CN105262986A - Equipment and system for tracing and monitoring wild Macaque - Google Patents
Equipment and system for tracing and monitoring wild Macaque Download PDFInfo
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- CN105262986A CN105262986A CN201510613481.8A CN201510613481A CN105262986A CN 105262986 A CN105262986 A CN 105262986A CN 201510613481 A CN201510613481 A CN 201510613481A CN 105262986 A CN105262986 A CN 105262986A
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Abstract
The invention relates to flight equipment for tracing and monitoring wild animals. The equipment comprises a control device, a communication device, a positioning device, a shooting device, a sound collection device, a route determining device, an electricity quantity detection device and a flight determining device. The positioning device is respectively connected with the communication device and the control device. The positioning device is used for positioning the flight equipment for tracing and monitoring wild animals and then transmitting the obtained positioning signal to the communication device and the control device. The communication device is used for sending the positioning signal so as to be in communication with the outside. The shooting device is used for video/image shooting. The sound collection device is used for collecting environmental sounds. The electricity quantity detection device is used for detecting the electricity quantity of the power supply of the flight equipment for tracing and monitoring wild animals. The control device controls the overall operation of the flight equipment for tracing and monitoring wild animals so as to control the communication device, the positioning device, the shooting device, the sound collection device, the route determining device, the electricity quantity detection device and the flight determining device. According to the technical scheme of the invention, wild animals can be traced and tracked in real time, and the activity images of the wild animals are recorded. The equipment is timely in positioning and tracing effect and accurate in monitoring effect.
Description
Technical field
The present invention relates to a kind of wild animal tracking monitor flight instruments, particularly a kind of Wild Macaque is followed the trail of, is monitored flight instruments and system.
Background technology
Although China has increased the protection of the wild animal living environments such as forest, river, wetland, grassland at present, a large amount of wild animal has been still had to be faced with population deterioration danger even in imminent danger.For saving the wild animals; sometimes to study population, wild animal zone of action, habit, living environment etc.; the common practice adopts the modes such as anesthesia, trap to catch wild animal individuality; follow-up mechanism is installed as locating collar etc. with it at it; then this wild animal is put and return population; or the animal of carrying follow-up mechanism of artificial house is put and returns field; by to above-mentioned animal wear the location of follow-up mechanism; understand the event trace of wild animal population; and then grasp its life habit etc., it is protected.
But above trace mode is only a kind of elementary mode, understanding population quantity, habit, concrete active situation etc. that cannot be detailed.The hope that researcher is urgent can obtain the live image of wild animal population, provides research material intuitively.Environment multidigit remote, thickly forested mountains residing for wild animal, only generally cannot arrive the zone of action of animal with the tracking of people, especially for primates such as macaques, because it lives in the woods, forest throughout the year, and with " tree is for family ", only its activity cannot be followed the tracks of with manpower.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the object of the invention is to propose a kind of wild animal tracking monitor flight instruments, follow the trail of in particular to a kind of Wild Macaque event trace, monitor flight instruments and system, real-time tracking can be realized to followed the tracks of wild animal, the image of record wild animal activity, have locating and tracking in time, monitor feature accurately.
For realizing the object of the present invention, be achieved by the following technical solutions:
A kind of wild animal tracking monitor flight instruments, comprising: control device, communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means; It is characterized in that:
Positioner is connected with control device with communicator respectively, for positioning wild animal tracking monitor flight instruments, and sends the geographic location signal of location to communicator and control device;
Communicator is for sending this geographical location information and realizing and outside communication; Filming apparatus is used for carrying out video capture or taking pictures, and voice collection device is for gathering ambient sound; Electric quantity detection apparatus is for detecting the electric quantity of power supply of wild animal tracking monitor flight instruments;
Control device controls the overall operation of wild animal tracking monitor flight instruments, controls communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means.
Described flight instruments, preferred:
Communicator receives the flight directive of control centre and this instruction is sent to control device, control device goes out impact point geographical location information according to this instructions parse, and the geographical location information of impact point and the geographical location information of flight instruments are sent to route judgment means;
Route judgment means calculates impact point and flight instruments distance therebetween and plans flight path, flight path and flying distance is sent to control device, flying distance is sent to flight judgment means;
Flight judgment means is according to the flying distance received and the battery electric quantity situation of aircraft sent from electric quantity detection apparatus, judge whether aircraft can be flown to impact point and whether can return nearest home port, and judged result is sent to control device;
After control device receives the signal of the "Yes" that flight judgment means sends, control aircraft to fly to destination, when after the signal receiving the "No" that flight judgment means sends, control the signal that aircraft is sent flight path, distance, electricity by communicator to control centre and can not fly to, do not carry out flight operation simultaneously.
