CN107416204A - A kind of unmanned plane for monitoring ice condition key element - Google Patents
A kind of unmanned plane for monitoring ice condition key element Download PDFInfo
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- CN107416204A CN107416204A CN201610220681.1A CN201610220681A CN107416204A CN 107416204 A CN107416204 A CN 107416204A CN 201610220681 A CN201610220681 A CN 201610220681A CN 107416204 A CN107416204 A CN 107416204A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 35
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- 230000005540 biological transmission Effects 0.000 claims description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The present invention relates to a kind of unmanned plane for monitoring ice condition key element.The unmanned plane of the monitoring ice condition key element of the present invention, including unmanned plane body, monitors load and ground installation.Described unmanned plane monitors load includes small-sized high-definition digital video camera, or infrared, or far infrared, or thermal infrared camera equipment, or measuring of ice thickness electric drilling device, or sonar surveys ice thickness equipment, and their any combination.Described measuring of ice thickness electric drilling device is between unmanned aerial vehicle body and undercarriage, including structure and control measuring circuit, can accurately measure ice layer thickness in place.The unmanned plane of the monitoring ice condition key element of the present invention, it possesses the advantages that flexible, quick, efficient, long-range, accurate, safety and low cost.
Description
Technical field
The present invention relates to ice condition supervising field, specifically, being related to a kind of unmanned plane for monitoring ice condition key element.
Background technology：
Seawater icing phenomenon can all occur for China's Bohai Sea and north Yellow Sea annual winter.Bohai Sea and Yellow Sea sea ice is that China is important
One of Oceanic disasters.Influenceed by winter climate changes in temperature, the light and heavy degree of annual offshore ice is different, sea ice when serious
Offshore platform can be pushed over, port facilities, block fairway is destroyed, damages naval vessel, makes maritime traffic transport paralysis, to sea
Facility causes considerable damage and loss；Particularly to the ocean primary industry based on sea fishery, sea is ice-bound to cause ocean
Fishery stops production, and mariculture industry is disaster-stricken, and ship is largely damaged, and the normal life for having had a strong impact on maritime people is guarantee
The safety of ice formation operation, it is very necessary to carry out ice forecast and monitoring.
Ice thickness refers to the vertical range along shore ice surface to ice sheet bottom, generally by centimetre in units of, the measurement of ice thickness
It is most important part in sea ice monitoring.The method that scene obtains ice thickness at present has three classes：When by transmitting electromagnetic wave,
Sound wave etc. penetrates ice sheet, and time conversion when returning to receiver with it goes out the thickness of ice.Penetration speed is key index.But by
Controlled in the property of ice by its internal temperature, and the temperature of nature ice changes round the clock with temperature.Therefore, with ice
The relevant physical parameter of property is in a range of changing value, and so resulting in measurement method has larger error and error component
Uncertainty；Second, the time reflected when reaching ice interface by ultrasonic wave and laser, calculates the distance away from interface,
Measured precision is risen and fallen by local surfaces to be influenceed, and the change of thickness needs could body in the relative test in the surface of ice sheet and bottom surface
It is existing；Third, direct measurement, littoral ice thickness observation is generally carried out with ice auger and ice chi, and it is simple and reliable, but can not realize fixed point
Time sight, and sea ice it is relatively thin can not bear observe people's weight when can not carry out, there is certain danger.
In order to obtain the sea ice ice condition key element at Sea Ice Disasters scene and its Adjacent Sea Area, effectively system accurately and in time
Determine Sea Ice Disasters emergency preplan, the effective firsthand information is provided for disaster prevention and control decision-making section, there is quick mobile, high monitoring
The sea ice emergency monitoring of area coverage, the accurate sea ice ice condition data collection function in scene and information remote wireless transmission function is set
It is standby to be very important.
The content of the invention：
It is an object of the invention to provide a kind of ice condition supervising unmanned plane, possess it is flexible, quick, efficient, long-range, accurate,
The advantages that safe and inexpensive, it disclosure satisfy that the demand of sea ice and various rivers and ice condition of lake monitoring task.Seen in sea ice
In survey, many terms for expressing and describing ice condition are commonly referred to as ice condition key element.Present device can monitor the thickness of ice, and ice is close
The ice condition key elements such as intensity, ice total amount ice type, ice-like and ice face temperature.
