CN206313928U - A kind of monitoring unmanned system for the monitoring of waters floating object - Google Patents
A kind of monitoring unmanned system for the monitoring of waters floating object Download PDFInfo
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- CN206313928U CN206313928U CN201720036700.5U CN201720036700U CN206313928U CN 206313928 U CN206313928 U CN 206313928U CN 201720036700 U CN201720036700 U CN 201720036700U CN 206313928 U CN206313928 U CN 206313928U
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Abstract
A kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided,Including unmanned plane cruise module and ground monitoring processing module,Monitored using unmanned plane cruise module,Most of waters can be reached,Monitoring enforcement difficulty is small,Unmanned plane does not carry monitoring personnel,Unmanned plane cruise module arrives at observation station from the air,It is poor by observation vessel enforcement security reliability to overcome,The shortcoming that the flow velocity in waters and flow direction can be interfered,It is not easy to trigger security incident,The reliability and security of monitoring are improved,Floating object that can be in a short time to water field of big area is monitored,Monitoring efficiency is high,Save a large amount of manpower and materials,Reduce the energy consumption of monitoring personnel,Monitoring area and waters floating object area can accurately be calculated,The accurate density for calculating waters floating object,The detailed Monitoring Data for providing is conducive to analysis decision and takes further measures.
Description
Technical field
The utility model is related to a kind of monitoring unmanned system, more particularly to a kind of nobody for the monitoring of waters floating object
Machine monitoring system, belongs to unmanned air vehicle technique field.
Background technology
The waters such as the Changjiang river have a large amount of floating objects to be formed every year, long particularly before Three Gorges Dam and the region such as Three Gorges Reservoir
Phase is perplexed by floating object, has both influenceed to generate electricity, has opened the navigation or air flight, the safety of flood discharge, and the water quality of watershed produces severe contamination.Floating owner
There are rubbish and water plant, such as freely float the water hyacinth of the water surface, bred by stolon, along riverbank water under suitable condition
Face surge line germination and growth.In recent years, industrialization improves rivers and lakes water quality deterioration, Eutrophic Extent, and water hyacinth is therefore
Spread rapidly, overflow, cover the water surface, current are hindered in flood season.Dense water hyacinth also reduces light and water body is worn
Saturating ability, influences the growth of benthon, and increases the concentration of carbon dioxide in water, reduces output of aquatic products, increases the steaming of water
Hair amount, for mosquito class provides suitable growth place.In addition, the annual house refuse for having millions of tons is poured into the Changjiang river, add aquatic
These floating deposits such as plant seriously plug the unit water inlet in power station, and block the fairway.As can be seen here, a large amount of drifts
The presence of float is caused to generating, fishery, shipping etc. and had a strong impact on, it is necessary to the means of high efficient and reliable are carried out to waters floating object
Monitoring, in order to take further step.
Unmanned plane has the advantages that high-resolution, large scale, small area, Up-to-date state high, is particularly suitable for obtaining banding
Regional aerial images (river, reservoir, coastline etc.), unmanned plane take off landing limited smaller by place, playground, highway or its
Its openr ground can landing, its stability, security be good, and transition etc. is very easy to, and has the wide market demand.
The unmanned plane monitoring of prior art is mainly used in national ecological environmental protection, land use survey, water money
It is source exploitation, crop growth monitoring and the yield by estimation, agricultural operation, Natural calamity monitoring and assessment, urban planning and municipal administration, gloomy
The field such as the protection of woods pest and disease damage and monitoring, public safety, Defence business, digital earth and advertisement photography, for waters floating
Thing monitoring is also more rare.
From the point of view of many-side, prior art is primarily present following a few point defects：One is the monitoring of current waters floating object
Artificial naked-eye observation is mainly used, part water-surface areas observation personnel cannot reach, and monitoring enforcement difficulty is very big, monitoring reliability
It is very low；Although two is that the part monitoring water surface can be arrived at using observation vessel, exercising safety in different waters by observation vessel can
It is poor by property, easily trigger security incident, and the vehicles to be interfered to the flow velocity in waters and flow direction, influence Monitoring Data
Quality, reduce the reliability of observation；Three is that the vehicles translational speed that current techniques are used is slow, it is impossible in a short time
Floating object to water field of big area is monitored, and monitoring means falls behind, and monitors second-rate；Four is that the currently monitored needs employ big
Amount manpower and materials, personnel's energy consumption is big, and monitoring cost is very high；Five is that current waters floating object is monitored based on qualitative analysis,
Monitoring area and waters floating object area cannot accurately be calculated, it is impossible to the accurate density for calculating waters floating object, lack quantitative prison
The basis surveyed and analyze, waters floating object monitoring is of poor quality, is not easy to take further step.
