CN108536887A - A kind of transpiration automatic monitoring method and system based on unmanned plane thermal infrared - Google Patents
A kind of transpiration automatic monitoring method and system based on unmanned plane thermal infrared Download PDFInfo
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- 230000005068 transpiration Effects 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012544 monitoring process Methods 0.000 title claims abstract description 22
- 230000007613 environmental effect Effects 0.000 claims abstract description 18
- 238000003331 infrared imaging Methods 0.000 claims abstract description 17
- 230000005855 radiation Effects 0.000 claims description 32
- 238000012545 processing Methods 0.000 claims description 8
- 230000003416 augmentation Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 239000002131 composite material Substances 0.000 claims description 4
- 210000002569 neuron Anatomy 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000001931 thermography Methods 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000000605 extraction Methods 0.000 abstract description 3
- 241000208340 Araliaceae Species 0.000 description 5
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 5
- 235000003140 Panax quinquefolius Nutrition 0.000 description 5
- 235000008434 ginseng Nutrition 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 239000002689 soil Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000001757 thermogravimetry curve Methods 0.000 description 2
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- 240000008042 Zea mays Species 0.000 description 1
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- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000003767 neural control Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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Abstract
The present invention provides a kind of transpiration automatic monitoring method and system based on unmanned plane thermal infrared, the method includes：Using UAV flight's thermal infrared imaging device according to preset airline operation, the thermal infrared images of target area is obtained；Acquire the environmental information in target area；According to the environmental information in the thermal infrared images and target area acquired, the transpiration of target area is calculated using three temperature model transpiration submodels.Transpiration automatic monitoring method and system provided by the invention based on unmanned plane thermal infrared by thermography information extraction, can accurate measurements transpiration, it is easy to operate, it is easy to use.
Description
Technical field
The present invention relates to environmental monitoring technology field, more particularly to a kind of transpiration based on unmanned plane thermal infrared is automatic
Monitoring method and system.
Background technology
Transpiration is the important component of water circulating energy balance and water balance.In the feelings of current water resource worsening shortages
Under condition, for rational quantified management and distribution water resource, the research of different underlying surface transpiration has become every field
Research hotspot.Common bilayer energy balance TSEB model solutions complexity, and various impedances by meteorological element, vegetation characteristics and
Soil water regime determines；Practical measuring and calculating transpiration rate method is other than needing surface temperature, it is also necessary to the ginseng of some field surveys
Number, such as wind speed, vapour pressure, therefore be subject to certain restrictions in the application.Three temperature models are introduced and refer to soil by the prior art,
Input impedance is not needed, it only can inverting evapotranspiration and evaluation environmental quality using surface temperature, reference surface temperature and temperature.
The model parameter is few, observes practical hydrologic process using remote sensing technology, is of great significance.But existing three temperature models vegetation
There is measure the shortcomings of inaccurate, measurement is inconvenient in actual use for rising measurement method.
Any object of the temperature more than absolute zero can all generate itself molecule and atom random motion, not stop
Eradiation goes out thermal infrared energy, and infrared thermal imaging technique is based on this principle, by infrared detector by the infrared heat of object
After the power signal of radiation is converted into electric signal, the enhanced processing of imaged device simulates scanned object surface temperature
Spatial distribution forms vision signal and reaches on display screen or monitor, obtains thermography corresponding with body surface heat distribution.
Infrared thermal imaging technique starts to be mainly used in military affairs, is answered in the civilian causes such as industry, agricultural, fire-fighting, forest management later
With more extensive in remote-sensing inversion such as soil and the field application of plant moisture revenue and expenditure in recent years.Traditional infrared thermometric shooting side
Method is that artificial utilize holds infrared thermography shooting, and advantage is precision height, and image quality is stablized.But it has the following disadvantages：(1) artificial
Of high cost, high-frequency shooting then needs more people to match when for example daytime interval to polylith sample carries out infrared measurement of temperature shooting per hour
It closes and completes；(2) photographed scene has limitation, and such as field complicated landform, best shooting point is difficult to choose, and in city, evapotranspiration is ground
In studying carefully, it need to be shot in 30-50 meters of height.
Invention content
In view of the above problems, patent purpose of the present invention be to devise a kind of transpiration based on unmanned plane thermal infrared from
Dynamic monitoring method and system, by thermography information extraction, can accurate measurements transpiration, it is easy to operate, it is easy to use.
