技术领域technical field
本发明涉及野外环境灾害信息检测领域，具体地，涉及一种基于无人机和无线传感器网络的监控系统。The invention relates to the field of field environmental disaster information detection, in particular to a monitoring system based on unmanned aerial vehicles and wireless sensor networks.
背景技术Background technique
自古以来，各种自然灾害就一直威胁着人类的生命与财产安全，随着科技的发展，很多自然灾害并不能被阻挡或者消除。同时，预防预警技术与环境监测技术也得到了长足的发展。尤其进入二十一世纪以来，信息技术的发展和物联网的出现对预防预警技术和环境监测技术的进步带来了新的机遇。Since ancient times, various natural disasters have been threatening human life and property safety. With the development of science and technology, many natural disasters cannot be blocked or eliminated. At the same time, prevention and early warning technology and environmental monitoring technology have also been greatly developed. Especially since the beginning of the 21st century, the development of information technology and the emergence of the Internet of Things have brought new opportunities for the advancement of prevention and early warning technology and environmental monitoring technology.
物联网是新一代信息技术的重要组成部分，物联网的核心和基础仍然是互联网，物联网使互联网延伸和扩展到了任何物品与物品之间，实现了全球亿万种物品之间的互连，将不同行业、不同地域、不同应用、不同领域的物理实体按其内在关系紧密地关联在一起。作为崭新的综合性信息系统，物联网并不是单纯的，它包括信息的感知、传输、处理决策、服务等多个方面，呈现出自身显著的特点；物联网是一个由云端组成的一个庞大网络，随着传感器网络大规模部署，各种终端就像蓝海一样，分布到各种各样基础设施上收集信息，在通过各种网络将这些信息发送到云端进行计算和处理，经过计算和处理的信息最后到了应用层为不同的领域各种各样行的支撑服务。The Internet of Things is an important part of the new generation of information technology. The core and foundation of the Internet of Things is still the Internet. The Internet of Things extends and expands the Internet to any item and item, and realizes the interconnection between hundreds of millions of items around the world. Physical entities in different industries, different regions, different applications, and different fields are closely related according to their intrinsic relationships. As a brand-new comprehensive information system, the Internet of Things is not simple, it includes information perception, transmission, processing decision-making, service and other aspects, showing its own remarkable characteristics; the Internet of Things is a huge network composed of clouds , with the large-scale deployment of sensor networks, various terminals are distributed to various infrastructures to collect information like a blue ocean, and these information are sent to the cloud through various networks for calculation and processing. After calculation and processing The information finally arrives at the application layer to provide support services for various fields in different fields.
物联网的关键核心技术之一就是无线传感器网络（Wireless Sensor Network，WSN）技术，该是二十一世纪最有影响力的二十一项技术之一、改变世界的十大技术之一和全球未来的三大高科技之一。这些美誉的接踵而至为无线传感器网络开启了广阔的发展前景和应用空间。One of the key core technologies of the Internet of Things is Wireless Sensor Network (WSN) technology, which is one of the twenty-one most influential technologies in the 21st century, one of the top ten technologies that change the world and global One of the three high technologies of the future. The succession of these reputations has opened up broad development prospects and application space for wireless sensor networks.
四旋翼无人飞行器是近年来被研究制造出来的新型无人飞行器，能够垂直起降、以四个旋翼作为动力装置的飞行器，具有悬停、倒飞、测飞能力，螺旋桨小，飞行安全，结构简单，控制灵活，对无线干扰较弱等优点。可作为服务器与偏远地区网络节点的数据传输的载体，解决偏远地区的数据传输问题。The four-rotor unmanned aerial vehicle is a new type of unmanned aerial vehicle that has been researched and manufactured in recent years. It can take off and land vertically, and uses four rotors as the power device. It has the ability to hover, fly upside down, and test the flight. It has the advantages of simple structure, flexible control, and weak wireless interference. It can be used as the carrier of data transmission between servers and network nodes in remote areas to solve the problem of data transmission in remote areas.
