CN108051239A - A kind of plant sampling system based on unmanned plane - Google Patents
A kind of plant sampling system based on unmanned plane Download PDFInfo
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- CN108051239A CN108051239A CN201711354978.8A CN201711354978A CN108051239A CN 108051239 A CN108051239 A CN 108051239A CN 201711354978 A CN201711354978 A CN 201711354978A CN 108051239 A CN108051239 A CN 108051239A
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- 238000005070 sampling Methods 0.000 title claims abstract description 115
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 40
- 238000001514 detection method Methods 0.000 claims description 23
- 230000003028 elevating effect Effects 0.000 claims description 21
- 230000000630 rising effect Effects 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 19
- 239000000463 material Substances 0.000 abstract description 6
- 230000001419 dependent effect Effects 0.000 abstract description 3
- 241000196324 Embryophyta Species 0.000 description 84
- 230000008569 process Effects 0.000 description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
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- 230000008033 biological extinction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of plant sampling system based on unmanned plane, including plant sampling apparatus, unmanned plane and ground base station；Plant sampling apparatus is installed on unmanned plane；Unmanned plane includes aircraft mounted control system；Aircraft mounted control system is connected with plant sampling apparatus, aircraft mounted control system and ground base station wireless communication.A kind of plant sampling system disclosed by the invention dependent on unmanned air vehicle technique, can realize mechanization, the automation of plant sampling, improve work efficiency, save man power and material, and can improve the accuracy of data acquisition, improve testing result.
Description
Technical field
The present invention relates to a kind of plant sampling systems, are specially a kind of plant sampling system based on unmanned plane, belong to nothing
Man-machine applied technical field.
Background technology
In recent years, China has become invasive plants one of the countries with the most serious ..., biotic intrusion can cause economic damage
It loses, species extinction or even destroy ecological environment, be the loss that prevents from biotic intrusion from causing can not retrieving, it is necessary to ecological environment
Regularly monitored.And plant is component important in ecological environment, the sampling and detection for plant are to ecology
The important means of environmental monitoring.
For example, phytoplankton is widely present in river, lake and ocean, it is distributed in the upper strata in waters more, individual is minimum,
Breed very fast, phytoplankton is more sensitive to the response of water environment factors, has been widely used for the water such as evaluation rivers, lake
One of qualitative change or even auxiliary monitoring means as water pollution early warning.
At present, plant sampling relies on substantially manpower, it is necessary to which people reaches sampled point, then the plant of sampling point position is carried out
Sampling, sampling process need to expend substantial amounts of manpower and materials；And sampling environment is easily influenced in artificial sampling process, it causes to adopt
The result of sample detection is inaccurate, and also ecological environment can be damaged；Secondly, in artificial sampling process, for sampled point
Positioning it is inaccurate, be easy to cause detection error, monitoring result caused to be not allowed.
Therefore, plant sampling technique of the prior art there are it is apparent the defects of, such as spend human and material resources, efficiency it is low, hold
Easily environment is damaged, and samples positioning inaccurately, monitoring result is caused error occur.So provide a kind of mechanization,
The problem of plant sampling system of automation is those skilled in the art's urgent need to resolve.
The content of the invention
In view of this, the present invention provides a kind of plant sampling system based on unmanned plane, can realize height from
Dynamicization and mechanization can save human resources, improve work efficiency, and sample registration, can improve plant monitoring
As a result accuracy.
A kind of plant sampling system based on unmanned plane, which is characterized in that including plant sampling apparatus, unmanned plane and ground
Base station；The plant sampling apparatus is installed on the unmanned plane；The unmanned plane includes aircraft mounted control system；The airborne control
System is connected with plant sampling apparatus, the aircraft mounted control system and the ground base station wireless communication.
A kind of plant sampling system disclosed by the invention dependent on unmanned air vehicle technique, can realize the machinery that plant samples
Change, automation, improve work efficiency, save man power and material, and the accuracy of data acquisition can be improved.