Described flight instruments, preferred:
In flight instruments flight course, the impact point geographical location information that communicator real-time reception control centre or impact point are sent, the geographical location information of the flight instruments that impact point geographical location information and the positioner of this reception record by control device in real time in real time sends to route judgment means, flight path is planned by route judgment means, control device adjusts the flight path of flight instruments in real time according to this flight path, and this distance is also sent to control device and flight judgment means by route judgment means distance also between real-time judge and impact point in real time.
Described flight instruments, preferred:
Wild animal tracking monitor flight instruments is before flying to impact point, and filming apparatus and voice collection device are in closed condition, do not work;
Flight instruments is after receiving the open command that control centre sends, and control device is opened corresponding filming apparatus and/or voice collection device or control device and whether arrived default distance according to the distance with impact point and automatically open filming apparatus and/or voice collection device.
Described flight instruments, preferred:
When flying to impact point preset distance, control device opens filming apparatus after receiving control centre to send the instruction of unlatching filming apparatus, or control device opens filming apparatus automatically; The signal of filming apparatus shooting is real-time transmitted to the communication system of control centre, the shooting signal that control centre utilizes storage device storage to receive by communicator, and shows this signal by the display unit of control centre; Flight instruments is self-contained memory device, the signal of real-time storage shooting.
Described flight instruments, preferred:
If the signal ambiguity of shooting, then the control system of control centre sends shooting adjustment signal by communication system to wild animal tracking monitor flight instruments, and control device is according to the acquisition parameters of this adjustment signal adjustment filming apparatus;
The control system of control centre is according to the shooting signal received, to be sent to wild animal tracking monitor flight instruments by communication system and further fly height, fly low, fly near or fly Position Control instruction far away, control device controls the flight of wild animal tracking monitor flight instruments according to this instruction.
Described flight instruments, preferred:
Filming apparatus is installed on flight instruments by angular adjustment apparatus;
Flight instruments is also provided with lighting apparatus, when residing for aircraft, ambient light is darker, the control system of control centre sends the instruction of opening searchlight by communication system, the control device of flight instruments opens searchlight after receiving this instruction, to throw light on.
Described flight instruments, preferred:
Wild animal tracking monitor flight instruments also comprises infrared ray sensing device, the infrared signal that the infrared ray sensor for the charging device receiving home port sends, and this signal is sent to control device;
The information about power of the wild animal tracking monitor flight instruments power supply that control device is sent according to electric quantity detection apparatus, judge that whether electricity is sufficient, as inadequate, then start automatic charging pattern: default home port interior layout information is sent to control device by route judgment means, the position setting track route of control device residing for this information and wild animal tracking monitor flight instruments, control wild animal tracking monitor flight instruments to advance along this setting path, open the infrared signal that infrared ray sensor reception charging device sends simultaneously, when after the infrared signal that the infrared ray sensor receiving charging device sends, wild animal tracking monitor flight instruments is moved to charging device according to the direction of this signal and charges by control device.
Described flight instruments, preferred: this wild animal tracking monitor flight instruments is also provided with running gear, this running gear is the wheel or undercarriage that drive head to drive.
A kind of wild animal tracking monitor flight instruments control centre, comprising: control system, communication system, display unit, flight instruments remote controller, system of geographic location, is characterized in that:
The geographical location information that the follow-up mechanism wearing the animal of follow-up mechanism in communication system reception wild animal population sends;
Send trace instruction by communication system to wild animal tracking monitor flight instruments by control system, this instruction comprises the ID of follow-up mechanism, geographical location information;
System of geographic location is used for the geographical location information at detection control center, and sends to flight instruments by communication system;
Flight instruments remote controller is used for remote control distributor device;
After flight instruments takes off, the geographical location information residing for flight instruments that this communication system real-time reception flight instruments transmits in real time, according to this information, control system judges whether flight instruments flies to impact point predetermined distance range, when flying to this preset distance, control system sends the instruction of opening filming apparatus by communication system; The control device of flight instruments is opened filming apparatus according to this instruction and is taken, and the signal of shooting is passed through communicator real-time Transmission to control centre, the signal of this shooting of filming apparatus that the communication system real-time reception flight instruments of control centre is sent, store the shooting signal received, and show this signal by the display unit of control centre, if the signal ambiguity of shooting, then control system sends shooting adjustment signal to wild animal tracking monitor flight instruments, the acquisition parameters of adjustment filming apparatus;
The control system of control centre according to the shooting signal received, send to wild animal tracking monitor flight instruments and further fly height, fly low, fly near or fly Position Control instruction far away, after monitoring, control system sends instruction of making a return voyage.
