River and lake comprehensive supervision device and method based on three-photoelectric pod unmanned aerial vehicle

Abstract

The invention provides a river and lake comprehensive supervision device and method based on a three-photoelectric pod unmanned aerial vehicle, and the device comprises a control center, an unmanned aerial vehicle and a task load, the abdomen of the unmanned aerial vehicle carries three photoelectric pods, carries out the shooting at a position needing to be supervised according to a set route, and transmits an image to the control center. The control center receives the image sent by the unmanned aerial vehicle, processes the image, obtains the position information of a target point, judges whether abnormal condition processing needs to be carried out or not, and sends a corresponding instruction to the unmanned aerial vehicle, and the task load is installed on the unmanned aerial vehicle. And the unmanned aerial vehicle selects a proper task load according to the received instruction to process the abnormal condition. According to the invention, errors caused by GPS positioning precision of multiple unmanned aerial vehicles are eliminated; and efficient and accurate target positioning is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a comprehensive monitoring device and method for rivers, lakes and reservoirs based on a three-photoelectric pod unmanned aerial vehicle. Background Art

[0002] Traditional methods of river and lake management include patrols by ground vehicles or personnel, patrols by manned boats, inspections based on manned helicopters, and observations by watchtowers. Vehicle or personnel searches have shortcomings such as weak mobility, inability to enter harsh or dangerous scenes, high labor intensity, and low patrol efficiency; the main disadvantage of manned helicopters is that the inspection cost is high, and the air flow in the reservoir area is relatively complex, and there is a certain risk in flying. Once the plane crashes, the consequences are serious; the observation range of the watchtower is limited, and there are blind spots in forest areas and mountains. The construction and maintenance of a large number of watchtowers are destructive to the environment, and the manpower and material costs are very high; manned boat patrols are mainly limited to surface patrols, and the patrol effect is poor at night and when visibility is low. In order to adapt to the construction of a modern and information-based reservoir management model, the adoption of new inspection models and patrol methods is of great practical significance.

[0003] Unmanned aerial vehicles (UAVs) have developed rapidly in recent years. They have outstanding advantages such as strong flexibility, good maneuverability, and high cost-effectiveness. At the same time, they have good low-altitude flight performance and strong ability to cope with low-visibility flights, making them the first choice for new river monitoring models. In the existing technology, UAVs are generally equipped with one optoelectronic pod. When a large number of images need to be obtained in a short time, multiple UAVs are required to cooperate. However, when processing the images obtained by multiple UAVs, the UAV's own GPS positioning error value and the distance positioning error value between UAVs caused by the three-point positioning of multiple UAVs will be encountered, resulting in cumbersome calculations and large errors. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a comprehensive monitoring device and method for rivers, lakes and reservoirs based on a three-photoelectric pod drone. The solution of the present invention can solve the problems existing in the above-mentioned prior art.

[0005] The technical solution of the present invention:

[0006] According to the first aspect, there is provided a comprehensive monitoring device for rivers, lakes and reservoirs based on a three-photoelectric pod UAV, comprising a control center, a UAV and a mission payload. The UAV carries three photoelectric pods on its belly, takes photos according to a predetermined route at a location that requires monitoring, and transmits the images to the control center. The control center receives the images sent by the UAV, processes the images, obtains the location information of the target point, determines whether abnormal conditions need to be processed, and sends corresponding instructions to the UAV. The mission payload is installed on the UAV, and the UAV selects a suitable mission payload to process the abnormal condition according to the received instructions.

[0007] Furthermore, the camera field of view angles of the three optoelectronic pods satisfy that the image ranges of the three optoelectronic pods are at an overlapping critical value.

[0008] Furthermore, the calculation formula of the target point position information is:

[0009]

[0010] In the formula, ΔA i3 =A i -A3, ΔB i3 =B i -B3, ΔA i3 With ΔB i3 are all fixed constant values; A i =L i *cosθ i , B i =L i *sinθ i ,A i With B i It is related to the current installation position of the UAV optoelectronic pod and is a fixed constant value. (X O , Y O ) is the coordinate point of the drone, D i The distance to the target is obtained by laser ranging in the i-th (i=1-3) optoelectronic pod of the UAV.