我国经纬度跨度大，地形复杂，人口分布广泛，有相当数量的人口居住在山区，多数分布于山谷地带，山谷地带受地势影响成为泥石流、滑坡、山洪多发区。为了有效预防滑坡和泥石流，政府相关部门相继采取了多项措施，不断健全野外环境、灾害监测预警技术，并取得了一些成果。my country has a large span of latitude and longitude, complex terrain, and a wide population distribution. A considerable number of people live in mountainous areas, most of which are distributed in valleys. The valleys are affected by the terrain and become areas prone to debris flow, landslides, and mountain torrents. In order to effectively prevent landslides and debris flows, relevant government departments have taken a number of measures to continuously improve the field environment, disaster monitoring and early warning technology, and achieved some results.
公开号为CN102928019A的专利文件，公布了一种基于无线传感器和地理信息的环境监测系统及方法，所述系统包括无线传感器网络系统和数据处理及集中监控系统。所述方法如下：终端节点上的传感器模块对周边环境数据进行采集，并将采集到的数据发送到中继节点；中继节点将数据发送到现场采集工作站中的Sink节点；Sink节点把终端节点采集到的数据排队将数据发送到集控分中心系统，集控分中心系统通过GUI人机界面实时监控终端节点所采集到的环境数据；集控分中心通过将环境数据再发送到集控中心，集控中心通过GIS系统发布地理信息GIS服务信息。将环境参数以地图化的形象方式呈现在人机界面上，并对被监测区域发出预警信息，对户外某一区域环境的实时监测。The patent document with the publication number CN102928019A discloses an environment monitoring system and method based on wireless sensors and geographic information. The system includes a wireless sensor network system and a data processing and centralized monitoring system. The method is as follows: the sensor module on the terminal node collects the surrounding environment data, and sends the collected data to the relay node; the relay node sends the data to the Sink node in the field collection workstation; the sink node sends the terminal node The collected data is queued and sent to the centralized control sub-center system. The centralized control sub-center system monitors the environmental data collected by the terminal nodes in real time through the GUI man-machine interface; the centralized control sub-center sends the environmental data to the centralized control center. , the centralized control center publishes geographic information GIS service information through the GIS system. The environmental parameters are displayed on the man-machine interface in a map-like image, and early warning information is sent to the monitored area, and the real-time monitoring of the environment of an outdoor area is performed.
此专利技术的的优缺点：此系统功能完备，但在使用当中需要部署大量中继节点，花费较大；数据依靠中继节点逐个传输，如果某个偏远节点发生故障，所有数据中断，且需要人工去修理或更换节点，大量的中继节点带来高昂的维修费用。Advantages and disadvantages of this patented technology: This system has complete functions, but it needs to deploy a large number of relay nodes during use, which costs a lot; data is transmitted one by one by relay nodes, if a remote node fails, all data will be interrupted, and need Manually repair or replace nodes, a large number of relay nodes bring high maintenance costs.
公开号为CN1034427的专利文件，公布了一种无线遥测泥石流及预警系统，该系统由雨量遥测发射站、流通区提前报警发射站、中心控制室、雨量报警器、桥下检知报警装置和列车防护信号机及控制盘组成。该系统能预报泥水流规模，判别真假泥水流。不仅适合于小规模泥石流的预测及报警，而且适用于大规模泥石流的预测及报警。因该系统采用了拾震传感器和龙头检知线，因此不易受人畜破坏，避免了因误报造成的虚惊。The patent document with the publication number CN1034427 discloses a wireless telemetry debris flow and early warning system. The system consists of a rainfall telemetry transmitter station, an early warning transmitter station in the circulation area, a central control room, a rainfall alarm, an under-bridge detection alarm device, and a train Composed of protective signal machine and control panel. The system can predict the scale of muddy water flow and distinguish true and false muddy water flow. It is not only suitable for prediction and alarm of small-scale debris flow, but also suitable for prediction and alarm of large-scale debris flow. Because the system adopts the vibration pickup sensor and the faucet detection line, it is not easy to be damaged by humans and animals, and false alarms caused by false alarms are avoided.