The specific technical solution of the present invention is as follows：
The present invention provides a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared, including：
Using UAV flight's thermal infrared imaging device according to preset airline operation, the thermal infrared figure of target area is obtained
Picture；
Acquire the environmental information in target area；
According to the environmental information in the thermal infrared images and target area acquired, three temperature model transpiration are used
Model calculates the transpiration of target area.
Specifically, the transpiration of the present invention for calculating target area using three temperature model transpiration submodels, tool
Body, transpiration model formation is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpFor ginseng
Examine leaf temperature, RsFor downlink shortwave radiation.
Specifically, the present invention when test condition be fine day when, the downlink shortwave radiation RsFor the solar radiation R of fine days0。
Specifically, environmental information of the present invention includes temperature, leaf temperature, with reference to leaf temperature.
Specifically, the method for the invention further comprises：
The flight path of unmanned plane is preset, according to preset flight path after UAV flight's thermal infrared imaging device
Flight, obtains the thermal infrared images of target area.
A kind of transpiration based on unmanned plane thermal infrared monitors method, system automatically, including：
Unmanned plane module, for carrying thermal infrared imaging device and according to preset airline operation；
Infrared imaging module, the thermal infrared images for acquiring target area；
Acquisition module, for acquiring the environmental information in target area；
Data processing module, for according to the environmental information in the thermal infrared images and target area acquired, using
Three temperature model transpiration submodels calculate the transpiration of target area.
Specifically, the thermal infrared images of acquisition is imported ENVI5.1 softwares by data processing module of the present invention, three are utilized
Temperature model transpiration submodel calculates the transpiration of target area, and transpiration model formation is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpFor ginseng
Examine leaf temperature, RsFor downlink shortwave radiation.
Specifically, unmanned plane module of the present invention specifically includes：Heavy－duty power unit, high-strength composite fuselage, god
Through first control unit；The infrared imaging module includes from steady holder unit, infrared thermoviewer and image transmitting unit.
It is connect specifically, neuron control unit of the present invention includes flight visual simulation unit, sensor unit, information
By unit；Described from steady holder unit includes that medium cloud table frame unit, machinery increase steady unit, electronic stability augmentation unit.
Transpiration automatic monitoring method and its system and the prior art provided by the invention based on unmanned plane thermal infrared
It compares, the present invention is based on infrared thermal imaging technique, lossless acquisition plant Infrared Thermogram；By extraction to thermography information and
Analysis monitors transpiration using three temperature model transpiration submodels；Abolished it is artificial it is infrared adopt temperature shooting be limited to landforms
The limitation of condition watches camera lens by the image display device in image transmission system and finds a view picture in real time, using remote controler realize from
Dynamic focusing, artificial focusing, are greatly improved the quality of shooting image.
Description of the drawings
Embodiments of the present invention is further illustrated referring to the drawings, wherein：
Fig. 1 is a kind of flow chart of the transpiration automatic monitoring method based on unmanned plane thermal infrared of the present invention.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared, referring to Fig. 1, including：
Step S101 obtains target area using UAV flight's thermal infrared imaging device according to preset airline operation
Thermal infrared images.
Specifically, the unmanned aerial vehicle body in UAV system is connected in infrared imaging system from steady holder, according to
Default course line flies to target job region, is shot to predeterminated target using the infrared imaging system being mounted on unmanned plane,
Collect the soil image and state in operating area.
Step S102 acquires the environmental information in target area.
Specifically, acquisition leaf temperature Tc, with reference to leaf temperature Tcp, actual measurement temperature Ta, net radiation RnDeng.
Step S103 uses three temperature models according to the environmental information in the thermal infrared images and target area acquired
Transpiration submodel calculates the transpiration of target area.
Specifically, the transpiration of the present invention for calculating target area using three temperature model transpiration submodels, tool
Body, transpiration model formation is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpFor ginseng
Examine leaf temperature, RsFor downlink shortwave radiation.
Specifically, according to earth's surface energy-balance equation, when earth's surface is vegetation, transpiration LEcIt is represented by：
LEc=RN, c-Hc,
Wherein, LEcFor latent heat flux, RN, cFor net radiation, HcFor sensible heat flux, unit is W m-2。HsIt is represented by：
Wherein, ρ indicates atmospheric density (kg m3), CpFor pressurization by compressed air specific heat (MJ kg-1℃-1), TcFor vegetation surface temperature
It spends (K), TaFor temperature (K), raFor aerodynamic resistance (s m-1).Subscript c represents blade.