[0011] Furthermore, the mission payload includes disposal-type payloads and industry-specific payloads, the processing-type payloads include casting mechanism payloads and voice / loudspeaker module payloads, and the industry-specific payloads include spraying mechanism payloads and water quality detection payloads.

[0012] Furthermore, the control center includes a track planning module, which uses the camera widths of the three optoelectronic pods as the cruising route interval width, and the camera center of the middle optoelectronic pod is aligned with the route during the flight of the drone.

[0013] Furthermore, the optoelectronic pod is an optoelectronic pod that combines visible light, infrared light and laser light.

[0014] Furthermore, the number of the optoelectronic pods is two or four.

[0015] According to the second aspect, a method for comprehensive supervision of rivers, lakes and reservoirs based on a three-photoelectric pod drone is provided, comprising the following steps:

[0016] According to the received supervision tasks, the flight path of the three-photoelectric pod UAV is planned and the corresponding mission payload is installed on the UAV;

[0017] The drone flies over the regulatory area, follows the planned flight path, and takes photos of the regulatory area;

[0018] Process the taken photos. After finding the target, get the distance to the target based on the coordinate points of the drone and the photoelectric ranging, and calculate the coordinates of the target;

[0019] Based on the obtained targets, the mission payload on the UAV works according to the instructions;

[0020] After completing the mission, the drone will return or be recovered nearby.

[0021] Furthermore, after acquiring the target, the UAV transmits the target situation to the control center, and the control center determines whether measures other than the mission payload are needed based on the specific situation.

[0022] The beneficial effects of the present invention compared with the prior art are as follows:

[0023] (1) The present invention uses multiple optoelectronic pods and their width indicators to design an optimal cruise route design and target positioning within the entire target mission area, ensuring that the target waters are traversed in the shortest time, and the cruise efficiency of the traditional single optoelectronic pod UAV is increased by 3 times. At the same time, the laser ranging function of the three optoelectronic pods is used to greatly simplify the target positioning algorithm, improve the positioning accuracy compared to the traditional single-machine single optoelectronic pod positioning algorithm, and eliminate the errors caused by the GPS positioning accuracy of multiple drones themselves compared to the traditional three-machine positioning algorithm; achieving efficient and accurate target positioning;

[0024] (2) The present invention constructs a comprehensive monitoring system for rivers, lakes and reservoirs by using three optoelectronic pod drones with different mission payloads, which can effectively control the environment and human activities in rivers, lakes and surrounding areas, and meet the needs of local areas in the fields of fishing supervision, environmental monitoring, river management, emergency rescue, infrastructure inspection, etc. in a short period of time, significantly improve monitoring efficiency, realize disaster warning and timely alarm, reduce environmental pollution and economic losses caused by illegal activities, and provide important support for continuously improving the quality of regional ecological environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1A schematic diagram of the structure of a comprehensive monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones provided in an embodiment of the present invention is shown;

[0027] Figure 2 A schematic diagram of the process of a comprehensive supervision method for rivers, lakes and reservoirs based on three optoelectronic pod drones provided in an embodiment of the present invention is shown;

[0028] Figure 3 A schematic diagram of the optimal route planning method based on a triple-photoelectric pod UAV according to an embodiment of the present invention is shown;

[0029] Figure 4 The schematic diagram of the target positioning method of the UAV based on three optoelectronic pods provided in the embodiment of the present invention is shown. Figure 1 ;

[0030] Figure 5 The schematic diagram of the target positioning method of the UAV based on three optoelectronic pods provided in the embodiment of the present invention is shown. Figure 2 ; DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0034] like Figure 1 As shown, according to an embodiment of the present invention, a comprehensive monitoring device for rivers, lakes and reservoirs based on a three-photoelectric pod UAV is provided, including a control center, a UAV and a mission payload. The UAV carries three photoelectric pods on its belly, takes pictures according to a predetermined route at a location that needs to be monitored, and transmits the images to the control center. The control center receives the images sent by the UAV, processes the images, obtains the location information of the target point, determines whether abnormal conditions need to be processed, and sends corresponding instructions to the UAV. The mission payload is installed on the UAV, and the UAV selects a suitable mission payload to process the abnormal condition according to the received instructions.