Described wild animal tracking monitor flight control center, preferred:
Flight instruments remote controller has handle, by regulating this handle, the moving and send movable signal of simulated flight device, this movable signal is admitted to control system, and control system sends this signal to the communicator of wild animal tracking monitor flight instruments by communication system; Remote controller also comprises keyboard, and the button on it represents the operation that aircraft, On/Off filming apparatus and voice collection device, On/Off searchlight are moved in front, back, left, right, up, down respectively.
Described wild animal tracking monitor flight control center, preferred:
The movement of this moving handle also adjustable flight instruments angular adjustment apparatus, by moving handle, angle adjustment signal is sent to flight instruments, after the control device of flight instruments receives this signal, the anglec of rotation of control angle adjusting device, and then the shooting angle regulating filming apparatus.
A home port for wild animal tracking monitor flight instruments, comprising: controller, communication module and locating module, is characterized in that:
The geographical location information of detection for detecting the geographical position of home port, and is sent to communication module by locating module;
Communication module is used for communicating with control centre, wild animal tracking monitor flight instruments, other home ports, and sends the positional information of himself in real time;
Controller is for controlling the work of home port;
Home port main body comprise multiple sidewall, can retractable roof and automatic open-close mechanism, multiple sidewall is connected to each other and surrounds home port main body, can be positioned at above multiple sidewall by retractable roof, for the top of closed home port main body;
Multi-disc roofing board can be comprised by retractable roof, when wild animal tracking monitor flight instruments makes a return voyage, after close to destination home port, the control device of wild animal tracking monitor flight instruments sends approaching signal by communicator to home port, after home port receives this signal, control automatic open-close mechanism by controller to work, automatic open-close mechanism can open the multi-disc roofing board of retractable roof;
Control device or the control centre of the rear wild animal tracking monitor flight instruments of wild animal tracking monitor flight instruments landing send the signal of closing roof to home port, after home port receives this signal, by controller control automatic open-close mechanism can retractable roof multi-disc roofing board close.
Described home port, preferred:
Described roofing board is solar energy collecting plate.
Described home port, preferred:
Home port also comprises infrared ray sensing device, charging device, electric power detection module, and wherein, infrared ray sensor is arranged on charging device, sends infrared signal, the position of mark charging device.
Described home port, preferred:
Home port arranges approaching signal device in inner landing point, launches landing position signal.
A flight system for wild animal tracking monitor flight instruments, comprises home port and one of the as above wild animal tracking monitor flight instruments control centre of one of as above described wild animal tracking monitor flight instruments, one of as above wild animal tracking monitor flight instruments.
Accompanying drawing explanation
Fig. 1 is wild animal tracking monitor flight instruments schematic diagram;
Fig. 2 is control centre's schematic diagram;
Fig. 3 is wild animal tracking monitor flight system schematic diagram;
Fig. 4 is home port main body schematic diagram;
Fig. 5 is home port charging system schematic diagram;
Fig. 6 is home port control system schematic diagram.
Embodiment
As shown in Figure 1, wild animal tracking monitor flight instruments is a kind of SUAV, especially a kind of multi-rotor aerocraft, it comprises: control device, the communicator be connected with control device respectively, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means.Positioner is connected with control device with communicator respectively, for positioning wild animal tracking monitor flight instruments, and sends framing signal to communicator and control device.Communicator is used for sending framing signal to control centre and communicating with remote control center, and described positioner can be GPS positioner or Big Dipper positioner.Control device controls the overall operation of wild animal tracking monitor flight instruments, controls communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means.
Filming apparatus is video camera or camera, for carrying out video capture or taking pictures; Voice collection device can be microphone, for gathering ambient sound; Electric quantity detection apparatus is for detecting the electric quantity of power supply of wild animal tracking monitor flight instruments, and this power supply can be rechargeable battery.
As shown in Figure 2, control centre comprises control system, communication system, display unit, flight instruments remote controller, system of geographic location.Communication system receives the framing signal (geographical location information) that wild animal population sends as worn the follow-up mechanism (can be GPS positioner or Big Dipper positioner) of follow-up mechanism as the animal of locating collar in Wild Macaque population, trace instruction is sent to wild animal tracking monitor flight instruments by control system, this instruction comprises the ID of follow-up mechanism, the information such as geographical position (this position residing for animal of wearing follow-up mechanism is called impact point).When not installing follow-up mechanism in animal population, the control system of control centre also can send directly to wild animal tracking monitor flight instruments the trace instruction carrying wild animal geographical location information (being called aiming spot information).Fly to impact point by wild animal tracking monitor flight instruments to observe.System of geographic location is used for the geographical location information at Monitoring and Controlling center, and sends to flight instruments by communication system, and flight instruments can to fly back control centre according to this information.