此专利技术的优缺点：此系统仅通过遥感测量降雨量判断该条件下是否发生泥石流，但该预警系统无雨量以外的其它数据监测，并且没有海量数据处理的能力，其预测精确度与可靠度过低。Advantages and disadvantages of this patented technology: This system only uses remote sensing to measure rainfall to determine whether debris flow occurs under this condition, but the early warning system has no other data monitoring other than rainfall, and does not have the ability to process massive data. Its prediction accuracy and reliability too low.
公开号为CN102547247A的专利文件，公布了一种基于长距离无线mesh网络的野外智慧监控系统，包括骨干网和子网双层网络，其中骨干网为基于IEEE802.11的长距离无线mesh网络，用于提供高带宽和长距离覆盖；子网包括无线传感器网络WSN和无线局域网WLAN两种类型的网络；无线传感器网络WSN用于生态环境监控数据的采集和传输，根据需要部署有各种类型的采集终端即传感器网络节点，传感器网络节点包括土壤温湿度采集终端，水质采集终端；无线局域网WLAN用于高清图片或视频监控以及监控范围内的语音通信，通过接入无线局域网WLAN的手持移动终端设备和图像采集设备，收集、传输包括语音、图片/视频的大数据量的数据；两种类型的网络都将采集到的数据汇集到骨干网络节点，通过骨干网络上传至监控中心。The patent document with the publication number CN102547247A discloses a field intelligent monitoring system based on a long-distance wireless mesh network, including a backbone network and a subnet double-layer network, wherein the backbone network is a long-distance wireless mesh network based on IEEE802.11 for Provide high bandwidth and long-distance coverage; the subnet includes two types of networks: wireless sensor network WSN and wireless local area network WLAN; wireless sensor network WSN is used for the collection and transmission of ecological environment monitoring data, and various types of collection terminals are deployed as required That is, sensor network nodes, sensor network nodes include soil temperature and humidity collection terminals, water quality collection terminals; wireless local area network WLAN is used for high-definition picture or video monitoring and voice communication within the monitoring range, through the handheld mobile terminal equipment and image Acquisition equipment collects and transmits a large amount of data including voice, pictures/videos; both types of networks gather the collected data to the backbone network nodes and upload them to the monitoring center through the backbone network.
根据野外大区域的监控需要，提供一种集视频、语音和生态为一体的智慧监控系统，本发明采取的技术方案是，基于长距离无线mesh网络的野外智慧监，包括骨干网和子网双层网络，其中骨干网为基于IEEE 802.11的长距离无线mesh网络；子网包括无线传感器网络WSN和无线局域网WLAN两种类型的网络；两种类型的网络都将采集到的数据汇集到骨干网络节点，通过骨干网络上传至监控中心。本发明主要应用于野外大区域监控。According to the monitoring needs of large areas in the field, a smart monitoring system integrating video, voice and ecology is provided. The technical solution adopted by the present invention is a field smart monitoring based on a long-distance wireless mesh network, including a backbone network and a subnet. network, in which the backbone network is a long-distance wireless mesh network based on IEEE 802.11; the subnet includes two types of networks: wireless sensor network WSN and wireless local area network WLAN; both types of networks gather the collected data to the backbone network nodes, Upload to the monitoring center through the backbone network. The invention is mainly applied to field large-area monitoring.
此专利技术的优缺点：该系统使用了基于长距离无线mesh网络数据传输的野外监控系统，有效解决了长距离数据传输问题，但是mesh节点仍需要人工野外部署，部署成本较大，随着使用时间的增长，数据存在中断的隐患。Advantages and disadvantages of this patented technology: the system uses a field monitoring system based on long-distance wireless mesh network data transmission, which effectively solves the problem of long-distance data transmission, but the mesh nodes still need to be manually deployed in the field, and the deployment cost is relatively high. With the increase of time, there is a hidden danger of data interruption.