[0035] In one further embodiment, the optoelectronic pod is a visible light, infrared, and laser three-in-one optoelectronic pod. This type of optoelectronic pod combines the advantages of visible light optical observation, infrared recognition, and laser ranging, and can meet various types of regulatory requirements.

[0036] In a further embodiment, the number of the optoelectronic pods is two or four, which is selected according to the number of payloads that the drone can carry.

[0037] Furthermore, in one embodiment, the camera field of view angles of the three optoelectronic pods satisfy the overlapping critical value of the image ranges of the three optoelectronic pods. Assuming that the camera width of a single optoelectronic pod is α / km at a certain height hm, the overall width of the three optoelectronic pods is 3α / km. When planning the mission, ensure that the interval width of the cruise route is consistent with the length of the camera width 3α of the three optoelectronic pods. This design can ensure that the traversal of the entire area is completed in the shortest time. The area of ​​the mission area is R (km2), and the flight speed of the drone is v (km / h). The time required to traverse the entire mission area The time required for a UAV equipped with a single set of optoelectronic pods with the same indicators to traverse the complete mission area It can be seen that the efficiency of traversing the mission area based on the three-photoelectric pod drone in this patent is 3 times higher than that of traditional drones.

[0038] Further in one embodiment, the calculation formula of the target point position information is:

[0039]

[0040] In the formula, ΔA i3 =A i -A3, ΔB i3 =B i -B3, ΔA i3 With ΔB i3 are all fixed constant values; A i =L i *cosθ i , B i =L i *sinθ i ,A i With B i It is related to the current installation position of the UAV optoelectronic pod and is a fixed constant value. (X O , Y O ) is the coordinate point of the drone, D i The distance to the target is obtained by laser ranging in the i-th (i=1-3) photoelectric pod of the UAV. Applying this formula, the unknown quantity in the two-dimensional coordinate calculation formula of the target point is only the coordinate point (X O , Y O ), the laser ranging in the optoelectronic pod obtains the distance D to the target i The calculation formula is a simple linear formula. The calculation formula is greatly simplified, and the GPS positioning error of the drone itself and the distance positioning error between drones caused by the traditional three-point positioning of multiple drones are reduced.

[0041] In one further embodiment, the mission payload includes a disposal payload and an industry-specific payload. The disposal payload includes a throwing mechanism payload and a voice / amplification module payload. The industry-specific payload includes a spraying mechanism payload and a water quality detection payload. When the drone receives different missions, it uses different mission payloads to complete the mission.

[0042] Further in one embodiment, the control center includes a track planning module, which uses the camera widths of the three optoelectronic pods as the cruising route interval width, and the camera center of the middle optoelectronic pod is aligned with the route during the flight of the drone.

[0043] According to the second aspect, a method for comprehensive supervision of rivers, lakes and reservoirs based on a three-photoelectric pod drone is provided, comprising the following steps:

[0044] According to the received supervision tasks, the flight path of the three-photoelectric pod UAV is planned and the corresponding mission payload is installed on the UAV;

[0045] The drone flies over the regulatory area, follows the planned flight path, and takes photos of the regulatory area;

[0046] Process the taken photos. After finding the target, get the distance to the target based on the coordinate points of the drone and the laser ranging in the optoelectronics, and calculate the coordinates of the target;

[0047] Based on the obtained targets, the mission payload on the UAV works according to the instructions;

[0048] After completing the mission, the drone will return or be recovered nearby.

[0049] Further in one embodiment, after acquiring the target, the UAV transmits the target situation to the control center, and the control center determines whether measures other than the mission payload are needed based on the specific situation.

[0050] In order to have a further understanding of the comprehensive monitoring device and method for rivers, lakes and reservoirs based on three optoelectronic pod drones provided by the present invention, a detailed description is given below in conjunction with specific examples and drawings.