Further, the plant sampling apparatus includes lifting gear and sampler；The lifting gear is installed on described
The fuselage of unmanned plane, the lifting gear are connected with the aircraft mounted control system；The sampler is connected with the lifting gear.
Plant sampling apparatus disclosed by the invention can be conveniently mounted at unmanned plane, and unmanned plane is coordinated to be planted
Object samples, and realizes the purpose that plant sampling is carried out using a kind of plant sampling system based on unmanned plane, improves plant sampling
Work efficiency.
Preferably, the sampler is sampling bottle, and the sampling bottle can be used for phytoplankton sampling.
When the bottleneck of sampling bottle drops to below the bottom surface of phytoplankton, at this time sampling bottle is made to increase, swimming on the water surface
Plant can enter sampling bottle, you can achieve the purpose that sample phytoplankton；Profit can smoothly be realized by sampling bottle
The purpose of plant sampling is carried out with unmanned plane, improves the work efficiency of phytoplankton sampling, and water quality ring can be avoided damage to
Border.
Preferably, the sampler is sampling pawl, and the sampling pawl can be used for water plant or terrestrial plant sampling.
When sampling pawl drops to the root of plant, the pawl of control sampling at this time rises, and pawl is sampled in uphill process to be taken
Base of leaf with plant, so as to achieve the purpose that plant samples.It can be realized by the sampling pawl and rivers and lakes surface is grown
Water plant, marshland growing plants, grassland land growing plants etc. sampled, so as to fulfill institute of the present invention is utilized
A kind of plant sampling system based on unmanned plane stated carries out the sampling of plant under the environment such as grassland, marsh, lake.
Further, the lifting gear includes reel, driving motor and draught line；The reel is installed on described
Fuselage, the reel are connected with the driving motor；The driving motor is installed on the fuselage, the driving motor and institute
State aircraft mounted control system connection；The draught line is wound in the reel, and described draught line one end is connected to the reel,
The draught line other end is connected to the sampler.
Sampler easily can be dropped to by designated position by the lifting gear, and can be on request by sampling
Device is stretched to designated position, completes plant sampling, mechanical structure is simple, and low manufacture cost is readily available.
Further, the aircraft mounted control system includes height detection module and elevating control module；The height detection
The height of module detection sampler, the height detection module are connected with the elevating control module；The elevating control mould
For sampler to be controlled to lift, the elevating control module is connected block with the driving motor.
It can realize that aircraft mounted control system lifts sampler by the setting of height detection module and elevating control module
Control, so as to contribute to complete automation plant sampling process, improve plant sampling work efficiency.
Preferably, the elevating control module includes declining control submodule and rises control submodule, described to decline control
System module is used for the control sampler when unmanned plane reaches designated position and drops to specified altitude assignment；The rising control submodule
For after sampler drops to specified altitude assignment sampler being controlled to rise to specified altitude assignment.
It can be realized by the setting for declining control submodule and rising control submodule and decline for sampler, rose
The accurate control of journey；It first passes through and declines control submodule control sampler and drop to below the bottom surface of plant or the root of plant；
Then by rising control submodule sampler is controlled to rise, the process of rising can be by herborization into sampler, so as to complete
The process sampled into plant, so as to reach the technique effect that plant sampling is carried out using unmanned plane.
Further, the aircraft mounted control system further includes weight detecting module and control module of making a return voyage；The weight inspection
It surveys module to be connected with control module of making a return voyage, the weight detecting module is used to detect the weight of sampler；The control mould that makes a return voyage
When block is more than preset value for the sampler weight of unmanned plane, control unmanned plane returns to ground base station.
It can realize that the automatic of unmanned plane is maked a return voyage by the setting of weight detecting module and module of making a return voyage, add the system
Practicability.Preset value is set according to actual demand, illustrating that sampler completes when the weight of sampler is more than preset value adopts
Sample task, you can smoothly make a return voyage；Sampling efficiency can be improved, ensures the plant that unmanned plane can be gathered when returning to ground base station
Sample；The operation difficulty of unmanned plane is reduced, increases practicability.