公开号为CN201707456U的专利文件，公布了一种自适应数据还原分析分发系统，属于气象眼环境监控及灾害预警系统中的一部分，其特征在于：通信网络接收平台将环境数据经图像采集/编码还原服务器处理后，再传送给安装了“四分”系统管理平台的内容管理服务器和硬件管理服务器进行识别，识别后的数据提供监测中心、数据库服务器、流媒体/图片服务器/FTP服务器使用。The patent document with the publication number CN201707456U discloses an adaptive data restoration analysis and distribution system, which belongs to a part of the meteorological eye environment monitoring and disaster early warning system. After processing by the server, it is sent to the content management server and hardware management server installed with the "Four Points" system management platform for identification, and the identified data is provided to the monitoring center, database server, streaming media/picture server/FTP server for use.
采用高可靠集群服务器系统将从分布在野外监测点传回的数据进行处理，并分发给监测中心供预警系统及移动监测人员使用。由于部分野外地区没有高带宽的数据通道只能利用MMS或SMS信令通道进行传输，所以传输前需要对数据进行压缩、编码或文档化。接收到数据后首先对数据进行还原处理，然后进行统一格式化处理，再对数据进行分析，分选，分存，分发的四分处理。所分发的数据格式除支持HTTP格式外，还支持移动通信网络(3G)传输、MMS、SMS信令通道传输。The high-reliability cluster server system is used to process the data sent back from the monitoring points distributed in the field, and distribute it to the monitoring center for use by the early warning system and mobile monitoring personnel. Since there is no high-bandwidth data channel in some wild areas, the MMS or SMS signaling channel can only be used for transmission, so the data needs to be compressed, encoded or documented before transmission. After receiving the data, first restore the data, then perform unified formatting, and then analyze, sort, store and distribute the data. The distributed data format supports not only HTTP format, but also mobile communication network (3G) transmission, MMS, SMS signaling channel transmission.
此专利技术的优缺点：该系统使用移动通信网络(3G)传输、MMS、SMS信令通道传输，严重依赖电信运营商传输数据，除需要支付高额的通讯费用以外，还受限于网络运营商的网络带宽，更重要的是部分偏远地区有可能并没有电信网络覆盖。Advantages and disadvantages of this patented technology: the system uses mobile communication network (3G) transmission, MMS, SMS signaling channel transmission, and relies heavily on telecom operators to transmit data. In addition to paying high communication fees, it is also limited by network operations More importantly, some remote areas may not have telecommunications network coverage.
公开号为CN102103201A的专利文件，公布了一种多任务模式的湿地数据采集方法及系统，以便携式计算机为平台，结合GPS模块、图像采集模块、红外测距模块、无线通讯模块等硬件设备和自行开发的数据采集软件，采用蓝牙通讯技术、3G网络、GPS技术、空间数据库技术等进行开发，具备有强大的图形处理、空间数据采集、图像采集和属性信息录入能力，本方法及系统可实现湿地野外调查无纸化现场作业，避免了室内内业处理的重复劳动，提高了数据采集的工作效率。并可方便叠加调用现有数据成果进行分析，非常适合湿地保护区野外现场调查工作，如调查湿地植被分布、动物资源分布、水质检测、水力设施、更新湿地数据、项目普查等。本发明解决了湿地保护工作中数据采集难、更新难的实际问题。The patent document with the publication number CN102103201A discloses a wetland data acquisition method and system in multi-task mode, using a portable computer as a platform, combining GPS modules, image acquisition modules, infrared ranging modules, wireless communication modules and other hardware devices and self-powered The developed data acquisition software is developed using Bluetooth communication technology, 3G network, GPS technology, spatial database technology, etc., and has powerful graphics processing, spatial data acquisition, image acquisition and attribute information input capabilities. Paperless on-site operations in field surveys avoid duplication of work in indoor and in-house operations and improve the efficiency of data collection. It is also convenient to superimpose and call existing data results for analysis, which is very suitable for field investigations in wetland reserves, such as investigating wetland vegetation distribution, animal resource distribution, water quality testing, hydraulic facilities, updating wetland data, and project census. The invention solves the practical problems of difficult data collection and update in wetland protection work.