[0051] Figure 1 It is a composition diagram of the integrated monitoring system for rivers, lakes and reservoirs based on three optoelectronic pod drones in the present invention. As shown in Figure 1, the integrated monitoring system for rivers, lakes and reservoirs is composed of a command and control center, an unmanned aerial vehicle and a mission payload. The unmanned aerial vehicle includes an unmanned aerial vehicle platform and its three sets of visible light, infrared and laser three-in-one optoelectronic pods; the payload can be divided into disposal payloads and industry-specific payloads.

[0052] Figure 2 This is a schematic diagram of the workflow of the comprehensive supervision method for rivers, lakes and reservoirs based on the three-photoelectric pod UAV of the present invention. The workflow of the comprehensive supervision method for rivers, lakes and reservoirs mainly includes task issuance, task planning, task positioning, task execution and task completion. The UAV receives the task issued by the command center; the UAV plans the optimal route for the mission area according to the camera width index of the photoelectric pod, and selects the payload to be carried; the UAV takes off and patrols according to the set optimal route. When an abnormal target appears, the UAV adjusts the angle of the three sets of three-photoelectric pods to align them with the abnormal target point, and accurately locates them, and at the same time transmits the monitoring data obtained by the photoelectric pod back to the command and control center; the command center gives a disposal method for the abnormal situation, and the UAV completes the task according to the disposal method; the UAV returns, lands and recovers, and completes the mission log record.

[0053] Figure 3 The figure is a schematic diagram of the optimal route planning method based on the three-photoelectric pod UAV of the present invention. Figure 3It can be seen that the camera field of view angle of each optoelectronic pod is adjusted so that the image width range of the three optoelectronic pods is at the overlapping critical value. The UAV cruises along a serpentine route, and the camera width of a single optoelectronic pod is α / km, then the overall width of the three optoelectronic pods is 3α / km. When planning the mission, ensure that the interval width of the cruise route is consistent with the camera width of the three optoelectronic pods 3α, and the camera center of the middle optoelectronic pod during the flight of the UAV is aligned with the route. This design can ensure that the traversal of the entire area is completed in the shortest time.

[0054] Figure 4 This is a schematic diagram of the target positioning method of the present invention based on three photoelectric pods UAV Figure 1 After the drone detects an abnormal target, it adjusts the camera angle to ensure that the camera ranges of the three optoelectronic pods intersect at one point. After the drone adjusts the camera angle, it locates the abnormal target according to this state.

[0055] Figure 5 This is a schematic diagram of the target positioning method of the present invention based on three photoelectric pods UAV Figure 2 When the three optoelectronic pods of the UAV are performing target positioning, the laser ranging in the i-th (i=1-3) optoelectronic pod of the UAV is assumed to obtain a two-dimensional plane distance d from the target. i The coordinates of the three known positions of the three sets of optoelectronic payload optoelectronic pods are (x i ,y i ,h i ), and perform abnormal target positioning calculation according to this state.

[0056] The comprehensive monitoring system for rivers and lakes based on the three-photoelectric pod drone is composed of a command and control center, drones and mission payloads:

[0057] 1. The command and control center is responsible for the overall command of the comprehensive monitoring of rivers, lakes and reservoirs, assigns tasks to drones in the area, and coordinates the dispatch and allocation of resources required for monitoring tasks.

[0058] 2. The drone is equipped with three sets of visible light, infrared, and laser three-in-one optoelectronic pods on the belly. This type of optoelectronic pod combines the advantages of visible light optical observation, infrared recognition, and laser ranging, and can meet various types of regulatory requirements. The drone accepts direct command and dispatch from the command and control center. After receiving specific monitoring tasks, it formulates the best cruise route plan and carries the appropriate mission payload, and takes off to the mission area to perform the mission. This paper designs a comprehensive supervision method for rivers, lakes, and reservoirs based on a three-photoelectric pod drone. This method designs the optimal cruise route and locates the target in the entire target mission area based on the camera width of the three-in-one optoelectronic pod equipped with the drone, ensuring that the target waters are traversed in the shortest time and the target positioning is completed accurately and quickly.