Preferably, the weight detecting module includes weight sensor, and the weight sensor is installed on sampler, described
Weight sensor can detect the weight of the sampler, and output digit signals, the output terminal of the weight sensor and institute
State control module connection of making a return voyage.
Preferably, the control module of making a return voyage includes threshold value setting submodule, weight comparison sub-module and control of making a return voyage is sub
Module；The threshold value sets submodule, for presetting the weight threshold of sampler when unmanned plane is completed to sample；The weight
Comparison sub-module, for the sampler weight that will detect compared with weight threshold；It makes a return voyage control submodule, in sampler
When weight is more than weight threshold, control unmanned plane returns to ground base station.
Unmanned plane can accurately be controlled by setting submodule, weight comparison sub-module and control submodule of making a return voyage by threshold value
Ground base station is returned in time after completing to sample, and manual operation step is simple.
Further, the aircraft mounted control system further includes image capture module, locating module and airborne end digital transmission module,
Described image acquisition module converts image information to digital signal for implementing to image comprehensively；The locating module is used for
It determines the spatial relation of unmanned plane, and location information is converted to digital signal, the locating module is controlled with the lifting
Molding block connects, and the locating module is connected with the control module of making a return voyage；The airborne end digital transmission module is used to implement nobody
Wireless communication and data transmission between machine and ground base station, the airborne end digital transmission module are connected with described image acquisition module,
The airborne end digital transmission module is connected with the locating module, and the airborne end digital transmission module connects with the elevating control module
It connects, the airborne end digital transmission module is connected with the control module of making a return voyage.
The image information of integrated environment can be converted to by data-signal by image capture module, then pass through airborne end
Image information can be transferred to ground base station by digital transmission module, then can determine sampled point by the data analysis of ground base station
Spatial positional information；It can determine the location information of unmanned plane in real time by locating module, unmanned plane is accurately positioned, is made
Flare maneuver can accurately be completed by obtaining unmanned plane.
Further, the ground base station includes ground surface end digital transmission module, and the ground surface end digital transmission module is used to implement nothing
Man-machine wireless communication and data transmission between ground base station.
The number of unmanned plane and bottom surface base station can be accurately realized by airborne end digital transmission module and ground surface end digital transmission module
According to communication.
Further, the aircraft mounted control system passes through one kind in 3G network, 4G networks, 5G networks, WIFI and ground
Base station communication connects.
The communication connection of unmanned plane and bottom surface base station can be realized by 3G network, 4G networks, 5G networks, WIFI, so as to
Realize the real time monitoring for unmanned plane.
Advantageous effect：A kind of plant sampling system based on unmanned plane disclosed by the invention, can realize machinery
Change, automation plant sampling, save human and material resources, improve plant sampling efficiency, while ecological environment can be avoided damage to.
Description of the drawings
Example or technical solution of the prior art are applied in order to illustrate more clearly of the present invention, it below will be to embodiment or existing
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright embodiment, for those of ordinary skill in the art, without creative efforts, can also be according to carrying
The attached drawing of confession obtains other attached drawings.
Fig. 1 is the structure diagram of plant sampling system provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of plant sampling apparatus provided in an embodiment of the present invention and unmanned plane；
Fig. 3 is that the plant of plant sampling system provided in an embodiment of the present invention samples flow chart.
In figure：
1 it is sampling apparatus, 11 be lifting gear, 111 be reel, 112 be driving motor, 113 be draught line, 12 is sampling
Device, 2 be unmanned plane, 3 be ground base station, 4 be height detection module, 5 be elevating control module, 6 be weight detection module, 7 be
Make a return voyage control module, 8 be image capture module, 9 be locating module, 10 be airborne end digital transmission module.