The communicator of flight instruments receives the instruction of control centre and this instruction is sent to control device, control device goes out the information such as ID and/or geographical position of follow-up mechanism according to this instructions parse, the geographical location information of follow-up mechanism and the geographical location information of himself (being detected the framing signal obtained by positioner) are sent to route judgment means, route judgment means calculates distance therebetween, generally speaking, route judgment means can calculate air line distance therebetween, but the region that aircraft is difficult to leap ought be there is therebetween, as overcast and rainy minefield, no-fly zone, turbulent region, high mountain etc., this route judgment means can according to the geographical environment between aircraft and impact point, atmospheric environment, the flight path that the planning such as no-fly region is arranged are optimum, and calculate flying distance, the flight path planned and flying distance are sent to control device, flying distance is sent to flight judgment means.
Flight judgment means, according to the flying distance received and the battery electric quantity situation of aircraft sent from electric quantity detection apparatus, judges whether aircraft can be flown to impact point and whether can return nearest home port.And judged result is sent to control device.
After control device receives the signal of the "Yes" that flight judgment means sends, control aircraft to fly to destination, when after the signal receiving the "No" that flight judgment means sends, control the signal that aircraft is sent flight path, flying distance, electric quantity of power supply by communicator to control centre and can not fly to, do not carry out flight operation simultaneously.After control centre receives this signal, if still adhere to flight, then send to wild animal tracking monitor flight instruments and force flight directive, after receiving this instruction, the impact point geographical location information of control device entrained by this instruction and this instruction flies to impact point.
Wild animal tracking monitor flight instruments, in flight course, is energy savings, generally all can closes filming apparatus and voice collection device.Afterwards after receiving the open command that control centre sends, control device just opens corresponding filming apparatus and/or voice collection device, whether control device also can arrive default distance as being less than or equal to 500 meters according to the distance with impact point, and automatically opens filming apparatus and/or voice collection device.Due to wild animal most of time be in motion process, therefore need in-flight to calibrate flight path.The mode adopted is the impact point geographical position that communicator real-time reception control centre or impact point are sent, the geographical location information of the wild animal tracking monitor flight instruments that impact point geographical location information and the positioner of this reception record by control device in real time in real time sends to route judgment means, plan flight path in real time by route judgment means, control device adjusts the flight path of wild animal tracking monitor flight instruments in real time according to this flight path.This distance is also sent to control device and flight judgment means by route judgment means distance also between real-time judge and impact point in real time, flight judgment means, according to the flying distance received and the battery electric quantity situation of aircraft sent from electric quantity detection apparatus, judges whether aircraft can be flown to impact point and whether can return nearest home port.And judged result is sent to control device, control device according to this judged result select be continue to fly to home port that destination (judged result can fly to destination and can return the home port nearest from destination) still makes a return voyage or fly to nearest with flight instruments (judged result be cannot fly to destination or namely enable destination of flying to also cannot return the home port nearest from destination).
When flight instruments flies to impact point preset distance as 500 meters, control device opens filming apparatus and/or voice collection device after receiving control centre to send the instruction of unlatching filming apparatus and/or voice collection device, or automatically opens filming apparatus and/or voice collection device by control device.The signal of filming apparatus shooting and/or the voice signal of voice collection device collection are real-time transmitted to the communication system of control centre by communicator, control centre utilizes storage device (not shown in Fig. 2) to store the signal received, and show by the display unit of control centre and/or play this signal, preferably, flight instruments is self-contained memory device, the signal of real-time storage shooting and the voice signal of collection, for conservation of power, control device can control communicator timed sending shooting, the signal gathered, as at predetermined interval as within 1 minute, transmitted signal and/or the voice signal of collection of a frame or multiframe shooting.If the signal ambiguity of shooting, then control system sends shooting adjustment signal to wild animal tracking monitor flight instruments, and control device adjusts focal length, Scalable multiple, the aperture of filming apparatus according to this adjustment signal, the acquisition parameters such as shutter.Filming apparatus both can capture video also can be taken pictures.Control centre can also send the instruction of opening voice collection device, or automatically opens voice collection device by control device.Control centre is according to the shooting signal received, send to wild animal tracking monitor flight instruments and further fly height, fly low, fly near or fly Position Control instruction far away, control device according to this instruction control wild animal tracking monitor flight instruments fly close-target point or fly far away (away from) impact point.After shooting, control centre sends instruction of making a return voyage, and control device controls wild animal tracking monitor flight instruments according to this instruction and makes a return voyage.Filming apparatus is installed on flight instruments by angular adjustment apparatus, and control centre can send angular adjustment instruction, and control device is according to the anglec of rotation of this instruction adjusting angle adjusting device, and then the shooting angle of adjustment filming apparatus.Flight instruments is also provided with lighting apparatus, as miniature searchlight, when residing for aircraft, ambient light is darker, the control system of control centre sends the instruction of opening searchlight by communication system, the control device of flight instruments opens searchlight after receiving this instruction, to throw light on, obtain desirable shooting effect.