[0059] 3. The payload cooperates with the drone to complete the functions of environmental perception and routine monitoring of rivers, lakes and reservoirs, illegal behavior recording and emergency disposal, emergency rescue and so on. Mission payloads include disposal payloads and industry-specific payloads. Different payloads have different functions. Among disposal payloads, the throwing mechanism payload can realize the delivery of materials in emergency rescue situations; the voice / loudspeaker module payload can realize functions such as fast and efficient transmission of voice information. Among industry-specific payloads, the spraying mechanism payload can realize the function of effective spraying of commonly used drugs for water treatment and prevention and control of water pollution; the water quality monitoring payload can realize real-time monitoring of river water quality.

[0060] The typical workflow of the integrated monitoring system and method for rivers and lakes based on three optoelectronic pod drones mainly includes task assignment, task planning, task positioning, task execution, and task completion. The following is a detailed description.

[0061] 1) Mission issuance: The drone receives the monitoring mission issued by the command and control center. The mission information includes:

[0062] Task type, task time, task area, etc.

[0063] 2) Mission planning: Mission planning mainly includes: cruise route planning and mission payload planning. Cruise route planning: The UAV equipped with 3 sets of optoelectronic pods will plan the cruise route for the mission area. The track planning is carried out according to the camera width of a single optoelectronic pod. The planning method is as follows: The UAV cruises at a fixed altitude and speed according to a serpentine route, and adjusts the camera field of view angle of each optoelectronic pod so that the image range of the three optoelectronic pods is at the overlapping critical value. Assuming that the camera width of a single optoelectronic pod at a certain fixed height hm is α / km, the overall width of the three optoelectronic pods is 3α / km. When planning the mission, ensure that the width of the cruise route interval is consistent with the length of the camera width 3α of the three optoelectronic pods. This design can ensure that the traversal of the entire area is completed in the shortest time. The area of ​​the mission area is R (km 2 ), the UAV flying speed is v (km / h) and the time required to traverse the complete mission area The time required for a UAV equipped with a single set of optoelectronic pods with the same indicators to traverse the complete mission area It can be seen that the efficiency of traversing the mission area based on the three-photoelectric pod drone in this patent is 3 times higher than that of traditional drones.

[0064] Mission payload planning is based on different mission types such as emergency rescue, water quality monitoring, and fishing supervision, and the drone chooses to carry an appropriate mission payload.

[0065] 3) Mission positioning: When the UAV cruises along the above-planned route, once an abnormal target is detected, the UAV adjusts the camera angles of the three sets of optoelectronic pods to ensure that the abnormal targets fall within its width range. The target positioning calculation formula is as follows:

[0066] Assume that the laser ranging in the i-th (i=1-3) photoelectric pod of the UAV obtains the distance to the target as D i The coordinates of the three known positions of the three sets of optoelectronic payload optoelectronic pods are (x i ,y i ,h i ), the drone GPS positioning information obtains the coordinate point (L, B, H) (longitude, latitude, altitude) of the drone. In order to facilitate the solution of the problem, this patent adopts the Earth-centered Earth-fixed coordinate system (ECEF) as the unified coordinate system. First, it is necessary to complete the conversion of the aircraft's own position, that is, the longitude and latitude coordinates to the Earth-centered Earth-fixed coordinate system. In the ECEF coordinate system, the position of the drone (X O , Y O , Z O ) can be determined by the following formula:

[0067] X O =(C+H)cos L cos B

[0068] Y O =(C+H)sin L cos B

[0069] Z O =[(C(1-e 2 )+H)]sin B

[0070] in

[0071]

[0072] E q The equatorial radius is 6378.137 km, and e is the eccentricity of the earth 0.0167.

[0073] Further simplification, the three-dimensional three-point positioning algorithm is simplified to a two-dimensional three-point positioning algorithm. In the two-dimensional plane, the distance d between the target and the three known points is i ,

[0074]

[0075] The position formula of the optoelectronic pod and the target point in a two-dimensional plane is:

[0076]

[0077] The above nonlinear equation is simplified according to the linear equation AX=b, and the coordinates of the target point (x, y) can be solved:

[0078]

[0079] On the other hand, the pitch angles θ of the three optoelectronic pods from the center of the UAV arei and the two-dimensional plane distance is a known fixed value L i , then the coordinates of the i-th optoelectronic pod are as follows:

[0080]

[0081] To simplify the calculation, A is set in the above formula i =L i *cosθ i , B i =L i *sinθ i ,A i With B i It is related to the current installation position of the UAV optoelectronic pod and is a fixed constant value. Substituting formulas (1) and (4) into the above formula (3) we can get the target point coordinates:

[0082]

[0083]

[0084] In the above formula, the height of the three optoelectronic pods equipped with the drone is consistent with the height of the drone.