此专利技术的优缺点：该系统以便携式计算机为平台，具有较强的综合信息采集能力，结合了GPS模块、图像采集模块、红外测距模块、无线通讯模块等硬件设备和数据采集软件。但在数据传输时使用3G网络。面临部分偏远地区有可能并没有电信网络覆盖的困境。Advantages and disadvantages of this patented technology: The system uses a portable computer as a platform and has strong comprehensive information acquisition capabilities. It combines GPS modules, image acquisition modules, infrared ranging modules, wireless communication modules and other hardware devices and data acquisition software. But use 3G network during data transmission. Facing the dilemma that some remote areas may not have telecommunications network coverage.
综合上手多种野外环境监测专利技术，都有其共同的弊端：数据传输依靠网络运营商，面临部分野外地区无信号覆盖困境，速率限制，或者需要部署大量中继节点，一个终极节点损坏则可能面临数据中断的可能。A variety of patented technologies for field environmental monitoring have their common disadvantages: data transmission depends on network operators, facing the dilemma of no signal coverage in some wild areas, rate limitations, or the need to deploy a large number of relay nodes, and a terminal node may be damaged. Faced with the possibility of data interruption.
而大部分的监测区域处于人迹罕至的偏远地区，缺乏广泛使用的3G、4G等通信手段的信号覆盖，因此，如何把WSN收集到的数据传到服务端成为关键问题，通常的解决手段是建立直放站或使用卫星通信，由此带来的弊端就是成本高、需要审批。However, most of the monitoring areas are located in inaccessible and remote areas, lacking the signal coverage of widely used communication means such as 3G and 4G. Therefore, how to transmit the data collected by WSN to the server has become a key problem. The usual solution is to establish a direct Putting stations or using satellite communications has the disadvantages of high cost and the need for approval.
发明内容Contents of the invention
本发明的目的在于，针对上述问题，提出一种基于无人机和无线传感器网络的监控系统，低成本且不受制于网络通信实现监控的目的。The purpose of the present invention is to solve the above problems and propose a monitoring system based on unmanned aerial vehicles and wireless sensor networks, which is low-cost and not restricted by network communication to achieve the purpose of monitoring.
为实现上述目的，本发明采用的技术方案是：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种基于无人机和无线传感器网络的监控系统，包括无人飞行器装置和环境灾害检测装置；所述环境灾害检测装置包括第一处理器模块、第一存储模块、第一通信模块、图像模块、第一电源模块和传感器模块，所述第一存储模块、第一通信模块、图像模块和传感器模块均与第一处理器模块通信连接，所述第一电源模块为检测装置提供直流电源；A monitoring system based on unmanned aerial vehicles and wireless sensor networks, comprising an unmanned aerial vehicle device and an environmental disaster detection device; the environmental disaster detection device includes a first processor module, a first storage module, a first communication module, an image module . A first power supply module and a sensor module, the first storage module, the first communication module, the image module and the sensor module are all communicatively connected to the first processor module, and the first power supply module provides DC power for the detection device;
所述无人飞行器装置包括在飞行器上设置的第二电源模块、第二处理器模块、飞行控制模块、GPS模块、第二存储模块和第二通信模块，所述飞行控制模块、GPS模块、第二存储模块和第二通信模块均与第二处理器模块通信连接，所述第二电源模块为飞行器提供电源；The unmanned aerial vehicle device includes a second power supply module, a second processor module, a flight control module, a GPS module, a second storage module and a second communication module arranged on the aircraft, the flight control module, the GPS module, the first Both the second storage module and the second communication module are connected in communication with the second processor module, and the second power supply module provides power for the aircraft;
当无人飞行器装置飞入到环境灾害检测装置的通信范围内时，所述第一通信模块和第二通信模块通过无线通信方式建立连接。When the unmanned aerial vehicle device flies into the communication range of the environmental disaster detection device, the first communication module and the second communication module establish a connection through wireless communication.
优选的，所述传感器模块中至少集成了陀螺仪、GPS、土壤压力传感器、土壤水分传感器和降雨量传感器。Preferably, the sensor module at least integrates a gyroscope, a GPS, a soil pressure sensor, a soil moisture sensor and a rainfall sensor.
