Environment monitoring remote control system based on unmanned aerial vehicle platform

Abstract

An environment monitoring remote control system based on an unmanned aerial vehicle platform comprises a ground monitoring part, a data transmission part and a remote control carrying platform part. The ground monitoring part comprises a control terminal which is in wireless communication with the remote control carrying platform part; the data transmission part comprises wireless transmission modules which are respectively arranged on the remote control carrying platform part and the ground monitoring part to realize wireless data communication between the ground and the air; the remote control carrying platform part comprises a data processing module, a camera, a holder, a potentiometer and an environment detector which are arranged on an unmanned aerial vehicle platform; the data processing module is electrically connected with the camera, the environment detector and a steering engine arranged on the holder. The potentiometer and the steering engine are coaxially installed. According to the utility model, through the camera and the environment detector which are carried on the unmanned aerial vehicle platform at the same time, images and environment parameters of a monitoring area are collected at the same time, so that the purpose of more accurately collecting environment data of the monitoring area is achieved.

Description

Technical Field

[0001] The utility model relates to a remote control system, in particular to an environment monitoring remote control system based on an unmanned aerial vehicle platform. Background Art

[0002] Environmental gas monitoring is an important part of the field of environmental monitoring. Traditional monitoring methods mainly use monitoring stations to conduct environmental monitoring and obtain long-term monitoring data in large areas. In view of the frequent sudden pollution incidents in recent years, traditional detection methods are difficult to meet the needs of emergency monitoring. Rapid detection of gases in different dimensions is of great significance for qualitative judgment of pollution conditions and diffusion trends.

[0003] There are technical solutions in the prior art for collecting environmental data through drones, but some technical solutions only collect environmental data through environmental detectors, and some technical solutions only use cameras to collect image data. Therefore, the technical solutions disclosed in the prior art cannot comprehensively collect on-site data, which may lead to deviations in subsequent decisions and may cause unnecessary losses. Utility Model Content

[0004] In order to solve the defects in the prior art, the utility model discloses an environmental monitoring remote control system based on an unmanned aerial vehicle platform, and its technical solution is as follows:

[0005] An environmental monitoring remote control system based on an unmanned aerial vehicle platform, comprising a ground monitoring part, a data transmission part and a remote control carrying platform part;

[0006] The ground monitoring part includes a control terminal that communicates wirelessly with the remote control carrying platform part;

[0007] The data transmission part includes a wireless transmission module, which is respectively arranged on the remote control carrying platform part and the ground monitoring part to realize wireless data communication between the ground and the air;

[0008] Its characteristics are:

[0009] The remote control carrying platform part includes a data processing module, a camera, a pan-tilt platform, a potentiometer, an environmental detector, and a GPS module arranged on the UAV platform; the data processing module is electrically connected to the camera, the GPS module, the environmental detector, and a steering gear arranged on the pan-tilt platform respectively; the potentiometer is coaxially installed with the steering gear.

[0010] Preferably, the control terminal is a notebook computer, and the notebook computer keyboard is provided with 'W', 'S', 'A', 'D' keys, up, down, left, and right arrow keys, and '+' and '-' keys.

[0011] Preferably, the wireless transmission module adopts NRF24L01 wireless chip, the wireless chip NRF24L01 chip adopts DC power supply, and a self-locking switch and an LED indicator light are arranged on the DC power supply circuit.

[0012] Preferably: the data processing module includes a control chip, the serial port USART1 of the control chip is connected to the wireless transmission module; it is connected to the camera through the serial port USART0; the internal timer of the control chip is connected to the pulse distributor; the pulse distributor outputs PWM signals of three channels to drive the three servos of the gimbal respectively.

[0013] Preferably, the output end of the potentiometer is connected to the filtering and shaping amplifying circuit; the output end of the filtering and shaping amplifying circuit is connected to an A / D converter; and the A / D converter is connected to a control chip.

[0014] Preferably, the UAV platform adopts a six-rotor UAV with a wheelbase of 650 and a 14-inch propeller; the motor adopts a Langyu 3508 motor; a 6S power battery is adopted, and the 6S battery is a battery pack composed of six batteries connected in series, with a single cell voltage of 3.7V, and the working voltage of the power battery is 22.2V.

[0015] Preferably, the environmental detector includes a gas detector from Ampal Company, model AP-S-SO2-H, which is controlled by buttons in the ground monitoring part, including starting and shutting down the environmental detector, and opening and shutting down data storage.