The purpose of the present invention is achieved through the following technical solutions：
A kind of unmanned plane of monitoring ice condition key element of the present invention, including unmanned plane body, monitors load and ground installation.
Described unmanned plane body includes fuselage, frame, protective cover and landing gear, the energy and power distribution equipment, power
Propulsion plant, navigate and fly control device, wireless data transmission device.Wherein unmanned plane Landing Gear Design is amphibious type, to prevent
Ice face ruptures, the overboard damage of unmanned plane.Navigation fly control device include GLONASS (GNSS) positioner and
Attitude measuring etc..
Described UAV system pocket includes small-sized visible ray high-definition digital video camera, or infrared, or far infrared, or thermal infrared
Camera equipment, or measuring of ice thickness electric drilling device, or sonar measuring of ice thickness equipment, and they one of them or several appoint
Meaning combination.Specific load configuration carries ability by mission requirements, unmanned aerial vehicle platform and loading device small miniaturization situation determines.Its
Middle-size and small-size high-definition digital video camera, or it is infrared, or far infrared, or thermal infrared camera equipment is in the unmanned plane high cruise stage
The image data of acquisition, the closeness and ice total amount of sea ice by image processing techniques, can be obtained.Low latitude or target ice face
The image data that the land stage obtains can obtain the element information such as ice type and ice-like by image recognition technology.Real-time video image
For ground control hand and decision-maker measuring of ice thickness target ice face in place, and auxiliary can be selected to complete unmanned plane target ice face
Land and take off.
Described unmanned aerial vehicle equipment includes ground control, wireless data receiving device, data processing and display system
Hand, and other ground safeguard personnel and facility are manipulated with unmanned plane.
As a further improvement on the present invention, measuring of ice thickness electric drilling device using in place with survey electric drill by the way of realize, work
When making, steady safe landing to target ice face.Described measuring of ice thickness electric drilling device between unmanned aerial vehicle body and undercarriage,
Including structure and control measuring circuit.
It is solid that the measuring of ice thickness electric drilling device structure includes side stand, ceiling hold, slide rail, chute, motor, motor
Fixed pole, drill bit geometrical clamp, double thread drill bit, profile nut bar and thrust spring.
Described double thread drill bit, refer in the drill bit thread that the screw thread close to bit outer end is suitable rotary cutting object,
The part being connected close to motor with profile nut bar is bolt thread, the bolt thread phase of profile nut bar and double thread drill bit
Match somebody with somebody, the rotating speed of the bolt pitch and motor controls the speed that bit is released and withdraws translation, can be according to the hard of ice
Characteristic is spent to set.
Described slide rail is made using the uniform conductor material of resistance.Motor fix bar is fixed with motor, both ends with
Two chutes are connected, and are then connected again with two slide rails, and slide rail is fixed with two side stands；Motor passes through drill jig and double spiral shells
Line drill bit is connected, and abnormity nut bar is connected by screw thread with drill bit, and then both ends are fixed with support.Thrust spring and ceiling hold and
Motor is connected, there is provided along the thrust of drill bit outward direction.When motor rotates along nut thread, motor, drill bit geometrical clamp,
Double thread drill bit, motor fix bar and chute will be used as entirety, be screwed out along slide rail along outside the phase of drill bit direction, so as to pierce or bore
Saturating ice face；Conversely, when motor minus thread rotates, motor, drill bit geometrical clamp, double thread drill bit, motor fix bar and cunning
Groove will be used as entirety, inwardly be withdrawn along drill bit direction along slide rail, so as to set back, complete one-shot measurement.
The control measuring circuit of the measuring of ice thickness electric drilling device is placed in fuselage protective cover, including microprocessor or embedding
Enter formula processor, peripheral auxiliary circuits, current sampling circuit, resistance sampling circuit, motor driving controling circuit, data transfer electricity
Road and digital communication interface circuit.The microprocessor or embeded processor include time timing module, packet generation mould
Block etc., hardware resource can be shared under conditions of Navigation of Pilotless Aircraft flies control microprocessor or embeded processor resource allows；
The electric current of the current sampling circuit sample motor drive control circuit, and then obtain electric motor operation power and change with time
Data；The resistance sampling circuit is sliding between the side chute of sample rate one identical with above-mentioned current sampling circuit and ceiling hold
The resistance of rail, because slide rail resistivity of material is uniformly distributed, resistance is directly proportional to length, and then obtains a side chute and ceiling hold
Between slide rail length change with time data.Power of motor is finally obtained with slide rail length between a side chute and ceiling hold to become
The data of change.