Control centre is provided with the remote control of the flight instruments of band handle, monitoring personnel can regulate arbitrarily this moving handle, the movement (as front, back, left, right, up, down flight etc.) of simulated flight device also sends movable signal, relevant movable signal is admitted to control system, control system sends this signal to the communicator of wild animal tracking monitor flight instruments by communication system, and control device controls the flight of aircraft according to the movable signal received.Remote control also comprises keyboard, and the button on it represents front, back, left, right, up, down respectively and moves aircraft, On/Off filming apparatus and the operation such as voice collection device, On/Off searchlight.
The movement of this moving handle also adjustable angle adjusting device, operating personnel are while observing the observation picture that shows in real time of display screen, operation moving handle, angle adjustment signal is sent to flight instruments, after the control device of flight instruments receives this signal, the anglec of rotation of control angle adjusting device, and then the shooting angle regulating filming apparatus.
Below, by reference to the accompanying drawings 1,3, wild animal tracking monitor flight system of the present invention is described: carrying out in wild animal scientific investigation, tracing process, because wild animal lives in field, range base or research center as distant in control centre, therefore, when performing the work of wild animal tracking monitor, wild animal tracking monitor flight instruments in most cases can not ensure to come back to the base in time or research center, is therefore necessary to invent a kind of wild animal tracking monitor flight system.This system comprises multiple home port, wild animal tracking monitor flight instruments, control centre.Described home port is arranged in tested wild animal zone of action, and is uniformly distributed, and distributed areas cover monitored area as far as possible.Home port as mains-supplied, provides power supply by electrical network, also can have other power supplys as wind power plant and/or solar power plant.
As shown in Figure 6, home port comprises controller, communication module and locating module, locating module is for determining the geographical position of home port, and this positional information is sent to communication module, communication module is used for communicating with control centre, wild animal tracking monitor flight instruments, other home ports, and sends the positional information of himself in real time.Locating module can be GPS positioner or Big Dipper positioner.
Home port can be Attended mode base also can be unattended operation base, aircraft landing level ground is provided with in Attended mode base, for the landing of aircraft, in unattended operation base, as shown in Figure 4, this unattended operation base overall structure comprise multiple sidewall 2, can retractable roof 1 and automatic open-close mechanism (not shown).Multiple sidewall is connected to each other and surrounds home port main body, can be positioned at above multiple sidewall by retractable roof, for the top of closed home port main body, multi-disc roofing board can be comprised by retractable roof, closed condition can be in the ordinary course of things by retractable roof, avoiding wind and weather, enter animal etc. home port inner facility, equipment are worked the mischief.Can the multi-disc roofing board of retractable roof be opened or closed by automatic open-close mechanism, automatic open-close mechanism is connected with the controller of home port.When wild animal tracking monitor flight instruments makes a return voyage, after close to destination home port, during as distance 1000 meters, the control device of wild animal tracking monitor flight instruments sends approaching signal by communicator to home port, after home port receives this signal, control automatic open-close mechanism by controller to work, automatic open-close mechanism can open the multi-disc roofing board of retractable roof 2.Wild animal tracking monitor flight instruments both can identify that the landing position of home port dropped in home port from the roof opened automatically under control of the control means automatically, also can control it by control centre and land.After landing, the control device of wild animal tracking monitor flight instruments or control centre send the signal of closing roof to home port, and after home port receives this signal, controlling automatic open-close mechanism by controller can the multi-disc roofing board of retractable roof 2 close.Above-mentioned roof as solar power plant as solar energy collecting plate, can have concurrently to open and closes and gather the function of solar power generation.Multi-disc can adopt the mode of turnover to open and close by retractable roof plate, and flexible mode also can be adopted to open and close.
The situation that flight instruments lands in home port inside is described below in detail:
First, automatic Landing: when wild animal tracking monitor flight instruments flies to home port overhead, the request of landing is sent to home port, after this signal received by home port, control home port roofing board by the controller of home port to open, home port arranges approaching signal device in inner landing point, as infrared signal emitter, launch landing position signal upward, as infrared signal, flight instruments has approaching signal receiver, as infrared signal receiving apparatus, after receiver receives this approaching signal, receiver sends this signal to control device, control device judges landing orientation and adjusts the air position of flight instruments, when confirming to have arrived at the position in overhead, scheduled landing position (as facing position, land), control device controls aircraft landing, the height on the distance ground detected with the height detecting device of timed unit real-time reception flight instruments self, when being highly 0, control device cuts out flight motor, stop the flight of flight instruments, send the instruction of closing roofing board, home port closes roofing board according to this instruction.