Utility model content
In view of the shortcomings of the prior art, a kind of monitoring unmanned for the monitoring of waters floating object that the utility model is provided
System, it is main that most of water-surface areas can be reached using the monitoring of unmanned plane cruise module, without observing personnel's arrival, monitoring
Enforcement difficulty is small, and unmanned plane does not carry monitoring personnel, and unmanned plane cruise module arrives at observation station, overcomes by observation vessel from the air
Exercise security reliability poor, easily trigger security incident, and the vehicles to the flow velocity in waters and can flow to what be interfered
Shortcoming, the reliability and security of monitoring are improved, and floating object that can be in a short time to water field of big area is monitored, and are monitored
Efficiency high, can save a large amount of manpower and materials, reduce the energy consumption of monitoring personnel, and monitoring cost is low, can accurately calculate prison
Area and waters floating object area are surveyed, the density of waters floating object can be accurately calculated, the basis with Quantitative Monitoring and analysis,
The detailed Monitoring Data for providing is conducive to analysis decision and takes further measures, and is provided with unmanned plane landing platform and automatic cruising
Pattern, the intelligence degree of monitoring unmanned system is further improved, and is operated and is used and be more convenient.
To reach above technique effect, the technical scheme that the utility model is used is as follows：
A kind of monitoring unmanned system for the monitoring of waters floating object, including at unmanned plane cruise module and ground monitoring
Reason module, unmanned plane cruise module includes flight control assemblies, state of flight sensing device, aeroplane photography device and unmanned plane letter
Number transmitting device, ground monitoring processing module include unmanned plane remote controller, ground signal transmitting device, image processor,
Touching display screen and monitoring treatment computer；
Unmanned plane cruise module is arranged on unmanned plane, and state of flight sensing device includes flight tachymeter, flying height
Measuring appliance, big-dipper satellite positioner, flight inclination angle measurer, aeroplane photography device include boat photography/videography head, camera angle
Adjusting means, camera angle measuring appliance, unmanned plane signal transmitting apparatus include that flight directive recipient, Flight Condition Data are passed
Send device, view data conveyer；
Ground monitoring processing module is set on the ground, and unmanned plane remote controller is instructed according to flight operation and referred to flight
Recipient is made to send signal, ground signal transmitting device receives the Flight Condition Data of Flight Condition Data conveyer transmission respectively
The aerial map transmitted with view data conveyer transmits aerial map picture as data, ground signal transmitting device to image processor,
Image processor is processed aerial map picture, and touching display screen is connected with image processor and shows aerial map picture, prison
Treatment computer is surveyed to be connected with image processor, touching display screen and ground signal transmitting device respectively.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, flight tachymeter passes through flight shape
Earthward signal transmitting apparatus transmit flying speed data to state data transmitter, and measurement of flight altitude device passes through Flight Condition Data
Earthward signal transmitting apparatus transmission altitude data, big-dipper satellite positioner are transmitted conveyer by Flight Condition Data
Earthward signal transmitting apparatus transmission flight coordinate data, flight inclination angle measurer pass through Flight Condition Data conveyer to ground to device
Face signal transmitting apparatus transmission flight inclination data.