The measuring of ice thickness electric drilling device measuring of ice thickness principle is as follows：Because power of motor is in zero load, that is, it is not in contact with ice
Power is low when face idling carries rotation, and when contacting ice body drilling, power is high, and motor power (output) becomes again in water after ice sheet is drilled through
It is low, thus the acquisition that once drills power of motor with slide rail length change curve map between a side chute and ceiling hold, it is high
That segment length corresponding to power output is the radical length L of ice face drilling, is obtained with reference to unmanned plane body attitude measuring
Zenith angle θ, finally obtain ice thickness observation T=cos (θ) * L.
Described unmanned plane Powerpush Unit, i.e. rotor driver can realize coordinated signals with measuring of ice thickness electric drilling device,
When measuring of ice thickness electric drilling device works, downward pressure, increase unmanned plane undercarriage and ground are produced by rotor counter-rotating
The frictional force in face, ensure that unmanned plane will not displacement or inclination when surveying the work of ice electric drill.
The ground installation of unmanned plane of the present invention may be replaced by vehicle-mounted or boat-carrying, such as can be using ship or warship as ground
Stand, can so realize the area observation of off-lying sea bank, be applied to marine ecology, environmental protection, fishery, safety, tourism etc..
The present invention has the advantages that：
1st, the present invention in ice condition supervising compared with conventional method operation possess it is flexible, quick, efficient, long-range, accurate, safe and
The advantages that inexpensive.When especially it measures ice face thickness, the deep enough danger zone of energy replaces the operation of people, to relatively thin ice face still
It can so measure, as long as manipulator completes one-point measurement and the collection work of ice thickness in clean coast Region control unmanned plane
Make.
2nd, the present invention is due to using more detection load detections, can observe a variety of ice condition parameters simultaneously, including ice thickness, ice are close
The key elements such as intensity, ice total amount ice type and ice-like, plant automation degree is high, can realize that a unmanned plane during flying is appointed for ice thickness
Multipoint acquisition is completed in business, is provided simultaneously with real-time, is improved ice condition supervising efficiency.
3rd, in loading device is imaged, thermal infrared picture pick-up device is added, under night, haze or smoke condition, still
The monitoring of ice condition can be carried out.
Brief description of the drawings
The structural representation of the unmanned plane of Fig. 1 present invention monitoring ice condition key elements.
The unmanned plane includes unmanned plane body 1, measuring of ice thickness electric drilling device 2 and visible ray high-definition digital video camera 3.Its
Middle unmanned plane body 1 includes unmanned plane undercarriage 101.
Fig. 2 is the side view of the unmanned plane of monitoring ice condition key element.
The unmanned plane includes unmanned plane body 1, measuring of ice thickness electric drilling device 2 and visible ray high-definition digital video camera 3.Its
Middle unmanned plane body 1 includes unmanned plane undercarriage 101.
Fig. 3 is measuring of ice thickness electric drilling device structural representation in Fig. 1.
The ice thickness electric drilling device includes side stand 201, ceiling hold 202, slide rail 203, chute 204, motor
205th, motor fix bar 206, drill bit geometrical clamp 207, double thread drill bit 208, profile nut bar 209 and thrust spring 210.A
Hold the resistance of a wood side-guide 203 between B ends instruction chute 204 and ceiling hold 202.
Fig. 4 is measuring of ice thickness electric drilling device structural side view in Fig. 1.
The ice thickness electric drilling device includes side stand 201, ceiling hold 202, slide rail 203, chute 204, motor
205th, motor fix bar 206, drill bit geometrical clamp 207, double thread drill bit 208, profile nut bar 209 and thrust spring 210.A
Hold the resistance of a wood side-guide 203 between B ends instruction chute 204 and ceiling hold 202.