Second, controlled landing: when wild animal tracking monitor flight instruments flies to home port overhead, the request of landing is sent to home port, after this signal received by home port, control home port roofing board by the controller of home port to open, the control system of control centre sends the instruction of opening filming apparatus by communication system, after the communicator of flight instruments receives this instruction, under this instruction controls, open filming apparatus by control device and send the picture of shooting to control centre, control centre's display unit shows the picture received, staff sends adjustment shooting angle according to this picture, the instruction of acquisition parameters etc., till the shooting picture returned from flight instruments meets the requirements, now, by regulating the handle of flight instruments remote controller, aircraft is made to fly to directly over roof, namely directly over landing site, control aircraft by manipulation remote controller slowly to decline thereupon, until land.Control system sends the instruction of closing roofing board, and home port closes roofing board according to this instruction.
Home port can give the charging of wild animal tracking monitor flight instruments.Charging system below in conjunction with accompanying drawing 4,5 pairs of home ports is described.Home port also comprises: infrared ray sensing device, charging device, electric power detection module.Infrared ray sensor is arranged on charging device, sends infrared signal, the position of mark charging device.Wild animal tracking monitor flight instruments also comprises infrared ray sensing device, the infrared signal that the infrared ray sensor for receiving charging device sends, and this signal is sent to control device.After wild animal tracking monitor flight instruments enters home port, the information about power of wild animal tracking monitor flight instruments power supply (as rechargeable battery) that control device is sent according to electric quantity detection apparatus, judge that whether electricity is sufficient, as inadequate, then start automatic charging pattern: the home port interior layout information preset (can be stored in the internal memory of the control system of flight instruments by route judgment means, internal memory is the memory devices such as nonvolatile memory) send to control device, the position setting track route of control device residing for this information and wild animal tracking monitor flight instruments, control wild animal tracking monitor flight instruments to advance along this setting path, open the infrared signal that infrared ray sensor reception charging device sends simultaneously, when after the infrared signal that the infrared ray sensor receiving charging device sends, wild animal tracking monitor flight instruments is moved to charging device according to the direction of this signal and charges by control device.
In order at the inner mobile wild animal tracking monitor flight instruments of home port, this wild animal tracking monitor flight instruments is also provided with running gear, generally speaking multi-rotor aerocraft does not possess walking mechanism, but the present invention is in order to realize automatic charging, in wild animal tracking monitor flight instruments bottom, multiple wheel is set, for supporting this flight instruments, the driving mechanism wheels such as motor being set simultaneously and rotating.Or undercarriage being set, for supporting whole frame wild animal tracking monitor flight instruments, after wild animal tracking monitor flight instruments takes off, packing up undercarriage, when landing, drop.When charging, movable motor opened by control device, drives the rotating of wheel of wheel or undercarriage, with mobile wild animal tracking monitor flight instruments to selected position.The charging device of home port can provide electric power by external mains supply, also can external wind power plant and/or solar power plant.
Owing to being in field, home port is generally difficult to external electricity network, usually wind power plant and/or solar power plant generating is all relied on, now charging device be rechargeable battery as lead acid accumulator, nickel-cadmium cell, lithium ion battery, lithium polymer battery etc., for storing the electric energy that wind power plant and/or solar power plant send.The electric energy stored due to each home port has to be had few more, and not identical, therefore home port also has electric quantity detection apparatus, for detecting the electricity of charging device, below in conjunction with accompanying drawing 6, is described home port internal control system.Home port comprises controller, communication module, locating module, charging device, electric power detection module, infrared ray sensor.Controller and communication module, locating module, electric power detection model calling, for the work of home port and control system all parts thereof, electric power detection module is connected with charging device, for detecting the electricity of charging device, infrared ray sensor is installed on charging device, send infrared signal, the position of mark charging device.