[0085] Z O =h1=h2=h3; further simplify the formula:

[0086]

[0087] In the above formula, ΔA i3 =A i -A3, ΔB i3 =B i -B3, ΔA i3 With ΔB i3 If all of them are fixed constant values, the unknown quantity in the two-dimensional coordinate calculation formula of the target point is only the coordinate point of the drone (X O , Y O ), the laser ranging in the optoelectronic pod obtains the distance D to the target i The calculation formula is a simple linear formula. The calculation formula is greatly simplified, and the GPS positioning error of the drone itself and the distance positioning error between drones caused by the traditional three-point positioning of multiple drones are reduced.

[0088] 4) Mission execution: The optoelectronic pod transmits the acquired monitoring information back to the command and control center, which conducts real-time mission monitoring and provides auxiliary decision-making and handling suggestions for abnormal situations. The drone handles abnormal situations. Classification and handling of abnormal situations include a variety of situations. For example, if a person or ship is found in distress, the geographical coordinates of the person or ship in distress will be given, and the rescue team will be notified to perform the rescue mission; fixed-point observation and long-term monitoring of suspected illegal acts will be carried out, and evidence will be collected by filming, and the personnel, vehicles, and ships on the scene will be identified and recorded. After confirming the illegal behavior, the drone’s built-in voice module can be used to shout warnings and drive away the offenders. At the same time, the local public security and other handling departments will be contacted to send personnel to the scene for handling; if water pollution is found and confirmed, a drone will be dispatched with a spraying mechanism for cleaning.

[0089] 5) Mission End: After completing normal patrol missions or handling abnormal situations, the drone will return, land and be recovered. If it is necessary to continue the mission, the payload can be replaced as needed to perform the mission again.

[0090] Take a lake in Beijing as an example to build a comprehensive lake supervision system. The system includes a command and control center, drones and mission payloads. The command and control center can be set up in a lake management office; the whole system is equipped with 2 drones, which are equipped with Wuhan Juhe's JHS109-V05-75 three-in-one optoelectronic pods. The width of this optoelectronic pod is 250m at the drone's altitude of 100m.

[0091] The pitch angle θ of the three optoelectronic pods carried by the UAV from the center of the UAV i =(15°, 75°, 135°), two-dimensional plane distance L i =(0.3m, 0.6m, 0.4m), (i=1-3). Calculate ΔA from this 13 =0.57m,ΔA 23 =0.44m,ΔB 23 =-0.21m,ΔA 13 =0.30m.

[0092] The mission payload needs to be equipped with a number of throwing mechanism payloads, spraying mechanism payloads, and voice / loudspeaker module payloads.

[0093] The following describes two typical work scenarios: water quality monitoring of a lake and fishing supervision.

[0094] 1. Water quality monitoring

[0095] After receiving the water quality monitoring mission, the command and control center will send the mission information to the drone. The information sent includes: mission type - water quality monitoring, mission time - November 10, 2022 12:00, mission area - about 4km*5km of water area, etc.

[0096] After receiving the mission, the UAV will plan the mission based on the location information of the mission to be executed: 1. Cruise route design: ensure that the interval value of the cruise route is consistent with the total camera width of the three optoelectronic pods, that is, 750m, and the camera center of the middle optoelectronic pod is aligned with the route during the flight of the UAV; 2. Carried mission payload: spraying mechanism payload.