[0016] Preferably, the camera is SONY SSC-ET185P, which is controlled by RS232 / 485 and has a standard RS485 control interface; the serial port USART0 of the data processing module converts the RS232 signal into the RS485 signal and sends the control signal to the camera. Beneficial Effects

[0017] The UAV platform is used as an environmental monitoring platform, and the environmental detectors and cameras mounted on the UAV platform are used to simultaneously collect images and environmental parameters of the monitored area, providing a reliable basis for relevant departments to more comprehensively grasp environmental data and formulate strategies. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the structure of the environmental monitoring remote control system based on the UAV platform. DETAILED DESCRIPTION

[0019] A remote control system for environmental monitoring based on an unmanned aerial vehicle platform comprises a ground monitoring part, a data transmission part and a remote control carrying platform part; the ground monitoring part comprises a control terminal, which communicates wirelessly with the remote control carrying platform part via a wireless transmission module on the control terminal; the ground monitoring part adopts a notebook computer to remotely control a camera installed on the remote control carrying platform part.

[0020] The data transmission part includes a wireless transmission module. The wireless transmission module uses the NRF24L01 wireless chip, which is a 2.4G communication chip developed by Nordic. Since the NRF24L01 can be used for both receiving and sending, two NRF24L01 chips are respectively set on the remote control platform part and the ground monitoring part to realize wireless data communication between the ground and the air. The NRF24L01 chip is a digital RF chip with 20 pins. There are registers with different functions inside the chip. The control chip configures the internal function registers of the NRF24L01 chip through the SPI interface or I / O port. The chip parameters can be configured and the data can be read and written by reading and writing the data in the register. The control chip configures the communication address, channel, number of bytes of sent data, communication rate and transmission power; the data received by the receiving end is also read from the data register through the SPI interface. The IRQ pin in the NRF24L01 chip can be used as a flag signal. If the IRQ is in a low level state, it means that the signal is received and the data packet is read out.

[0021] The function of the wireless chip NRF24L01 transmitter is to realize remote control of environmental detectors and cameras through buttons and display parts on the ground. The chip is powered by DC, and a self-locking switch is set on the power supply circuit to control the on and off of the power supply. An LED indicator light is designed to show whether the power is being supplied by turning the LED light on and off.

[0022] For the signal transmitter, the I / O port connected to the laptop keyboard provides input signals. When the keyboard keys are pressed, the I / O port level changes, and the wireless chip NRF24L01 is controlled to set the wireless chip working parameters, set the transceiver mode, load and send data packet control signals, etc. When the send command is executed, the data is converted to the receiving mode after sending, and waits for the feedback signal from the receiving end. If the feedback signal is received, it proves that the communication is effective under the current working environment and communication distance. After receiving the feedback signal, the control signal is sent again, and the sending end display interface displays the working status of the environmental detector. This display interface is used to display the real-time working status of the environmental detector and the camera after the key operation, which is convenient for the operator to remotely operate the air environment detector and the camera on the ground.

[0023] When the camera receives the aerial video command, use the 'W', 'S', 'A', 'D' keys and the up, down, left, and right arrow keys on the laptop keyboard to control the PTZ position, up and down pitch, and left and right tilt of the remote control platform to shoot the target area; use the '+' and '-' keys on the keyboard to change the focal length parameters of the camera to zoom in and out the image.

[0024] For the control signal receiving end, the wireless chip is configured to receive mode by default, waiting to receive the control signal from the transmitting end. When receiving the control signal, it is not in a hurry to send the control command, but switches to the sending mode to send the feedback signal, and then switches to the receiving mode after sending. When the control signal is received again, the control command is executed. In addition, the receiving end is powered by the drone power battery. The voltage of the drone platform power battery is 22.2V, and the power conversion module is used to power the receiving end after voltage conversion. The wireless communication module NRF24L01 requires a 3.3V voltage, and an internal step-down circuit needs to be designed to convert the voltage to power the wireless communication module. The AMS1117 component is used for voltage conversion. In order to ensure the stability of the voltage conversion, an additional filter circuit is used to stabilize the output voltage. The input and output pins are grounded after passing through a 10μF ceramic capacitor to achieve the purpose of filtering.

[0025] The remote control platform uses a 650 wheelbase six-rotor drone with 14-inch propellers. The motor uses a Langyu 3508 motor with a maximum continuous output current of 15A, and the electric speed controller uses a Haoying 20A electric speed controller; with a 6S power battery, the 6S battery is a battery pack with six batteries connected in series, a single cell voltage of 3.7V, and the working voltage of the battery is 22.2V. In addition, a GPS module is set to connect with the data processing module for positioning of the drone platform.

[0026] The data processing module of the remote control platform can use the AT91SAM7SE control chip of ATMEL. Serial port 1 USART1 is connected to the serial port of Xtend-OEM to receive the manual control signal sent by the ground station and transmit the status data of the pan / tilt to the ground monitoring platform. The manual control signal includes the control signal of the pan / tilt servo and the control signal of the camera, and the control signal is sent to the camera through serial port 0 (USART0). The data processing module generates a PWM control signal through a timer interrupt, and sends the PWM value to the pulse distributor CD4017 in serial mode, and outputs PWM signals of three channels in turn to drive the three servos of the pan / tilt to control pitch, yaw and roll. The potentiometer is installed coaxially with the servo. The rotation of the servo will cause the voltage of the potentiometer to change, which is output to the A / D conversion port of the data processing module through the amplification circuit. The data processing module calculates the angle data of the pan / tilt according to the voltage value after A / D conversion, and makes corresponding adjustments to the pan / tilt attitude after comparing it with the expected angle uploaded by the ground station.