Fig. 5 is that measuring of ice thickness electric drilling device controls measuring circuit schematic diagram in Fig. 1.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1
As illustrated in fig. 1 and 2, a kind of ice condition key element monitoring unmanned plane of the present embodiment, mainly by unmanned plane body 1, ice thickness
Measure electric drilling device 2 and the grade of visible ray high-definition digital video camera 3 composition.
Unmanned plane uses four rotor frameworks in the present embodiment, unmanned plane undercarriage 101, is designed as amphibious landing gear,
It makes of light material, is designed as sled shape, when ice face measures in place, it is ensured that fallen into the water in ice face rupture,
Still can float in the water surface, and the design can ensure there is enough unmanned planes and ice face contact area, so as to reduce to ice face
Pressure, so as to reduce ice face rupture probability, in addition, sufficiently large contact area, it can also be ensured that in unmanned plane and ice face
The frictional force of contact, so as to have enough frictional force when measuring of ice thickness electric drilling device works, avoid unmanned plane from rotating,
Displacement and inclination.
In the present embodiment, visible ray high-definition digital video camera 3 is employed, by the navigation of unmanned plane body 1 and can be flown
Control device and ground remote control switch is carried out to visible ray high-definition digital video camera 3, video data can pass through the nothing of unmanned plane body 1
Line data transmission device is real-time transmitted to ground data receiving terminal, and operator can be carried out according to real-time video to unmanned plane
Control, and suitable target ice face can be selected to carry out ice thickness detection in place of landing, in addition, video data can also utilize figure
As the closeness and ice total amount for the treatment of technology acquisition sea ice, the image data of low latitude or the acquisition of target ice face landing period can lead to
Cross image recognition technology and obtain the element information such as ice type and ice-like.
Referring to Fig. 3 and 4, the measuring of ice thickness electric drilling device in the present embodiment is arranged between unmanned aerial vehicle body and undercarriage,
It is solid that the ice thickness electric drilling device includes side stand 201, ceiling hold 202, slide rail 203, chute 204, motor 205, motor
Fixed pole 206, drill bit geometrical clamp 207, double thread drill bit 208, profile nut bar 209 and thrust spring 210.Described double thread is bored
First 208, it is the fluted drill screw thread for being adapted to rotary cutting object in the screw thread close to bit outer end, close to motor 205 and abnormal shape
The connected part of Nut pole 209 is bolt thread, and the fine thread of profile nut bar 209 and double thread drill bit 208 matches, and this is thin
The rotating speed of pitch and motor controls the speed that bit is released and withdraws translation.Slide rail 203 uses the uniform material of resistance
Material makes.Motor fix bar 206 and motor 205 are connected, and both ends are connected with two chutes 204, then again with two slide rails
203 are connected, and slide rail 203 and two side stands 201 are connected；Motor 205 passes through drill bit geometrical clamp 207 and double thread drill bit 208
Be connected, abnormity nut bar 209 is connected by screw thread with the bolt threaded portions of double thread drill bit 208, then both ends respectively with two
Side stand 201 is connected；Thrust spring 210 is connected with ceiling hold 202 and motor 205, there is provided along double thread drill bit 208 outward
To thrust.When motor 205 rotates along the nut thread in profile nut bar 209, motor 205, drill bit geometrical clamp
207th, double thread drill bit 208, motor fix bar 206 and two chutes 204 will be used as overall, be bored along slide rail 203 along double thread
Screwed out outside the phase of first 208 direction, so as to pierce and drill through ice face；Conversely, when motor 205 is against the nut in profile nut bar 209
During screw thread rotation, motor 205, drill bit geometrical clamp 207, double thread drill bit 208, motor fix bar 206 and two chutes 204
Entirety will be used as, will inwardly be withdrawn along the direction of double thread drill bit 208 along slide rail 203, so as to set back, completes one-shot measurement.