优选的，所述第一通信模块和第二通信模块均采用Zigbee芯片。Preferably, both the first communication module and the second communication module use Zigbee chips.
优选的，所述第一电源模块采用太阳能电池。Preferably, the first power module uses solar cells.
优选的，所述图像模块包括摄像头。Preferably, the image module includes a camera.
优选的，所述第一存储模块和第二存储模块均采用SD卡。Preferably, both the first storage module and the second storage module use SD cards.
优选的，所述飞行控制模块接受第二处理器模块指令，指挥飞行器的飞行任务；所述GPS模块用来定位飞行器位置；所述第二存储模块用来存储收集的来之监测节点的检测装置信息；所述第二通信模块负责与检测装置进行通信；所述第二处理器模块负责控制整个飞行器的操作，进行数据处理、流程控制和命令控制；所述第二存储模块，存储采集的数据。Preferably, the flight control module accepts instructions from the second processor module to direct the flight mission of the aircraft; the GPS module is used to locate the position of the aircraft; the second storage module is used to store the collected detection devices from the monitoring nodes Information; the second communication module is responsible for communicating with the detection device; the second processor module is responsible for controlling the operation of the entire aircraft, performing data processing, flow control and command control; the second storage module stores the collected data .
优选的，所述无人飞行器采用四旋翼飞行器。Preferably, the unmanned aerial vehicle adopts a quadrotor aircraft.
本发明的技术方案具有以下有益效果：The technical solution of the present invention has the following beneficial effects:
本发明的技术方案，通过无人飞行器对设置在偏远网络通信不健全的地区的无人环境灾害检测装置定期进行数据采集，采用自建的短距离通信网络，从而摆脱了对现有3G、4G或卫星通信网络的限制，也不用重新部署专用的网络，从而降低了部署成本。达到了低成本且不受网络限制的目的。The technical scheme of the present invention uses the unmanned aerial vehicle to regularly collect data from the unmanned environmental disaster detection device installed in the remote area with unsound network communication, and adopts the self-built short-distance communication network, thereby getting rid of the existing 3G, 4G Or the limitation of the satellite communication network, and there is no need to redeploy a dedicated network, thereby reducing the deployment cost. The purpose of low cost and not limited by the network is achieved.
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
附图说明Description of drawings
图1为本发明实施例所述的环境灾害检测装置的原理框图；Fig. 1 is the functional block diagram of the environmental disaster detection device described in the embodiment of the present invention;
图2为本发明实施例所述的无人飞行器装置的原理框图；Fig. 2 is the functional block diagram of the unmanned aerial vehicle device described in the embodiment of the present invention;
图3为使用本发明实施例所述的基于无人机和无线传感器网络的监控系统的环境灾害监控系统框图。Fig. 3 is a block diagram of an environmental disaster monitoring system using a monitoring system based on a drone and a wireless sensor network according to an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
如图1和图2所示， 一种基于无人机和无线传感器网络的监控系统，包括无人飞行器装置和环境灾害检测装置；环境灾害检测装置包括第一处理器模块、第一存储模块、第一通信模块、图像模块、第一电源模块和传感器模块，所述第一存储模块、第一通信模块、图像模块和传感器模块均与第一处理器模块通信连接，第一电源模块为检测装置提供直流电源；As shown in Figure 1 and Figure 2, a monitoring system based on unmanned aerial vehicles and wireless sensor networks, including unmanned aerial vehicle devices and environmental disaster detection devices; environmental disaster detection devices include a first processor module, a first storage module, The first communication module, the image module, the first power supply module and the sensor module, the first storage module, the first communication module, the image module and the sensor module are all communicatively connected to the first processor module, and the first power supply module is a detection device Provide DC power;
无人飞行器装置包括在飞行器上设置的第二电源模块、第二处理器模块、飞行控制模块、GPS模块、第二存储模块和第二通信模块，飞行控制模块、GPS模块、第二存储模块和第二通信模块均与第二处理器模块通信连接，第二电源模块为飞行器提供电源；The unmanned aircraft device comprises a second power supply module, a second processor module, a flight control module, a GPS module, a second storage module and a second communication module arranged on the aircraft, the flight control module, the GPS module, the second storage module and The second communication modules are all communicatively connected to the second processor module, and the second power supply module provides power for the aircraft;
当无人飞行器装置飞入到环境灾害检测装置的通信范围内时，第一通信模块和第二通信模块通过无线通信方式建立连接。When the unmanned aerial vehicle device flies into the communication range of the environmental disaster detection device, the first communication module and the second communication module establish a connection through wireless communication.