It is a kind of for waters floating object monitoring monitoring unmanned system, further, camera angle adjusting means with
Boat photography/videography head is fixedly connected and adjusts the camera angle of boat photography/videography head, and camera angle measuring appliance passes through Flight Condition Data
Earthward signal transmitting apparatus transmit camera angle data, boat photography/videography head erect when camera angle is 0 degree to conveyer
Downwards, boat photography/videography head when camera angle is 90 degree horizontally toward head side.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, unmanned plane cruise module monitoring work
Horizontal flight when making, flying speed and constant height, flight tachymeter measure speed v, and measurement of flight altitude device measures height h,
Big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures flight inclination angle a, and camera angle measuring appliance is surveyed
Camera angle b is obtained, angle of visual field d, the monitoring time t of the photography/videography head that navigates, when monitoring treatment computer calculates monitoring
Interior air cover domain area s, the floating object in image processor identification air cover domain, and drift is calculated by monitoring treatment computer
Float region area c, the floating object area density of monitored area can be drawn by c/s.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, monitoring treatment computer is by nobody
The flying height h of machine, camera angle b, the angle of visual field d of boat photography/videography head calculate the width m of aerial map picture, by flight speed
Degree v and monitoring time t calculates the length n of aerial map picture, calculates the air cover domain area s=in the monitoring time
mn。
A kind of monitoring unmanned system for the monitoring of waters floating object, further, monitoring treatment computer is by nobody
The flying height h of machine, camera angle b, the floating object area p on the angle of visual field d and aerial map picture of boat photography/videography head are calculated
Go out the true area q of floating object, the true area of each floating object is added and obtains floating object region area c.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, the number of floating object sets someone
Work statistical model, whole aerial map picture is shown by touching display screen, and manually the number r to floating object is counted, at monitoring
Reason computer calculates the air cover domain area s in the monitoring time, has r/s to obtain the floating object number density of monitored area.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, is additionally provided with unmanned plane landing platform,
The position coordinates of unmanned plane landing platform is stored in state of flight sensing device, and unmanned plane can be by the position coordinates of landing platform
Realize automatic landing.
A kind of monitoring unmanned system for the monitoring of waters floating object, further, unmanned plane cruise module is provided with
Automatic cruise mode, by the way that in state of flight sensing device, unmanned plane passes through the Big Dipper by flight path coordinate and height storage
Satellite positioning device flies along set path, completes automatic cruising.
Compared with prior art, the utility model has the advantage of：
1. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, ground monitoring treatment
Module is set on the ground, and unmanned plane remote controller is instructed according to flight operation and sends signal, ground to flight directive recipient
The Flight Condition Data and view data conveyer that face signal transmitting apparatus receive the transmission of Flight Condition Data conveyer respectively are passed
The aerial map for sending is main using the monitoring of unmanned plane cruise module as data, most of water-surface areas can be reached, without observing people
Member reaches, and monitoring enforcement difficulty is small, and monitoring reliability is high.
2. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, unmanned plane does not carry prison
Survey personnel, unmanned plane cruise module arrives at observation station from the air, and it is poor by observation vessel enforcement security reliability to overcome, and easily draws
Hair security incident, and the shortcoming that the vehicles can be interfered to the flow velocity in waters and flow direction, the Quality advance of Monitoring Data,
The reliability and security of monitoring are improved.
3. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, unmanned plane during flying speed
, up to 20 meter per seconds, flight translational speed is fast, and flying radius, can in a short time to water field of big area up to 10 kms for degree
Floating object is monitored, and monitoring efficiency is high, and monitoring means is advanced, and monitoring quality is good.
4. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, makes full use of nobody
Machine monitoring has the advantages that high-resolution, large scale, small area, Up-to-date state high, and landing of taking off is limited smaller by place, and flight is steady
Qualitative and security is good, and transition etc. is very easy to, and use cost is low and flexible unmanned plane cruise, can save a large amount of manpower things
Power, reduces the energy consumption of monitoring personnel, and monitoring cost is low.
5. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, by flying for unmanned plane
Row height h, camera angle b, the angle of visual field d of boat photography/videography head calculate the width m of aerial map picture, by flying speed v and
Monitoring time t calculates the length n of aerial map picture, can calculate the air cover domain area s=in the monitoring time
Mn, the floating object in image processor identification air cover domain, and floating object region area c is calculated by monitoring treatment computer, by
C/s can draw the floating object area density of monitored area, can accurately calculate monitoring area and waters floating object area, can
The accurate density for calculating waters floating object, the basis with Quantitative Monitoring and analysis, waters floating object monitoring quality is good, there is provided
Detailed Monitoring Data is conducive to analysis decision and takes further measures.
6. a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, is provided with unmanned plane
Landing platform, can realize automatic landing by the position coordinates of landing platform, be provided with automatic cruise mode, and unmanned plane passes through the Big Dipper
Satellite positioning device flies along set path, can complete automatic cruising, and the intelligence degree of monitoring unmanned system is further
Improve, operate and using more convenient.
Brief description of the drawings
Fig. 1 is a kind of structure chart of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided.
Specific embodiment
Below in conjunction with the accompanying drawings, a kind of monitoring unmanned system for the monitoring of waters floating object for providing the utility model
Technical scheme conduct further description, those skilled in the art is better understood from the utility model and can be given
Implement.