Specific embodiment
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
A kind of plant sampling system based on unmanned plane disclosed by the invention be using unmanned plane as carrier, in the present embodiment,
Unmanned plane can select multi-rotor unmanned aerial vehicle, and aircraft mounted control system includes the action maincenter that flight control modules are unmanned planes,
Stability decides the security of the entire flight course of unmanned plane, and the main flight attitude for performing unmanned plane calculates, the line of flight
Related aerial mission is performed in control, flying quality feedback and flight course.The airborne control system of unmanned plane in the present embodiment
System possesses certain hardware foundation：Need to include forming central processing unit by core of Intel8031, including CPU, ROM, RAM,
Multiple modules such as I/O interfaces, UART, timer/counter, A/D converter, periphery are equipped with a small amount of interface device composition.It is excellent
Choosing, LPC2148 chips can be used, expected flight mesh can be reached with external equipments such as GP configuring S, infrared sensors
's.
Embodiment 1
As shown in attached drawing 1, attached drawing 2, a kind of plant sampling system based on unmanned plane 2, including plant sampling apparatus 1, unmanned plane 2
With ground base station 3；Plant sampling apparatus 1 is installed on unmanned plane 2；Unmanned plane 2 includes aircraft mounted control system；Aircraft mounted control system with
Plant sampling apparatus 1 connects, aircraft mounted control system and 3 wireless communication of ground base station.
A kind of plant sampling system disclosed by the invention dependent on 2 technology of unmanned plane, can realize the machinery that plant samples
Change, automation, improve work efficiency, save man power and material, and the accuracy of data acquisition can be improved, improve detection knot
Fruit.
In order to further optimize above-mentioned technical proposal, plant sampling apparatus 1 includes lifting gear 11 and sampler 12；Lifting
Device 11 is installed on the fuselage of unmanned plane 2, and lifting gear 11 is connected with aircraft mounted control system, and sampler 12 connects with lifting gear 11
It connects.
Plant sampling apparatus 1 disclosed by the invention can be conveniently mounted at unmanned plane 2, and coordinate unmanned plane 2 into
Row plant samples, and realizes and carries out plant sampling using a kind of plant sampling system based on unmanned plane 2, improves the work of plant sampling
Make efficiency.
In order to further optimize above-mentioned technical proposal, sampler 12 is sampling bottle, and sampling bottle can be used for phytoplankton and adopt
Sample.
By sampling bottle can smoothly realize using it is a kind of based on the plant sampling system of unmanned plane 2 to phytoplankton into
Row sampling, improves the work efficiency of phytoplankton sampling, and can avoid damage to aquatic environment.
In order to further optimize above-mentioned technical proposal, sampler 12 is sampling pawl, sampling pawl can be used for water plant or
Terrestrial plant samples.
In order to further optimize above-mentioned technical proposal, sampling pawl is realized by two half pawls of symmetrical dislocation to be closed up around axis, opens
It is formed；Half pawl is that one side compartment of terrain of half cylinder has the wedge angle elongated triangular calvus for curving arc-shaped.Calvus is being adopted
The cauline leaf of plant can be caught in sample pawl uphill process, so as to achieve the purpose that plant samples.
The water plant grown to rivers and lakes surface, marshland growing plants, grassland can be realized by sampling pawl
Land growing plants etc. is sampled, so as to fulfill using the present invention it is a kind of based on the plant sampling system of unmanned plane 2 into
The sampling of plant under the environment such as row grassland, marsh, lake.
In order to further optimize above-mentioned technical proposal, lifting gear 11 includes reel 111, driving motor 112 and traction
Line 113；Reel 111 is installed on fuselage, and reel 111 is connected with driving motor 112；Driving motor 112 is installed on fuselage, drives
Dynamic motor 112 is connected with aircraft mounted control system；Draught line 113 is wound in reel 111, and 113 one end of draught line is connected to spiral
Wheel 111,113 other end of draught line is connected to sampler 12.
Sampler 12 easily can be dropped to by designated position by lifting gear 11, and can be on request by sampling
Device 12 is stretched to designated position, completes plant sampling, mechanical structure is simple, and low manufacture cost is readily available.