[0097] After completing the mission planning, the drone takes off and heads for the mission location. After arriving at the mission waters, the drone maintains an altitude of about 100 meters from the ground and cruises at 80km / h to achieve "no blind spot" monitoring. Adjust the camera field of view angle of each optoelectronic pod to ensure that the image range of the optoelectronic pod is at the overlapping critical value. The time it takes for the drone to traverse the entire mission area is: 4*5 / (0.75*80)=0.33h=20min. The drone monitors the water quality target characteristics through the optoelectronic pod it carries. After detecting suspected water surface pollutants (suspended matter, algae, chemicals, dissolved organic matter, heat-released substances, pathogens and oil substances, etc.), it adjusts the camera angle so that the camera range of the three optoelectronic pods is concentrated on the abnormal target position, and the abnormal target is located using the three-point positioning calculation formula. The three-point positioning method is as follows:

[0098] The laser ranging in the i-th (i=1-3) photoelectric pod of the UAV obtains the distance to the target as D i =(123m, 123.3m, 123.6m), the drone GPS positioning system obtains the coordinate point of the drone (116.742°, 39.134°, 53) (longitude, latitude and altitude), and converts it to the ECEF coordinate system to obtain the coordinates of the drone:

[0099]

[0100] Substitute the above formula into the calculation to obtain the coordinates of the unknown point:

[0101]

[0102] At the same time, the drone transmits the water quality target characteristics, location information and image information back to the command and control center. The command and control center processes, judges and identifies the information, and after determining the pollutants, it gives a disposal plan: use the spray mechanism load on board to clean the water.

[0103] After completing the mission, the drone will return or be recovered nearby.

[0104] 2. Fishing supervision

[0105] After receiving the illegal information, the command and control center processes, judges and identifies the information. If it is determined that there is an illegal behavior, the mission information will be sent to the drone. The information sent includes: mission type - fishing supervision, mission time - November 10, 2022 12:00, mission area - about 2km*5km of waters, etc.

[0106] After receiving the mission, the UAV will plan the mission based on the location information of the mission to be executed: 1. Cruise route design: ensure that the interval value of the cruise route is consistent with the total camera width of the three optoelectronic pods, that is, 750m, and the camera center of the middle optoelectronic pod is aligned with the route during the flight of the UAV; 2. Carried mission payload: voice / amplification module payload.

[0107] After completing the mission planning, the drone takes off and heads for the mission location. After arriving at the mission waters, the drone maintains an altitude of about 100 meters from the ground and cruises at 80km / h to achieve "no blind spot" monitoring. Adjust the camera field of view angle of each optoelectronic pod to ensure that the image range of the optoelectronic pod is at the overlapping critical value. The time it takes for the drone to traverse the entire mission area is: 2*5 / (0.75*80)=0.67h=40min. The drone monitors the water quality target characteristics through the optoelectronic pod it carries. After detecting suspected water surface pollutants (suspended matter, algae, chemicals, dissolved organic matter, heat-released substances, pathogens and oil substances in the water), it adjusts the camera angle so that the camera range of the three optoelectronic pods is concentrated on the abnormal target position, and the abnormal target is located using the three-point positioning calculation formula. The three-point positioning method is as follows:

[0108] Assume that the laser ranging in the i-th (i=1-3) photoelectric pod of the UAV obtains the distance to the target as D i =(143.1m, 143.4m, 142.9m), the drone GPS positioning system obtains the coordinates of the drone (117.123°, 37.986°, 78) (longitude, latitude and altitude), and converts it to the ECEF coordinate system to obtain the coordinates of the drone:

[0109]

[0110] Substitute the above formula into the calculation to obtain the coordinates of the unknown point:

[0111]

[0112] The drone monitors illegal fishing through its onboard optoelectronic pod and transmits location information and image information back to the command and control center. The drone can also warn and drive away offenders through its onboard voice / loudspeaker module, and contact relevant departments to dispatch an inspection team to the scene for handling.

[0113] After completing the mission, the drone will return or be recovered nearby.