Referring to Fig. 1, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, including nothing
Man-machine cruise module and ground monitoring processing module, unmanned plane cruise module include that flight control assemblies, state of flight perceive dress
Put, aeroplane photography device and unmanned plane signal transmitting apparatus, flight control assemblies mainly provide flying power and are controlled for flying
System, state of flight sensing device is implemented to determine the data such as flying speed, height, and ground monitoring processing module is operated including unmanned plane
Remote control, ground signal transmitting device, image processor, touching display screen and monitoring treatment computer；
Unmanned plane cruise module is arranged on unmanned plane, and the state of flight sensing device on unmanned plane cruise module includes flying
Row tachymeter, measurement of flight altitude device, big-dipper satellite positioner, flight inclination angle measurer, aeroplane photography device are taken the photograph including boat
Camera, camera angle adjusting means, camera angle measuring appliance, unmanned plane signal transmitting apparatus receive including flight directive
Device, Flight Condition Data conveyer, view data conveyer；
Ground monitoring processing module is set on the ground, unmanned plane remote controller in ground monitoring processing module according to
The flight operation of operating personnel is instructed and sends signal to flight directive recipient, controls the flight of unmanned plane, ground signal transmission
Device receives the Flight Condition Data of Flight Condition Data conveyer transmission and the aerial map of view data conveyer transmission respectively
As data, including flying speed, height, flight inclination angle, satellite positioning coordinate and path etc., ground signal is passed Flight Condition Data
Defeated device transmits aerial map picture to image processor, and image processor processed aerial map picture, touching display screen and figure
As processor is connected and shows aerial map picture, monitoring treatment computer respectively with image processor, touching display screen and ground
Face signal transmitting apparatus are connected.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, by Flight Condition Data conveyer, earthward signal transmitting apparatus transmit flying speed data to flight tachymeter, and flight is high
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit altitude data, big-dipper satellite positioning to degree measuring appliance
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmission flight coordinate data, flight inclination angle measurer lead to device
Cross Flight Condition Data conveyer earthward signal transmitting apparatus transmission flight inclination data.
A kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, mainly using unmanned plane
Cruise module is monitored, and can reach most of water-surface areas, and without observing personnel's arrival, monitoring enforcement difficulty is small, and monitoring is reliable
Property is high.
Unmanned plane does not carry monitoring personnel, and unmanned plane cruise module arrives at observation station, overcomes by observing shipping agency from the air
Make security reliability poor, easily trigger security incident, and the vehicles can be to lacking that the flow velocity in waters and flow direction are interfered
Point, the Quality advance of Monitoring Data, the reliability and security of monitoring are improved.
, up to 20 meter per seconds, flight translational speed is fast, and flying radius, can be short up to 10 kms for unmanned plane during flying speed
Floating object in time to water field of big area is monitored, and monitoring efficiency is high, and monitoring means is advanced, and monitoring quality is good.
Making full use of monitoring unmanned has the advantages that high-resolution, large scale, small area, Up-to-date state high, landing of taking off
Limited smaller by place, flight stability and security are good, transition etc. is very easy to, use cost is low and flexible unmanned plane is patrolled
Boat, can save a large amount of manpower and materials, and the energy consumption for reducing monitoring personnel is big, and monitoring cost is low.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, camera angle adjusting means is fixedly connected with boat photography/videography head and adjusts the camera angle of boat photography/videography head, images the brilliance
By Flight Condition Data conveyer, earthward signal transmitting apparatus transmit camera angle data, camera angle to degree measuring appliance
For 0 degree when boat photography/videography head erect downwards, boat photography/videography head when camera angle is 90 degree horizontally toward head side.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, horizontal flight, flying speed and constant height during unmanned plane cruise module monitoring, flight tachymeter measures speed v, flies
Row height measuring gauge measures flying height h, and big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures winged
Row inclination angle a, flight inclination angle a is 0 degree during horizontal flight, and camera angle measuring appliance measures camera angle b, and boat photography/videography head is erected
Camera angle is 0 degree when straight downward, angle of visual field d, the monitoring time t of the photography/videography head that navigates, monitoring treatment computer calculating
Air cover domain area s in the monitoring time, the floating object in image processor identification air cover domain, and by monitoring treatment meter
Calculation machine calculates floating object region area c, and the floating object area density of monitored area can be drawn by c/s.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, monitoring treatment computer is calculated by the angle of visual field d of the flying height h of unmanned plane, camera angle b, boat photography/videography head
The width m of aerial map picture, a kind of specific scheme is camera angle b=0, and straight down, boat photography/videography head is regarded camera
Rink corner is d, then the width m of aerial map picture can be directly derived according to geometrical relationship by angle of visual field d, flying height h, by flight speed
Degree v and monitoring time t calculates the length n of aerial map picture, calculates the air cover domain area s=in the monitoring time
mn。
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, monitoring treatment computer by the flying height h of unmanned plane, camera angle b, boat photography/videography head angle of visual field d and aerial map
As upper floating object area p, the true area q of floating object is calculated, a kind of specific scheme is camera angle b=0, is taken the photograph
As head erect downwards, the angle of visual field of boat photography/videography head is d, then can be by angle of visual field d, flying height h, according to the several of similar polygon
What relation, is drawn the true area of each floating object by the floating object areal calculation on aerial map picture, each floating object it is true
Area is added and obtains floating object region area c.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, the number of floating object is provided with artificial statistical model simultaneously, and whole aerial map picture is shown by touching display screen, artificial control
Touching display screen, the number r to floating object is counted, and monitoring treatment computer calculates the air cover in the monitoring time
Domain area s, has r/s to obtain the floating object number density of monitored area.
A kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, can accurately calculate prison
Area and waters floating object area are surveyed, the density of waters floating object can be accurately calculated, the basis with Quantitative Monitoring and analysis,
Waters floating object monitoring quality is good, there is provided detailed Monitoring Data be conducive to analysis decision and take further measures.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, is additionally provided with unmanned plane landing platform, and the position coordinates of unmanned plane landing platform is stored in state of flight sensing device, unmanned plane
The big-dipper satellite positioner of itself can be combined by the position coordinates of landing platform, realize automatic landing.
As a kind of preferred scheme, a kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided
System, unmanned plane cruise module is provided with automatic cruise mode, is stored in flight shape by by flight path coordinate and flying height
In state sensing device, unmanned plane is flown by big-dipper satellite positioner along set path, completes automatic cruising.
A kind of monitoring unmanned system for the monitoring of waters floating object that the utility model is provided, is provided with unmanned plane and rises
Drop platform, can realize automatic landing by the position coordinates of landing platform, be provided with automatic cruise mode, and unmanned plane is defended by the Big Dipper
Star positioner is flown along set path, can complete automatic cruising, and the intelligence degree of monitoring unmanned system is further carried
Height, operates and using more convenient.
Claims (9)
1. it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Including unmanned plane cruise module and
Ground monitoring processing module, the unmanned plane cruise module includes flight control assemblies, state of flight sensing device, aeroplane photography
Device and unmanned plane signal transmitting apparatus, the ground monitoring processing module include that unmanned plane remote controller, ground signal are passed
Defeated device, image processor, touching display screen and monitoring treatment computer；
The unmanned plane cruise module is arranged on unmanned plane, and the state of flight sensing device includes flight tachymeter, flight
Height measuring gauge, big-dipper satellite positioner, flight inclination angle measurer, the aeroplane photography device include boat photography/videography head, take the photograph
As head angle regulator, camera angle measuring appliance, the unmanned plane signal transmitting apparatus include flight directive recipient, fly
Row status data conveyer, view data conveyer；
The ground monitoring processing module is set on the ground, and the unmanned plane remote controller is instructed to institute according to flight operation
State flight directive recipient and send signal, the ground signal transmitting device receives the transmission of Flight Condition Data conveyer respectively
, as data, the ground signal transmitting device is to described image for Flight Condition Data and the aerial map of view data conveyer transmission
Processor transmits aerial map picture, and described image processor is processed aerial map picture, at the touching display screen and image
Reason device is connected and shows aerial map picture, the monitoring treatment computer respectively with described image processor, touching display screen
It is connected with ground signal transmitting device.
2. it is according to claim 1 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
State flight tachymeter and flying speed data transmitted to the ground signal transmitting device by the Flight Condition Data conveyer,
It is high that the measurement of flight altitude device transmits flight by the Flight Condition Data conveyer to the ground signal transmitting device
Degrees of data, the big-dipper satellite positioner are passed by the Flight Condition Data conveyer to the ground signal transmitting device
Flight coordinate data, the flight inclination angle measurer is sent to be transmitted to the ground signal by the Flight Condition Data conveyer
Device transmits flight inclination data.