When wild animal tracking monitor flight instruments needs to make a return voyage to home port, by the geographical location information of multiple home port, (this information can be stored in advance in the built-in memory of wild animal tracking monitor flight instruments to its control device, also can be the geographical location information that the home port received sends in real time, through being sent by the communication module of this home port after this geographical location information is detected by the locating module of this home port) positional information of wild animal tracking monitor flight instruments self that records in real time with the positioner of flight instruments sends to route judgment means, flight path is planned by route judgment means, calculate flying distance therebetween, generally speaking, route judgment means can calculate air line distance therebetween, but the region that aircraft is difficult to leap ought be there is therebetween, as overcast and rainy minefield, no-fly zone, during turbulent region etc., this route judgment means can according to the geographical environment between aircraft and each home port, atmospheric environment, the flight path that the planning such as no-fly zone is arranged are optimum, and calculate flying distance, by and each home port (impact point) between flight path and flying distance send to control device, control device is to all home port mass-sending electricity request signals, after the communication module of each home port receives electricity request signal, the controller of home port is according to this signal enabling electric power detection module, electric power detection module detects the electricity of charging device, and information about power is sent to controller, controller sends himself information about power (identifying the information about power in this base by the unique ID of each home port self) by communication module to wild animal tracking monitor flight instruments, after wild animal tracking monitor flight instruments receives the information about power that each home port sends, this information about power and flying distance are sent to flight judgment means, flight judgment means is according to the flying distance received and the aircraft charge condition sent from the electric quantity detection apparatus of wild animal tracking monitor flight instruments, judge whether aircraft can fly to the home port of sufficient electricity.And judged result is sent to control device.If only have a home port to meet the demands, then control device controls wild animal tracking monitor flight instruments according to the flight path corresponding to this home port and to fly to this base, if there is multiple home port satisfied condition, the home port that then control device chosen distance is nearest also controls wild animal tracking monitor flight instruments according to the flight path corresponding to this home port and to fly to this base, if all home ports all do not meet charge condition, the home port that then control device chosen distance is nearest also controls wild animal tracking monitor flight instruments according to the flight path corresponding to this home port and to fly to this base.
Communication between each part in wild animal tracking monitor flight system and wild animal tracking monitor flight instruments, control centre, home port adopts communication, therefore the communication equipment, module, system etc. that have communication capacity in each part are radio communication device, the communication equipments such as such as GSM, GPRS, 3G, 4G, LTE.
Wild animal tracking monitor flight instruments and system; can real-time tracing, observation, production wild animal living condition easily; and field landing, maintenance, charging can be realized, improve the efficiency of wild animal observation, for wild animal observation, protection provide good condition.
Claims (10)
1. a wild animal tracking monitor flight instruments, comprising: control device, communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means; It is characterized in that:
Positioner is connected with control device with communicator respectively, for positioning wild animal tracking monitor flight instruments, and sends the geographic location signal of location to communicator and control device;
Communicator is for sending this geographical location information and realizing and outside communication; Filming apparatus is used for carrying out video capture or taking pictures, and voice collection device is for gathering ambient sound; Electric quantity detection apparatus is for detecting the electric quantity of power supply of wild animal tracking monitor flight instruments;
Control device controls the overall operation of wild animal tracking monitor flight instruments, controls communicator, positioner, filming apparatus, voice collection device, route judgment means, electric quantity detection apparatus and flight judgment means.
2. flight instruments according to claim 1, is characterized in that:
Communicator receives the flight directive of control centre and this instruction is sent to control device, control device goes out impact point geographical location information according to this instructions parse, and the geographical location information of impact point and the geographical location information of flight instruments are sent to route judgment means;
Route judgment means calculates impact point and flight instruments distance therebetween and plans flight path, flight path and flying distance is sent to control device, flying distance is sent to flight judgment means;
Flight judgment means is according to the flying distance received and the battery electric quantity situation of flight instruments sent from electric quantity detection apparatus, judge whether flight instruments can be flown to impact point and whether can return nearest home port, and judged result is sent to control device;
After control device receives the signal of the "Yes" that flight judgment means sends, control flight instruments to fly to destination, when after the signal receiving the "No" that flight judgment means sends, control the signal that flight instruments is sent flight path, distance, electricity by communicator to control centre and can not fly to, do not carry out flight operation simultaneously.
3. flight instruments according to claim 2, is characterized in that:
In flight instruments flight course, the impact point geographical location information that communicator real-time reception control centre or impact point are sent, the geographical location information of the flight instruments that impact point geographical location information and the positioner of this reception record by control device in real time in real time sends to route judgment means, flight path is planned by route judgment means, control device adjusts the flight path of flight instruments in real time according to this flight path, and this distance is also sent to control device and flight judgment means by route judgment means distance also between real-time judge and impact point in real time.
4. flight instruments according to claim 1, is characterized in that:
Wild animal tracking monitor flight instruments is before flying to impact point, and filming apparatus and voice collection device are in closed condition, do not work;
Flight instruments is after receiving the open command that control centre sends, and control device opens corresponding filming apparatus and/or voice collection device; Or whether control device arrives default distance according to the distance with impact point and automatically opens filming apparatus and/or voice collection device.