传感器模块中集成了陀螺仪、GPS、土壤压力传感器、土壤水分传感器和降雨量传感器等器件。 第一通信模块和第二通信模块均采用Zigbee芯片。第一电源模块采用太阳能电池。图像模块包括摄像头。第一存储模块和第二存储模块均采用SD卡。飞行控制模块接受第二处理器模块指令，指挥飞行器的飞行任务；所述GPS模块用来定位飞行器位置；所述第二存储模块用来存储收集的来之监测节点的检测装置信息；所述第二通信模块负责与检测装置进行通信；所述第二处理器模块负责控制整个飞行器的操作，进行数据处理、流程控制和命令控制；所述第二存储模块，存储采集的数据。The sensor module integrates devices such as gyroscope, GPS, soil pressure sensor, soil moisture sensor and rainfall sensor. Both the first communication module and the second communication module use Zigbee chips. The first power supply module uses solar cells. The image module includes a camera. Both the first storage module and the second storage module use SD cards. The flight control module accepts instructions from the second processor module to direct the flight mission of the aircraft; the GPS module is used to locate the position of the aircraft; the second storage module is used to store the collected detection device information from the monitoring node; the first The second communication module is responsible for communicating with the detection device; the second processor module is responsible for controlling the operation of the entire aircraft, performing data processing, flow control and command control; the second storage module is for storing collected data.
本发明技术方案的监控系统主要包括三部分：一、信息的采集；二、信息的传输；三、对采集数据的整理与处理。The monitoring system of the technical solution of the present invention mainly includes three parts: 1. collection of information; 2. transmission of information; 3. arrangement and processing of collected data.
信息的采集：如图1所示，环境灾害检测装置的智能终端，该终端包括第一处理器模块、第一存储模块、第一通信模块、图像模块、第一电源模块和传感器模块。在传感器模块中集成了陀螺仪、GPS、土壤压力传感器、土壤水分传感器和降雨量传感器等器件，第一通信模块包括Zigbee芯片，图像模块包括摄像头。第一电源模块为所有模块提供正常运行所需要的能量，传感器通常采用低功耗设备，第一电源模块采用太阳能电池供电; 第一处理器模块负责控制整个智能终端的操作，进行数据处理、流程控制和命令控制，处理本身采集的数据；第一存储模块使用大容量SD卡存储数据，传感器模块负责部分信息的采集和数据转换，主要采集外界中的物理信息，如数据采样的地理的具体位置、各种参数和必要的图形信息；第一通信模块负责与四旋翼飞行器进行无线通信，交换控制信息和收发所采集到的数据。Information collection: as shown in Figure 1, the intelligent terminal of the environmental disaster detection device includes a first processor module, a first storage module, a first communication module, an image module, a first power supply module and a sensor module. The sensor module integrates devices such as a gyroscope, GPS, soil pressure sensor, soil moisture sensor and rainfall sensor, the first communication module includes a Zigbee chip, and the image module includes a camera. The first power supply module provides the energy required for normal operation of all modules. Sensors usually use low-power devices, and the first power supply module is powered by solar cells; the first processor module is responsible for controlling the operation of the entire intelligent terminal, performing data processing, and processes Control and command control, processing the data collected by itself; the first storage module uses a large-capacity SD card to store data, and the sensor module is responsible for the collection and data conversion of part of the information, mainly collecting physical information in the outside world, such as the specific geographical location of data sampling , various parameters and necessary graphic information; the first communication module is responsible for wireless communication with the quadrotor aircraft, exchanging control information and sending and receiving collected data.