3. it is according to claim 1 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
Camera angle adjusting means is stated to be fixedly connected with the boat photography/videography head and adjust the camera angle of boat photography/videography head, it is described to take the photograph
As head angle measurement equipment transmits camera angle by the Flight Condition Data conveyer to the ground signal transmitting device
Data, boat photography/videography head erect when camera angle is 0 degree is downward, boat photography/videography head level when camera angle is 90 degree
Towards head side.
4. it is according to claim 1 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
Horizontal flight, flying speed and constant height when stating unmanned plane cruise module monitoring, flight tachymeter measure speed v, fly
Row height measuring gauge measures height h, and big-dipper satellite positioner measures flight path s, and flight inclination angle measurer measures flight and inclines
Angle a, camera angle measuring appliance measures camera angle b, the angle of visual field d, monitoring time t, the prison of the photography/videography head that navigates
The air cover domain area s that treatment computer was calculated in the monitoring time is surveyed, in described image processor identification air cover domain
Floating object, and floating object region area c is calculated by monitoring treatment computer, the floating object plane of monitored area can be drawn by c/s
Product density.
5. it is according to claim 4 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
Monitoring treatment computer is stated to be calculated and sailed by the angle of visual field d of the flying height h of unmanned plane, camera angle b, boat photography/videography head
The width m of image is taken the photograph, the length n of aerial map picture is calculated by flying speed v and monitoring time t, calculate monitoring
Air cover domain area s=mn in time.
6. it is according to claim 4 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
State monitoring treatment computer by the flying height h of unmanned plane, camera angle b, boat photography/videography head angle of visual field d and aerial map picture
On floating object area p calculate the true area q of floating object, the true area of each floating object is added and obtains floating object area
Domain area c.
7. it is according to claim 4 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
The number for stating floating object is provided with artificial statistical model, whole aerial map picture is shown by touching display screen, manually to floating object
Number r counted, it is described monitoring treatment computer calculate the monitoring time in air cover domain area s, there is r/s to obtain
The floating object number density of monitored area.
8. it is according to claim 1 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Also
Unmanned plane landing platform is provided with, the position coordinates of the unmanned plane landing platform is stored in state of flight sensing device, unmanned plane
Automatic landing can be realized by the position coordinates of landing platform.
9. it is according to claim 1 it is a kind of for waters floating object monitoring monitoring unmanned system, it is characterised in that：Institute
State unmanned plane cruise module and be provided with automatic cruise mode, stored in the state of flight by by flight path coordinate and height
In sensing device, unmanned plane is flown by big-dipper satellite positioner along set path, completes automatic cruising.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038450A (en) * | 2017-12-14 | 2018-05-15 | 海安常州大学高新技术研发中心 | Marine pollution object detecting method based on unmanned plane and image recognition |
| CN109471450A (en) * | 2018-03-10 | 2019-03-15 | 刘惠敏 | Drone flying height adjusting method |
| CN109656269A (en) * | 2018-12-27 | 2019-04-19 | 上海普适导航科技股份有限公司 | A kind of monitoring unmanned system |
| CN110793566A (en) * | 2019-10-18 | 2020-02-14 | 南京中科智慧生态科技有限公司 | Intelligent visual detection method for water floater |
| WO2021142902A1 (en) * | 2020-01-17 | 2021-07-22 | 五邑大学 | Danet-based unmanned aerial vehicle coastline floating garbage inspection system |
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2017
- 2017-01-12 CN CN201720036700.5U patent/CN206313928U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038450A (en) * | 2017-12-14 | 2018-05-15 | 海安常州大学高新技术研发中心 | Marine pollution object detecting method based on unmanned plane and image recognition |
| CN109471450A (en) * | 2018-03-10 | 2019-03-15 | 刘惠敏 | Drone flying height adjusting method |
| CN109656269A (en) * | 2018-12-27 | 2019-04-19 | 上海普适导航科技股份有限公司 | A kind of monitoring unmanned system |
| CN110793566A (en) * | 2019-10-18 | 2020-02-14 | 南京中科智慧生态科技有限公司 | Intelligent visual detection method for water floater |
| CN110793566B (en) * | 2019-10-18 | 2022-01-28 | 南京中科智慧生态科技有限公司 | Intelligent visual detection method for water floater |
| WO2021142902A1 (en) * | 2020-01-17 | 2021-07-22 | 五邑大学 | Danet-based unmanned aerial vehicle coastline floating garbage inspection system |
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