Reference picture 5, the control measuring circuit of measuring of ice thickness electric drilling device is placed in unmanned plane body 1 and protected in the present embodiment
In cover, including embeded processor 211, peripheral auxiliary circuits 212, current sampling circuit 213, resistance sampling circuit 214, motor
Driving and controlling circuits 215, data transmission circuit 216 and digital communication interface circuit 217.When embeded processor 211 includes
Between timing module, packet generation module etc.；The current sampling circuit 213 is with 10Hz sample rate motor drive controls
The electric current of circuit 214, and then obtain electric motor operation power and change with time data；The resistance sampling circuit is adopted with electric current
The identical sample rate 10Hz of sample circuit 213 samples the resistance of A to the B points of slide rail 203 between a side chute 204 and ceiling hold 202, by
The uniform material of resistance is employed in slide rail 203 to make, resistance is directly proportional to length, and then obtains a side chute 204 and topmast
The length of A to the B points of slide rail 203 changes with time data between frame 202.Digital Transmission circuit 216 and unmanned plane body 1
Wireless data transmission device is connected, and motor power (output) in each measurement is changed over time into data and a side chute 204 and topmast
The length of A to the B points of slide rail 203 changes with time data down transmission to ground receiving equipment between frame 202, passes through meter on ground
Calculate and obtain change curve of the motor power (output) with the length of A to the B points of slide rail 203 between a side chute 204 and ceiling hold 202,
The finally each measurement of zenith angle acquisition of information with reference to corresponding to the time of measuring that the attitude measuring of unmanned plane body 1 measures
Ice thickness information.Interface for digital communication circuit 217 is by the navigation of embeded processor 211 and unmanned plane body 1 and flies control device phase
Even, the ground remote control to measuring of ice thickness electric drilling device can be realized with the navigation for crossing unmanned plane body 1 and winged control device, can be controlled
Its switch is made, and its double thread drill bit 208 rotates along or against the nut thread of profile nut bar 209.
Measuring of ice thickness electric drilling device measuring of ice thickness principle is as follows in the present embodiment：
Because power of motor is in zero load, that is, it is low to be not in contact with power when ice face idling carries rotation, when contacting ice body drilling
Power is high, and motor power (output) is again by high step-down in water after ice sheet is drilled through, so in a side chute 204 of the acquisition that once drills
Between ceiling hold 202 in the length of A to the B points of slide rail 203 and the power of motor 205, corresponding to high-power output
That segment length is the radical length or depth L of ice face drilling, with reference to the zenith angle of the attitude measuring of unmanned plane body 1 acquisition
θ, finally obtain ice thickness observation T=cos (θ) * L.
In addition, the Powerpush Unit of the unmanned plane body 1 of the present embodiment, i.e. rotor driver and measuring of ice thickness electric drilling device
2 can realize coordinated signals, and when measuring of ice thickness electric drilling device works, downward pressure, increase are produced by rotor counter-rotating
Unmanned plane undercarriage and the frictional force on ground, ensure that unmanned plane will not displacement or inclination when surveying the work of ice electric drill.
Embodiment 2
A kind of ice condition key element monitoring unmanned plane of the present embodiment, its basic structure is same as Example 1, and its difference exists
In：It will be seen that light high-definition digital video camera 3 replaces with thermal infrared camera, it is advantageous that in night, haze or can have cigarette
The situation of mist carries out the detection of ice condition, the adaptability in the case of special weather is added, in addition, using thermal infrared camera also
The ice condition information of ice face temperature can be obtained.
Embodiment 3
A kind of ice condition supervising unmanned plane of the present embodiment, in the present embodiment unmanned plane body using fixed-wing nobody
Machine, loading device uses DV and thermal camera, and is equipped with head, it is possible to achieve ground remote control camera angle turns
Become.Fixed-wing unmanned plane, which can not be realized, in the embodiment carries measuring of ice thickness electric drilling device, but is available with DV
The key elements such as ice concentration, ice total amount ice type, ice-like and ice face temperature are observed with thermal camera, it can play solid
Determine the advantages of wing aircraft speed is fast, and coverage is big.
Schematically the present invention and embodiments thereof are described above, this describes no limited, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (18)
1. a kind of unmanned plane for monitoring ice condition key element, its feature include unmanned plane body, monitors load and ground installation at it.
2. the unmanned plane of the monitoring ice condition key element described in claim 1, wherein the unmanned plane body includes fuselage, frame, risen
Fall rack device, the energy and power distribution equipment, Powerpush Unit.
3. the unmanned plane of the monitoring ice condition key element described in claim 2, wherein the unmanned plane body also includes protective cover.
