region dividing is that multiple subregion does not clearly define, and can become multiple subregion according to administrative division, but province, city, district, county, a town etc.
Step 4) unmanned plane observes carry out safe falling by handling camera on cradle head mechanism when droping to ground; Step 4) unmanned plane measures sea level elevation by barometer, measures attitude and the anglec of rotation by gyroscope.
Soil moisture sensor is installed on the steering wheel on unmanned plane, the initial position of soil moisture sensor is horizontal direction, when arriving soil water content sampled point, fly hand manipulation steering wheel to rotate, make the draw point of soil moisture sensor vertically downward, when soil water content sampling terminates, after unmanned plane lift-off, fly hand manipulation steering wheel and make soil moisture sensor get back to initial position.
The draw point of soil moisture sensor is inserted into soil inside, and measured soil water content and the soil moisture are fed back to UAV Flight Control unit, and the data obtained is received and dispatched module by PCMS and is sent to host computer by UAV Flight Control unit.
As shown in Figure 2, the present invention adopts the checkout equipment comprising unmanned plane, the telepilot supporting with unmanned plane and host computer;
Unmanned plane is mounted with UAV Flight Control unit, GPS locating module, barometer, gyroscope, PMU Power Management Unit, cradle head mechanism, electricity tune, PCMS transmitting-receiving module and soil moisture sensing;
With the supporting telepilot of unmanned plane for manipulating the flight of unmanned plane; Host computer is used for the data, the information that get positional information and the reception unmanned plane of unmanned plane transmission sampled point.
PCMS receives and dispatches module for receiving host computer and remote information and sending the data that UAV Flight Control unit receives to host computer; Unmanned plane is used for PCMS to receive and dispatch instruction that module receives and sends all parts to and collect the data that all parts surveys; The unmanned plane real time position data that GPS locating module transmits for receiving gps satellite; Barometer is for measuring the real-time altitude information of unmanned plane; Gyroscope is for measuring the real-time attitude angle of unmanned plane; PMU Power Management Unit is for measuring power supply real time data; Cradle head mechanism is for taking the real-time video information around unmanned plane; Soil moisture sensor is for measuring water cut and the soil moisture of sampled point soil.
In described unmanned plane, telepilot is received and dispatched module to the flight control signal that unmanned plane sends through PCMS and is sent to UAV Flight Control unit, unmanned plane survey every data and send by UAV Flight Control unit the wireless receiving module receiving and dispatching module and ground through PCMS and send host computer, the picture signal of video camera is sent to host computer through the image receiver module on image sending module and ground successively.
Specific embodiment of the invention process is as follows:
1) choose the region that certain city is surveyed for the specific embodiment of the invention, wherein the division of subregion divides system according to original district of this city level, is divided into A district, B district, C district, D district, E district, F district, G district, H district eight sub regions;
2) suitable sampled point is chosen according to the area size in each district, shape, the sampling point position coordinate that wherein A chooses is (120.12897E, 30.322213N), (120.088438E, 30.282551N), (120.183874E, 30.325704N); The sampling point position coordinate that B chooses is (120.193791E, 30.233763N), (120.181431E, 30.234761N); The sampling point position coordinate that C chooses is (120.183155E, 30.277686N), (120.190054E, 30.258722N); The sampling point position coordinate that D chooses is (120.371296E, 30.273733N), (120.368709E, 30.327863N), (120.240503E, 30.296935N), (120.20846E, 30.274232N); The sampling point position coordinate that E chooses is (120.119771E, 30.284711N), (120.082976E, 30.21383N); The sampling point position coordinate that shore F chooses is (120.148517E, 30.187361N), (120.215207E, 30.18836N); The sampling point position coordinate that G chooses is (120.607299E, 30.343074N), (120.523362E, 30.214829N), (120.405504E, 30.184364N), (120.308343E, 30.211333N); The sampling point position coordinate that H chooses is (120.337556N, 30.416632E), (120.332669N, 30.358064E), (120.231484N, 30.329889E), (120.223723N, 30.392462E);
3) position coordinates of selected sampled point is sent to unmanned plane successively by host computer, unmanned plane is switched to automatic cruise mode, flies towards received sampling point position coordinate;
4) when unmanned plane arrives sampling point position coordinate place, unmanned plane hovers and is switched to telepilot and controls state of flight, fly the landing of hand control unmanned plane, fly hand in the process and be sent to according to unmanned plane the surrounding enviroment that data on host computer and video judge the state of flight of unmanned plane, height and level point, to guarantee that unmanned plane can safe falling;
5) unmanned plane is stable land while, its soil humidity sensor draw point down loaded just in time injects soil inside, receive after the soil water content of this sampled point and temperature data that unmanned plane transmits until host computer, unmanned plane continues to switch to automatic cruise mode and to fly to next sampled point;
6) after treating that unmanned plane has surveyed the data of a sub regions, host computer carries out data processing automatically, host computer first by moisture lower than 20% data and this sampled point position mark on electronic chart, then all sampling numbers certificates of this subregion are averaged, carry out damage caused by a drought grade according to the damage caused by a drought grade divided before to this subregion with the mean value obtained to judge, finally on electronic chart, paint the color corresponding to its damage caused by a drought grade in this subregion position;
Damage caused by a drought grade in embodiment divides in such a way: be divided into 4 grades according to soil moisture content from 0 ~ 30%, and wherein 20% ~ 30% is one-level, and corresponding color is green; 10% ~ 15% is secondary, and corresponding color is yellow; 5% ~ 10% is three grades, and corresponding color is orange; 0 ~ 5% is level Four, and corresponding color is red, and wherein 5% attaches most importance to large damage caused by a drought critical value, soil moisture content be less than 5% be the most serious grade, carry out asterisk mark.