In order to further optimize above-mentioned technical proposal, aircraft mounted control system includes height detection module 4 and elevating control mould
Block 5；The height of the detection sampler 12 of height detection module 4, height detection module 4 are connected with elevating control module 5；Lifting control
For sampler 12 to be controlled to lift, elevating control module 5 is connected molding block 5 with driving motor 112.
By the setting of height detection module 4 and elevating control module 5 aircraft mounted control system can be realized to sampler 12
The control of lifting so as to help to complete the process of automation plant sampling, improves the work efficiency of plant sampling.
In order to further optimize above-mentioned technical proposal, height detection module 4 includes height sensor；Height sensor is installed
In sampler, height sensor can detect the height and output digit signals of sampler, the output terminal and liter of height sensor
Control module connection is dropped.
In order to further optimize above-mentioned technical proposal, height sensor can select to use GY-63 MS5611-01BA03
Type height sensor.
Height sensor is installed on sampler can accurately measure the height of sampler, help to lift for sampler
Process is accurately controlled, and reduces fault rate, is improved accuracy, is saved time and cost.
In order to further optimize above-mentioned technical proposal, elevating control module 5 includes declining control submodule and rising controlling
Submodule declines control submodule and is used to when unmanned plane 2 reaches designated position sampler 12 be controlled to drop to specified altitude assignment；On
Control submodule is risen to be used to after sampler 12 drops to specified altitude assignment sampler 12 be controlled to rise to original height.
By decline control submodule and rise control submodule can realize decline for sampler 12, uphill process
Accurate control；It first passes through decline control submodule control sampler 12 and drops to the bottom surface of plant or the root of plant；Then lead to
It crosses rising control submodule control sampler 12 to rise, the process of rising can be by herborization into sampler 12, so as to complete
The process of plant sampling, and then utilize the purpose of the progress plant sampling of unmanned plane 2.
In order to further optimize above-mentioned technical proposal, aircraft mounted control system further includes weight detecting module 6 and control of making a return voyage
Module 7；Weight detecting module 6 is connected with control module 7 of making a return voyage, and weight detecting module 6 is used to detect the weight of sampler 12；It returns
When control module 7 of navigating is more than preset value for 12 weight of sampler of unmanned plane 2, control unmanned plane 2 returns to ground base station 3.
It can realize that the automatic of unmanned plane 2 is maked a return voyage by the setting of weight detecting module 6 and control module 7 of making a return voyage, increase
The practicability of the system.Preset value is set according to actual demand, illustrates to sample when the weight of sampler 12 is more than preset value
Device 12 completes sampling task, you can smoothly makes a return voyage；Sampling efficiency can be improved, increases the success rate of sampled result；Reduce nothing
Man-machine 2 operation difficulty increases practicability.
In order to further optimize above-mentioned technical proposal, weight detecting module 6 includes weight sensor, weight sensor installation
In sampler, weight sensor can detect the weight of sampler, and output digit signals, and the output terminal of weight sensor is with returning
Boat control module 7 connects.
In order to further optimize above-mentioned technical proposal, weight sensor includes GSL309 weight sensors.
In order to further optimize above-mentioned technical proposal, control module of making a return voyage 7 is connected with flight control modules, and make a return voyage control mould
Block 7 sends the signal of return, and flight control modules receive return signal and perform the flight directive that makes a return voyage.
In order to further optimize above-mentioned technical proposal, it is more sub that control module of making a return voyage 7 includes threshold value setting submodule, weight
Module and control submodule of making a return voyage；Threshold value setting submodule is used to preset the weight that unmanned plane 2 completes sampler 12 during sampling
Measure threshold value；12 weight of sampler that weight comparison sub-module is used to detect is compared with weight threshold, weight comparison sub-module
It is connected with threshold value setting submodule；It makes a return voyage control submodule, for controlling nobody when 12 weight of sampler is more than weight threshold
Machine 2 returns to ground base station 3, control submodule of making a return voyage and weight comparison sub-module.