4. the unmanned plane of the monitoring ice condition key element described in claim 3, wherein the unmanned plane body, which also includes navigation, flies control dress
Put, wireless data transmission device.
5. the unmanned plane of the monitoring ice condition key element described in any one of claim 1-4, wherein include can for the monitors load
See light video camera, and/or infrared photography camera installation, and/or far infrared camera shot camera installation, and/or thermal infrared camera
Equipment.
6. the unmanned plane of the monitoring ice condition key element described in any one of claim 5, wherein the monitors load also includes ice
Thickness measurement electric drilling device, and/or sonar measuring of ice thickness equipment.
7. claim 1-4, or the unmanned plane of the monitoring ice condition key element described in any one of 6, wherein the ground installation bag
Include ground control, and/or wireless data receiving device, and/or data processing and display system, and/or unmanned plane manipulation hand.
8. the unmanned plane of the monitoring ice condition key element described in any one of claim 7, wherein the ground installation also includes ground
Support personnel and facility.
9. the unmanned plane of the monitoring ice condition key element described in claim 6 or 8, wherein the measuring of ice thickness electric drilling device is in unmanned plane
Between fuselage and undercarriage, including structure and control measuring circuit.
10. the unmanned plane of the monitoring ice condition key element described in claim 9, wherein the measuring of ice thickness electric drilling device structure includes
Side stand, ceiling hold, slide rail, chute, motor, motor fix bar, drill bit geometrical clamp, double thread drill bit, profile nut bar
And thrust spring.
11. the unmanned plane of the monitoring ice condition key element described in claim 10, wherein the double thread drill bit is close to bit outer end
Screw thread be drill bit thread, the part being connected close to motor with profile nut bar is bolt thread, profile nut bar and double thread
The bolt thread of drill bit matches.
12. the unmanned plane of the monitoring ice condition key element described in claim 11, wherein the slide rail uses the uniform conductor material of resistance
Material makes.
13. the unmanned plane of the monitoring ice condition key element described in claim 12, wherein motor fix bar are fixed with motor, both ends
It is connected with two chutes, is then connected again with two slide rails, slide rail is fixed with two side stands；Motor by drill jig with it is double
Screw thread drill bit is connected, and abnormity nut bar is connected by screw thread with drill bit, and then both ends are fixed with support.Thrust spring and ceiling hold
It is connected with motor, there is provided along the thrust of drill bit outward direction.
14. the control measuring circuit of the unmanned plane, wherein measuring of ice thickness electric drilling device of the monitoring ice condition key element described in claim 6
It is placed in fuselage protective cover, including microprocessor or embeded processor, peripheral auxiliary circuits, current sampling circuit, resistance
Sample circuit, motor driving controling circuit, data transmission circuit and digital communication interface circuit.
15. the unmanned plane of the monitoring ice condition key element described in claim 14, wherein the microprocessor or embeded processor bag
Include time timing module, packet generation module；The electric current of the current sampling circuit sample motor drive control circuit, and then
Electric motor operation power is obtained to change with time value；The resistance sampling circuit is with sampling identical with above-mentioned current sampling circuit
Rate samples the resistance of slide rail between a side chute and ceiling hold.
16. the unmanned plane of the monitoring ice condition key element described in claim 2, wherein unmanned plane Powerpush Unit and measuring of ice thickness electricity
Rig can realize coordinated signals.
17. the unmanned plane of the monitoring ice condition key element described in claim 1-16 is used for the purposes for monitoring ice condition key element.
18. the purposes described in claim 17, wherein described ice condition key element refers to the thickness, ice concentration, ice total amount ice of ice
Type, ice-like and ice face temperature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610220681.1A CN107416204B (en) | 2016-04-11 | 2016-04-11 | Unmanned aerial vehicle of monitoring ice condition key element |
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| CN201610220681.1A CN107416204B (en) | 2016-04-11 | 2016-04-11 | Unmanned aerial vehicle of monitoring ice condition key element |
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| CN107416204B CN107416204B (en) | 2021-05-11 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111877980A (en) * | 2020-08-06 | 2020-11-03 | 宁波拉修智能科技有限公司 | Drilling equipment based on unmanned aerial vehicle |
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