7) unmanned plane is as shown in table 1 below in all data of each sampled point, data processing averaging of income number and electronic chart color that subregion is painted;
In table 1 specific embodiment of the invention survey data result
8) the present invention can be used in other cities, the whole nation with reference to the present embodiment, finally can obtain the damage caused by a drought distribution plan in each city, the whole nation.
This example shows feasibility of the present invention, take full advantage of the high feature of unmanned plane stability and by the application extension of unmanned plane to drought detection field, can reflect the damage caused by a drought detecting ground highly intelligentized while exactly, the present invention has outstanding significant effect thus.
Above-mentioned embodiment is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (5)
1., based on a unmanned plane drought detection method for airborne soil moisture sensor, it is characterized in that comprising the steps:
1) adopt the monitoring device formed primarily of unmanned plane and supporting telepilot thereof and host computer, be connected by wireless transport module between host computer with unmanned plane; Unmanned plane is mounted with GPS locating module, barometer, gyroscope, soil moisture sensor and the cradle head mechanism with camera, soil moisture sensor is for measuring water cut and the soil moisture of sampled point soil;
2) according to the actual conditions in wanted monitor drought using crop region, monitor drought using crop Region dividing is become multiple subregion, multiple soil water content sampled point is set in every sub regions;
3) by the position coordinates of soil water content sampled point input host computer, be sent to unmanned plane by wireless transport module, unmanned plane takes off after receiving the position coordinates of soil water content sampled point and enters automatic cruise mode and sample successively to all soil water content sampled points;
4) for each soil water content sampled point, after unmanned plane works the overhead hovering of flying to this soil water content sampled point position coordinate under automatic cruise mode, unmanned plane is switched to telepilot control model, manipulation unmanned plane drop to ground, measured soil water content and the soil moisture of this soil water content sampled point by airborne soil moisture sensor, and be sent to host computer by airborne PCMS transmitting-receiving module;
5) host computer receive all soil water content sampling numbers that unmanned plane uploads according to after, data processing is carried out to the soil water content of all sampled points of every sub regions, and carries out mark in conjunction with electronic chart and complete detection.
2. a kind of unmanned plane drought detection method based on airborne soil moisture sensor according to claim 1, it is characterized in that: in described step 5), the soil water content of each sampled point of subregion received and great damage caused by a drought critical value compare by described host computer, if soil water content is greater than this critical value, then the soil water content of this sampled point is labeled in the respective coordinates position of electronic chart, again the soil water content of all sampled points under the every sub regions received is averaged, the damage caused by a drought grade of this subregion is judged according to damage caused by a drought grade, damage caused by a drought grade is at this subregion marker color corresponding to electronic chart, the color that different damage caused by a drought grade marks is different.
3. a kind of unmanned plane drought detection method based on airborne soil moisture sensor according to claim 1, it is characterized in that: described damage caused by a drought grade divides in such a way: soil moisture content be greater than 30% do not carry out damage caused by a drought grade classification, soil moisture content is divided into four grades between 0 ~ 30%, 20% ~ 30% is the first order, 10% ~ 15% is the second level, 5% ~ 10% is the third level, and 0 ~ 5% is the fourth stage.
4. a kind of unmanned plane drought detection method based on airborne soil moisture sensor according to claim 1, is characterized in that: the multiple soil water content sampled points in described every sub regions at least comprise the soil water content sampled point on farmland, meadow in every sub regions.
5. a kind of unmanned plane drought detection method based on airborne soil moisture sensor according to claim 1, is characterized in that: described monitor drought using crop region becomes multiple subregion according to administrative division.
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| CN107036659A (en) * | 2017-06-09 | 2017-08-11 | 长江师范学院 | A kind of Multifunctional environment monitoring sampling apparatus and its method |
| CN107219860A (en) * | 2017-07-31 | 2017-09-29 | 内蒙古智牧溯源技术开发有限公司 | A kind of unmanned plane rang management system and method |
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| CN109030773A (en) * | 2018-06-28 | 2018-12-18 | 沈阳兴迪电子科技有限公司 | A kind of soil testing assemblies applied to smart city, system and method |
| US10165725B2 (en) | 2016-09-30 | 2019-01-01 | Deere & Company | Controlling ground engaging elements based on images |
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