Unmanned plane can accurately be controlled by setting submodule, weight comparison sub-module and control submodule of making a return voyage by threshold value
2 return to ground base station 3 in time after completing to sample, and manual operation step is simple.
In order to further optimize above-mentioned technical proposal, aircraft mounted control system further includes image capture module 8, locating module 9
With airborne end digital transmission module 10, image capture module 8 converts image information to digital signal for implementing to image comprehensively；
Locating module 9 is used to determining the spatial relation of unmanned plane 2, and location information is converted to digital signal, locating module 9 with
Elevating control module 5 connects, locating module 9 and control module 7 of making a return voyage；Airborne end digital transmission module 10 be used to implement unmanned plane 2 with
Wireless communication and data transmission between ground base station 3, airborne end digital transmission module 10 are connected with image capture module 8, airborne end number
Transmission module 10 is connected with locating module 9, and airborne end digital transmission module 10 is connected with elevating control module 5, airborne end digital transmission module 10
Control module 7 is connected with making a return voyage.
The image information of integrated environment can be converted to by data-signal by image capture module 8, then by airborne
Image information can be transferred to ground base station 3 by end digital transmission module, then can determine sampling by the data analysis of ground base station 3
The spatial positional information of point；It can determine the location information of unmanned plane in real time by locating module 9, it is accurately fixed that unmanned plane is carried out
Position so that unmanned plane can accurately complete flare maneuver.
In order to further optimize above-mentioned technical proposal, ground base station 3 includes ground surface end digital transmission module, ground surface end digital transmission module
The wireless communication and data transmission being used to implement between unmanned plane 2 and ground base station 3, ground surface end digital transmission module pass mould with airborne end number
Block 10 connects.
Unmanned plane 2 and bottom surface base station can accurately be realized by airborne end digital transmission module 10 and ground surface end digital transmission module
Data communication.
In order to further optimize above-mentioned technical proposal, aircraft mounted control system passes through 3G network, 4G networks, 5G networks, WIFI
In one kind communicated to connect with ground base station 3.
The communication connection of unmanned plane 2 and bottom surface base station can be realized by 3G network, 4G networks, 5G networks, WIFI, so as to
Realize the real time monitoring for unmanned plane 2.
Embodiment 2
It is illustrated in figure 3 the workflow that a kind of plant sampling system based on unmanned plane 2 disclosed by the invention carries out plant sampling
Journey includes the following steps：
（1）Determine sampling point information：Unmanned plane 2 flies to preset sampling area, and image is carried out by image capture module 8
Acquisition, and is converted into digital signal by image information, by airborne end digital transmission module and ground surface end digital transmission module by image information
Ground base station 3 is transferred to, sampled point location information, the height of sampled point are determined by the graphical analysis and screening of ground base station 3
Information, then the elevation information of the location information of sampled point and sampled point is transferred to the aircraft mounted control system of unmanned plane 2；
（2）It is flown according to sampled point location information to sampled point；Unmanned plane 2 is controlled according to the location information of sampled point by flying
Action of the flight to specified sampled point is completed in the control of molding block and locating module 9；
（3）Plant sampling is completed according to sampled point elevation information：Locating module 9 sends signal to control submodule is declined, and works as nothing
Man-machine 2 flight controls sampler to complete the instruction declined to during sampled point by height control module and decline control submodule；
Then by rising control submodule and height detection module 4 sampler is controlled to complete the instruction risen；
（4）It determines to complete sampling task and carries out flight of making a return voyage：When sampler rises to specified altitude assignment, rise control submodule to
Control module of making a return voyage 7 sends signal, and control module of making a return voyage 7 receives signal, and proceeds by sampler weight detecting, works as detection
To sampler weight be higher than preset value when can send signal to locating module 9, flight control modules, then pass through fly control
Module and locating module 9 control unmanned plane 2 to make a return voyage, and complete the task of plant sampling.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited to reality shown in this article
Example is applied, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that it is led for this technology
For the those of ordinary skill in domain, several modifications and retouching without departing from the principles of the present invention also should be regarded as the present invention's
Protection domain.