Blade (the simulation blade of no moisture transpiration, i.e. LE are referred to by introducingcpFor 0W m-2), it is assumed that simulation blade will not
The atmospheric conditions on periphery are had an impact, the r of surface vegetation and reference bladeaApproximately equal, therefore raIt can be expressed as：
Wherein, Tcp、RN, cpRespectively refer to leaf temperature, with reference to blade net radiation.Subscript cp is represented with reference to simulation blade.
LEcIt is represented by：
RnIt is represented by：Rn=(1- α) Rs+ΔR1,
Wherein, RsIndicate downlink shortwave radiation, Δ R1Indicate net long-wave radiation.α indicates albedo, αc, αcpIt is 0.22.
ΔR1It is represented by：
Wherein, Rs0For solar radiation (the W m of fine day-2), σ indicates Stefan-Boltzman constants (5.675 × 10-8J
m-2 K-4 s-1).ε indicates slin emissivity, εc, εcpIt is 0.98.The observation same day is fine day, Rs≈Rs0, then 0.4+0.6Rs/
Rs0≈1。εaFor air launch rate, it is represented by：
In summary formula, the transpiration appraising model based on ground level heat infrared shooting can be reduced to：
Based on same inventive concept, a kind of transpiration based on unmanned plane thermal infrared is additionally provided in the embodiment of the present invention
Automatic monitoring system, the principle solved the problems, such as due to above system and the transpiration based on unmanned plane the thermal infrared side of monitoring automatically
Method is similar, therefore the implementation of above system may refer to the implementation of method.
The present invention also provides a kind of transpiration automatic monitoring systems based on unmanned plane thermal infrared, including three parts：
Unmanned aerial vehicle platform system includes heavy－duty dynamical system, high-strength composite fuselage, neural control system；Infrared imaging system packet
It includes from steady clouds terrace system, infrared thermoviewer, image delivering system；Data processing system is three temperature models.
The system specifically includes：
Unmanned plane module, for carrying thermal infrared imaging device and according to preset airline operation；It is operated by unmanned plane
System claps predeterminated target unmanned plane during flying to predetermined operation region by the infrared thermoviewer being mounted on unmanned plane
It takes the photograph.
Infrared imaging module, the thermal infrared images for acquiring target area.
Acquisition module, for acquiring the environmental information in target area.
Data processing module, for according to the environmental information in the thermal infrared images and target area acquired, using
Three temperature model transpiration submodels calculate the transpiration of target area.
Specifically, the thermal infrared images of acquisition is imported ENVI5.1 softwares by data processing module of the present invention, three are utilized
Temperature model transpiration submodel calculates the transpiration of target area, and transpiration model formation is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpFor ginseng
Examine leaf temperature, RsFor downlink shortwave radiation.
Specifically, unmanned plane module of the present invention specifically includes：Heavy－duty power unit, high-strength composite fuselage, god
Through first control unit；The infrared imaging module includes from steady holder unit, infrared thermoviewer and image transmitting unit.
It is connect specifically, neuron control unit of the present invention includes flight visual simulation unit, sensor unit, information
By unit；Described from steady holder unit includes that medium cloud table frame unit, machinery increase steady unit, electronic stability augmentation unit.
Specifically, from steady clouds terrace system medium cloud table frame be three axis redundance machinery holder frames.
Include that machinery increases steady and electronic stability augmentation from stability augmentation system in steady clouds terrace system, it is multigroup center pair that machinery, which increases steady unit,
It is that sensing chip controls module to claim arrangement shock-absorbing ball group, electronic stability augmentation unit.
Infrared lens module is 640*480 (non-interpolative) high-precision infrared measurement of temperature imaging lens group.
Heavy－duty dynamical system includes high voltage, large capacity Li-Po electrical source of power unit, Gao Xing in unmanned aerial vehicle platform system
It can brushless motor unit, dynamic balancing carbon fiber paddle.