5. flight instruments according to claim 1, is characterized in that:
When flying to distance objective point preset distance, control device opens filming apparatus and/or voice collection device after receiving control centre to send the instruction of unlatching filming apparatus, or control device opens filming apparatus and/or voice collection device automatically; The signal of filming apparatus shooting and or the signal of voice collection device collection be real-time transmitted to the communication system of control centre by communicator, the signal that control centre utilizes storage device storage to receive, and show by the display unit of control centre and/or play this signal; Flight instruments is self-contained memory device, real-time storage shooting and/or the signal gathered.
6. flight instruments according to claim 5, is characterized in that:
If the signal ambiguity of shooting, then the control system of control centre sends shooting adjustment signal by communication system to wild animal tracking monitor flight instruments, and control device is according to the acquisition parameters of this adjustment signal adjustment filming apparatus;
The control system of control centre is according to the shooting signal received, to be sent to wild animal tracking monitor flight instruments by communication system and further fly height, fly low, fly near or fly Position Control instruction far away, control device controls the flight of wild animal tracking monitor flight instruments according to this instruction.
7. flight instruments according to claim 1, is characterized in that:
Wild animal tracking monitor flight instruments also comprises infrared ray sensing device, the infrared signal that the infrared ray sensor for the charging device receiving home port sends, and this signal is sent to control device;
The information about power of the wild animal tracking monitor flight instruments power supply that control device is sent according to electric quantity detection apparatus, judge that whether electricity is sufficient, as inadequate, then start automatic charging: default home port interior layout information is sent to control device by route judgment means, the position setting track route of control device residing for this information and wild animal tracking monitor flight instruments, control wild animal tracking monitor flight instruments to advance along this setting track route, open the infrared signal that infrared ray sensor reception charging device sends simultaneously, when after the infrared signal that the infrared ray sensor receiving charging device sends, wild animal tracking monitor flight instruments is moved to charging device according to the direction of this signal and charges by control device.
8. a wild animal tracking monitor flight instruments control centre, comprising: control system, communication system, display unit, flight instruments remote controller, system of geographic location, is characterized in that:
The geographical location information that the follow-up mechanism wearing the animal of follow-up mechanism in communication system reception wild animal population sends;
Send trace instruction by communication system to wild animal tracking monitor flight instruments by control system, this instruction comprises the ID of follow-up mechanism, geographical location information;
System of geographic location is used for the geographical location information at detection control center, and sends to flight instruments by communication system;
Flight instruments remote controller is used for remote control distributor device;
After flight instruments takes off, the geographical location information residing for flight instruments that this communication system real-time reception flight instruments transmits in real time, according to this information, control system judges whether flight instruments flies to impact point predetermined distance range, when flying to this preset distance, control system sends the instruction of opening filming apparatus by communication system; The control device of flight instruments is opened filming apparatus according to this instruction and is taken, and the signal of shooting is passed through communicator real-time Transmission to control centre, the signal of the filming apparatus shooting that the communication system real-time reception flight instruments of control centre is sent, store the shooting signal received, and show this signal by the display unit of control centre, if the signal ambiguity of shooting, then control system sends shooting adjustment signal to wild animal tracking monitor flight instruments, the acquisition parameters of adjustment filming apparatus;
The control system of control centre according to the shooting signal received, send to wild animal tracking monitor flight instruments and further fly height, fly low, fly near or fly Position Control instruction far away, after monitoring, control system sends instruction of making a return voyage.
9. a home port for wild animal tracking monitor flight instruments, comprising: controller, communication module and locating module, is characterized in that:
The geographical location information of detection for detecting the geographical position of home port, and is sent to communication module by locating module;
Communication module is used for communicating with control centre, wild animal tracking monitor flight instruments, other home ports, and sends the geographical location information of himself in real time;
Controller is for controlling the work of home port;
Home port main body comprise multiple sidewall, can retractable roof and automatic open-close mechanism, multiple sidewall is connected to each other and surrounds home port main body, can be positioned at above multiple sidewall by retractable roof, for the top of closed home port main body;
Multi-disc roofing board can be comprised by retractable roof, when wild animal tracking monitor flight instruments makes a return voyage, after close to destination home port, the control device of wild animal tracking monitor flight instruments sends approaching signal by communicator to home port, after home port receives this signal, control automatic open-close mechanism by controller to work, automatic open-close mechanism can open the multi-disc roofing board of retractable roof;
Control device or the control centre of the rear wild animal tracking monitor flight instruments of wild animal tracking monitor flight instruments landing send the signal of closing roof to home port, after home port receives this signal, by controller control automatic open-close mechanism can retractable roof multi-disc roofing board close.
10. a flight system for wild animal tracking monitor flight instruments, comprises according to one of claim 1-7 described wild animal tracking monitor flight instruments, according to claim 8 wild animal tracking monitor flight instruments control centre and the home port wanting the wild animal tracking monitor flight instruments described in 9 according to right.
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