[0114] In summary, the comprehensive monitoring device and method for rivers, lakes and reservoirs based on three optoelectronic pod drones provided by the present invention has at least the following advantages over the prior art:

[0115] (1) The present invention uses multiple optoelectronic pods and their width indicators to design an optimal cruise route design and target positioning within the entire target mission area, ensuring that the target waters are traversed in the shortest time, and the cruise efficiency of the traditional single optoelectronic pod UAV is increased by 3 times. At the same time, the laser ranging function of the three optoelectronic pods is used to greatly simplify the target positioning algorithm, improve the positioning accuracy compared to the traditional single-machine single optoelectronic pod positioning algorithm, and eliminate the errors caused by the GPS positioning accuracy of multiple drones themselves compared to the traditional three-machine positioning algorithm; achieving efficient and accurate target positioning;

[0116] (2) The present invention constructs a comprehensive monitoring system for rivers, lakes and reservoirs by using three optoelectronic pod drones with different mission payloads, which can effectively control the environment and human activities in rivers, lakes and surrounding areas, and meet the needs of local areas in the fields of fishing supervision, environmental monitoring, river management, emergency rescue, infrastructure inspection, etc. in a short period of time, significantly improve monitoring efficiency, realize disaster warning and timely alarm, reduce environmental pollution and economic losses caused by illegal activities, and provide important support for continuously improving the quality of regional ecological environment.

[0117] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A comprehensive monitoring device for rivers, lakes and reservoirs based on a three-photoelectric pod drone, characterized in that: It includes a control center, a drone and a mission payload. The drone carries three optoelectronic pods on its belly. It takes photos according to a predetermined route at a location that needs to be supervised and transmits the images to the control center. The control center receives the images sent by the drone, processes the images, obtains the location information of the target point, determines whether abnormal conditions need to be handled, and sends corresponding instructions to the drone. The mission payload is installed on the drone. The drone selects a suitable mission payload to handle the abnormal condition according to the received instructions.

2. According to claim 1, a comprehensive monitoring device for rivers, lakes and reservoirs based on a three-photoelectric pod drone is characterized in that: The camera field of view angles of the three optoelectronic pods satisfy that the image ranges of the three optoelectronic pods are at an overlapping critical value.

3. The integrated monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 2 is characterized in that: The calculation formula of the target point position information is: In the formula, ΔA i3 =A i -A3, ΔB i3 =B i -B3, ΔA i3 With ΔB i3 are all fixed constant values; A i =L i *cosθ i , B i =L i *sinθ i , A i With B i It is related to the current installation position of the UAV optoelectronic pod and is a fixed constant value. (X O , Y O ) is the coordinate point of the drone, D i The distance to the target is obtained by laser ranging in the i-th (i=1-3) optoelectronic pod of the UAV.

4. The integrated monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 1 is characterized in that: The mission payload includes disposal payload and industry-specific payload. The processing payload includes throwing mechanism payload and voice / amplification module payload. The industry-specific payload includes: Spraying mechanism load and water quality detection load.

5. The integrated monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 2 is characterized in that: The control center includes a track planning module, which uses the camera widths of the three optoelectronic pods as the cruise route interval width, and the camera center of the middle optoelectronic pod is aligned with the route during the flight of the drone.

6. The integrated monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 1 is characterized in that: The photoelectric pod is a photoelectric pod that combines visible light, infrared light and laser light.

7. The integrated monitoring device for rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 1 is characterized in that: The number of the optoelectronic pods is two or four.

8. A method for comprehensive monitoring of rivers, lakes and reservoirs using a comprehensive monitoring device for rivers, lakes and reservoirs based on a triple optoelectronic pod drone as described in any one of claims 1 to 7, characterized in that: The method comprises the following steps: According to the received supervision tasks, the flight path of the three-photoelectric pod UAV is planned and the corresponding mission payload is installed on the UAV; The drone flies over the regulatory area, follows the planned flight path, and takes photos of the regulatory area; Process the taken photos. After finding the target, get the distance to the target based on the coordinate points of the drone and the photoelectric ranging, and calculate the coordinates of the target; Based on the obtained targets, the mission payload on the UAV works according to the instructions; After completing the mission, the drone will return or be recovered nearby.

9. A method for comprehensive supervision of rivers, lakes and reservoirs based on three optoelectronic pod drones according to claim 8, characterized in that: After acquiring the target, the UAV transmits the target situation to the control center, which then determines whether measures other than the mission payload are needed based on the specific situation.

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