Embodiment one：
Operating unmanned plane, completely station (No.15, underlying surface are corn) flying overhead, infrared thermoviewer carry out greatly in Yinke irrigated area
Ground level heat infrared observation；
Lossless acquisition Infrared Thermogram is obtained, ENVI5.1 softwares are imported；
Determine that relevant parameter and empirical value determine, albedo α in the present embodimentc, αcpIt is 0.22；σ indicates Stefan-
Boltzman constants (5.675 × 10-8J m-2K-4 s-1)；Slin emissivity εc, εcpIt is 0.98；The observation same day is fine day, under
Row shortwave radiation RsThe solar radiation R of ≈ fine dayss0；Air launch rate εa=0.92 × 10-5Ta 2；
The temperature Ta and downlink shortwave radiation Rs of thermal infrared shooting time are obtained from ripple ratio；
Step by step calculation obtains transpiration distributed image and exports in ENVI5.1.Through measuring, average vegetation evaporates average value
642.21W m-2。
The specific implementation mode of present invention described above, is not intended to limit the scope of the present invention..Any basis
The various other corresponding changes and deformation that the technical concept of the present invention is made, should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (9)
1. a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared, which is characterized in that including：
Using UAV flight's thermal infrared imaging device according to preset airline operation, the thermal infrared images of target area is obtained；
Acquire the environmental information in target area；
According to the environmental information in the thermal infrared images and target area acquired, three temperature model transpiration submodels are used
Calculate the transpiration of target area.
2. a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared according to claim 1, feature exist
In the transpiration for calculating target area using three temperature model transpiration submodels, specifically, transpiration model is public
Formula is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpTo refer to leaf
Piece temperature, RsFor downlink shortwave radiation.
3. a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared according to claim 1, feature exist
In, when test condition is fine day, the downlink shortwave radiation RsFor the solar radiation R of fine days0。
4. a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared according to claim 1, feature exist
In the environmental information includes temperature, leaf temperature, with reference to leaf temperature.
5. a kind of transpiration automatic monitoring method based on unmanned plane thermal infrared according to claim 1, feature exist
In, the method further includes：
The flight path of unmanned plane is preset, is flown according to preset flight path after UAV flight's thermal infrared imaging device
Row, obtains the thermal infrared images of target area.
6. a kind of transpiration based on unmanned plane thermal infrared monitors method, system automatically, which is characterized in that including：
Unmanned plane module, for carrying thermal infrared imaging device and according to preset airline operation；
Infrared imaging module, the thermal infrared images for acquiring target area；
Acquisition module, for acquiring the environmental information in target area；
Data processing module, for according to the environmental information in the thermal infrared images and target area acquired, using three temperature
Model transpiration submodel calculates the transpiration of target area.
7. a kind of transpiration automatic monitoring system based on unmanned plane thermal infrared according to claim 6, feature exist
In the thermal infrared images of acquisition is imported ENVI5.1 softwares by the data processing module, utilizes three temperature model transpiration submodules
Type calculates the transpiration of target area, and transpiration model formation is：
Wherein, RN, cFor blade net radiation, RN, cpTo refer to blade net radiation, TaFor temperature, TcFor leaf temperature, TcpTo refer to leaf
Piece temperature, RsFor downlink shortwave radiation.
8. a kind of transpiration automatic monitoring system based on unmanned plane thermal infrared according to claim 6, feature exist
In the unmanned plane module specifically includes：Heavy－duty power unit, high-strength composite fuselage, neuron control unit；It is described red
Outer image-forming module includes from steady holder unit, infrared thermoviewer and image transmitting unit.
9. a kind of transpiration automatic monitoring system based on unmanned plane thermal infrared according to claim 8, feature exist
In the neuron control unit includes flight visual simulation unit, sensor unit, information receiving unit；It is described from steady cloud
Platform unit includes medium cloud table frame unit, the steady unit of machinery increasing, electronic stability augmentation unit.
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Cited By (3)
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| CN112162061A (en) * | 2020-09-17 | 2021-01-01 | 中山大学 | Evapotranspiration component space measuring and calculating method based on hydrogen-oxygen stable isotope observation |
| CN114391465A (en) * | 2022-01-14 | 2022-04-26 | 保利物业服务股份有限公司 | Remote-control intelligent landscaping maintenance method and system |
| CN114515663A (en) * | 2022-01-11 | 2022-05-20 | 北京市农林科学院信息技术研究中心 | Mushroom spraying control method, device and system |
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| CN114515663B (en) * | 2022-01-11 | 2023-01-31 | 北京市农林科学院信息技术研究中心 | Mushroom spraying control method, device and system |
| CN114391465A (en) * | 2022-01-14 | 2022-04-26 | 保利物业服务股份有限公司 | Remote-control intelligent landscaping maintenance method and system |
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