Claims (9)
1. a kind of plant sampling system based on unmanned plane, which is characterized in that including plant sampling apparatus, unmanned plane and ground base
It stands；The plant sampling apparatus is installed on the fuselage of the unmanned plane；The unmanned plane includes aircraft mounted control system；It is described airborne
Control system is connected with plant sampling apparatus, the aircraft mounted control system and the ground base station wireless communication.
A kind of 2. plant sampling system based on unmanned plane according to claim 1, which is characterized in that the plant sampling
Device includes lifting gear and sampler；The lifting gear is installed on the fuselage of the unmanned plane, the lifting gear and institute
State aircraft mounted control system connection；The sampler is connected with the lifting gear.
A kind of 3. plant sampling system based on unmanned plane according to claim 2, which is characterized in that the lifting gear
Including reel, driving motor and draught line；The reel is installed on the fuselage, the reel and the driving motor
Connection；The driving motor is installed on the fuselage, and the driving motor is connected with the aircraft mounted control system；The draught line
The reel is wound in, described draught line one end is connected to the reel, and the draught line other end is connected to described adopt
Sample device.
A kind of 4. plant sampling system based on unmanned plane according to claim 3, which is characterized in that the airborne control
System includes height detection module and elevating control module；The height detection module height of detection sampler, the height
Degree detection module is connected with the elevating control module；The elevating control module is for controlling sampler to lift, the lifting
Control module is connected with the driving motor.
5. a kind of plant sampling aircraft mounted control system based on unmanned plane according to claim 4, which is characterized in that described
Elevating control module includes declining control submodule and rises control submodule, and the decline control submodule is used in unmanned plane
Control sampler drops to specified altitude assignment when reaching designated position；The rising control submodule is used to drop to finger in sampler
Control sampler rises to specified altitude assignment after determining height.
A kind of 6. plant sampling system based on unmanned plane according to claim 5, which is characterized in that the airborne control
System further includes weight detecting module and control module of making a return voyage；The weight detecting module is connected with control module of making a return voyage, described
Weight detecting module is used to detect the weight of sampler；The control module of making a return voyage is more than pre- for the sampler weight of unmanned plane
If during value, control unmanned plane returns to ground base station.
A kind of 7. plant sampling system based on unmanned plane according to claim 6, which is characterized in that the control of making a return voyage
Module includes threshold value setting submodule, weight comparison sub-module and control submodule of making a return voyage；The threshold value sets submodule, is used for
Preset the weight threshold that unmanned plane completes sampler during sampling；The weight comparison sub-module, is adopted for what will be detected
The sample amount of thinking highly of is compared with weight threshold；It makes a return voyage control submodule, for when sampler weight is more than weight threshold, controlling nobody
Machine returns to ground base station.
8. a kind of plant sampled-data control system based on unmanned plane according to claim 7, which is characterized in that described airborne
Control system further includes image capture module, locating module and airborne end digital transmission module, and described image acquisition module is used to implement
Camera shooting comprehensively, and image information is converted to data message；The locating module is used to determine the spatial relation of unmanned plane,
And location information is converted to data message, the locating module is connected with the elevating control module, the locating module with
The control module connection of making a return voyage；The airborne end digital transmission module be used to implement wireless communication between unmanned plane and ground base station and
Data transmission, the airborne end digital transmission module are connected with described image acquisition module, the airborne end digital transmission module with it is described fixed
Position module connection, the airborne end digital transmission module is connected with the elevating control module, the airborne end digital transmission module with it is described
Control module of making a return voyage connects.
A kind of 9. plant sampling system based on unmanned plane according to any one of claims 1 to 8, which is characterized in that institute
Stating ground base station includes ground surface end digital transmission module, and the ground surface end digital transmission module is used to implement the nothing between unmanned plane and ground base station
Line communicates and data transmission.
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Application publication date: 20180518 |