[0027] When a specific button is pressed on the control terminal, a corresponding control signal is sent through the serial port to drive the PTZ to rotate in a specific direction, or to control the camera zoom or the working state of the environmental detector. When the button is released, a zeroing (stop) control signal is sent to stop the PTZ at the current position and keep the focal length stable. When no button is pressed, a zeroing signal is sent through the serial port at a baud rate of 38400b / s.

[0028] The camera can use SONY SSC-ET185P, which provides 18x optical zoom and up to 128x wide dynamic range. Its control method uses RS232 / 485 control, with a standard RS485 control interface, and the control protocol is PELCO-D. The PELCO-D protocol uses a data packet format for transmission, all data are in hexadecimal, the baud rate is 9600 b / s, the instruction code represents different actions, the data code represents the horizontal and vertical speeds, the data processing module sends the control signal to the camera through USART0, and the camera executes the corresponding command, which must be converted from RS232 signal to RS485 signal.

[0029] The environmental detector includes a gas detector from Ampal, model AP-S-SO2-H, which can perform high-precision gas SO2 detection (of course, other environmental gas detectors can be used according to different environmental monitoring purposes, which is not limited here, only taking SO2 as an example). The size of the environmental detector is 132*73*32mm, the pump suction pipe length is 10cm, and the weight is 210g. Control operations are performed through the buttons of the ground monitoring part, including starting and shutting down the environmental detector, and opening and shutting down data storage. The environmental detector is mounted at an appropriate position on the UAV platform (the mounting position is not required here, it can be set on the gimbal or hung at an appropriate position on the UAV frame).

[0030] The utility model uses an unmanned aerial vehicle platform equipped with a camera and an environmental detector to realize rapid detection of images and environmental gases in the monitored area, thereby preventing detection personnel from being in a harmful environment and being injured. The platform part is remotely controlled by the ground end to obtain images, environmental gas concentrations and location information of the detection area, providing a direct reference basis for subsequent strategy formulation.

[0031] The core of the utility model is to simultaneously carry a camera and an environmental detector on a drone platform to collect images and environmental parameters of the monitored area to achieve a more accurate collection of environmental data of the monitored area. How to collect, how to control the camera and the environmental monitor, and the generation and transmission process of the control signal all belong to the existing technology and will not be repeated here.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. The environmental monitoring remote control system based on the UAV platform includes ground monitoring part, data transmission part and remote control platform part; The ground monitoring part includes a control terminal wirelessly connected to the remote control carrying platform part; The data transmission part includes a wireless transmission module, which is respectively arranged in the remote control platform part and the ground monitoring part to realize wireless data transmission between the ground and the air; Its characteristics are: The remote control carrying platform part includes a data processing module, a camera, a pan-tilt platform, a potentiometer, an environmental detector, and a GPS module arranged on the UAV platform; the data processing module is electrically connected to the camera, the GPS module, the environmental detector, and a steering gear arranged on the pan-tilt platform respectively; the potentiometer is coaxially installed with the steering gear.

2. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The control terminal is a notebook computer, and the keyboard of the notebook computer is provided with 'W', 'S', 'A', 'D' keys, up, down, left, right arrow keys, and '+' and '-' keys.

3. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The wireless transmission module adopts NRF24L01 wireless chip, and the wireless chip NRF24L01 chip adopts DC power supply. A self-locking switch and an LED indicator light are arranged on the DC power supply circuit.

4. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The data processing module includes a control chip, the serial port USART1 of the control chip is connected to the wireless transmission module; it is connected to the camera through the serial port USART0; the internal timer of the control chip is connected to the pulse distributor; the pulse distributor outputs PWM signals of three channels to drive the three servos of the pan / tilt respectively.

5. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The output end of the potentiometer is connected to the filtering and shaping amplifier circuit; the output end of the shaping amplifier circuit is connected to the A / D converter; and the A / D converter is connected to the control chip.

6. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The UAV platform adopts a six-rotor UAV with a wheelbase of 650 and a 14-inch propeller; the motor adopts a Langyu 3508 motor; and a 6S power battery is used. The 6S power battery is a battery pack composed of six batteries connected in series, with a single cell voltage of 3.7V, and the working voltage of the power battery is 22.2V.

7. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The environmental detector adopts the gas detector of Ampal Company, model AP-S-SO2-H, and is controlled by buttons set in the ground monitoring part, including starting and shutting down the environmental detector and opening and shutting down the data storage.

8. The environmental monitoring remote control system based on the UAV platform according to claim 1 is characterized by: The camera uses SONY SSC-ET185P with a standard RS485 control interface; the serial port USART0 of the data processing module converts the RS232 signal into the RS485 signal and then sends the control signal to the camera.

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