信息的传输：为了克服部分偏远地区没有电信公司信号覆盖的弊端，设立大量中继节点的高昂的费用和中继节点中断的风险，卫星通讯的高昂费用，本发明技术方案采用四旋翼飞机作为信息载体，定期自动巡航监测节点位置，获取采集到的信息并送到服务端进行分析。如图2所示，四旋翼飞行器由四旋翼飞行器的飞行装置、第二电源模块、第二处理器模块、飞行控制模块、GPS模块、第二存储模块、Zigbee模块构成。飞行控制模块接受第二处理器模块指令，指挥四旋翼飞行器的飞行任务；GPS模块用来定位飞行器位置；第二存储模块用来存储收集来之监测节点的信息；Zigbee模块负责与监测节点进行通信；第二处理器模块负责控制整个四旋翼飞行器的操作，进行数据处理、流程控制和命令控制，第二存储模块存储采集的数据。Transmission of information: In order to overcome the disadvantages of some remote areas without signal coverage of telecommunication companies, the high cost of setting up a large number of relay nodes and the risk of interruption of relay nodes, and the high cost of satellite communication, the technical solution of the present invention uses quadrotor aircraft as information Carrier, regularly automatically patrols and monitors the position of nodes, obtains the collected information and sends it to the server for analysis. As shown in FIG. 2 , the quadrotor aircraft is composed of a flying device of the quadrotor aircraft, a second power supply module, a second processor module, a flight control module, a GPS module, a second storage module, and a Zigbee module. The flight control module accepts the instructions of the second processor module to command the flight mission of the quadrotor aircraft; the GPS module is used to locate the position of the aircraft; the second storage module is used to store the information collected from the monitoring nodes; the Zigbee module is responsible for communicating with the monitoring nodes ; The second processor module is responsible for controlling the operation of the entire quadrotor aircraft, performing data processing, flow control and command control, and the second storage module stores the collected data.
四旋翼飞行器的飞行路径预先规划，并存储在第二存储模块中，并有第二处理器模块调用规划从而智能的控制四旋翼飞行器飞行，不需要进行远程遥控。四旋翼飞行器内的第二处理器模块会计算出最短的飞行路径，从而智能飞行。The flight path of the quadrotor aircraft is pre-planned and stored in the second storage module, and the planning is called by the second processor module to intelligently control the flight of the quadrotor aircraft without remote control. The second processor module inside the quadrotor will calculate the shortest flight path to fly intelligently.
四旋翼飞行器飞行最短路径算法：现有算法仅考虑了水平面上的节点之间的最短路径，而本系统有可能部署在山区，不同监测节点处在不同海拔，飞行器水平飞行与向上飞行功耗不同。本计算方案中的算法充分考虑了这些因素，通过该算法计算得出一条功耗最低路径，使四旋翼飞行器能执行更远的飞行任务。Quadrotor flight shortest path algorithm: the existing algorithm only considers the shortest path between nodes on the horizontal plane, and this system may be deployed in mountainous areas, where different monitoring nodes are at different altitudes, and the power consumption of the aircraft is different between horizontal flight and upward flight . The algorithm in this calculation scheme takes these factors into full consideration, and calculates a path with the lowest power consumption through this algorithm, so that the quadrotor aircraft can perform a longer flight mission.
对采集数据的整理与处理：四旋翼飞行器定期执行飞行任务，收集监测节点收集的信息，收集回来的海量信息结合气象信息交由服务器集群进行处理，如图3所示，根据风险模型进行分析推演并对可能灾情进行评估。通过网络将结果数据、图表以及可视化信息传输到相关主管部门单位进行灾情预报或生态预警，做出最终抗灾、防灾、减灾等决策。Sorting and processing of the collected data: the quadrotor aircraft performs flight missions regularly, collects the information collected by the monitoring nodes, and the collected massive information is combined with the meteorological information and sent to the server cluster for processing, as shown in Figure 3, which is analyzed and deduced according to the risk model and assess possible disasters. Through the network, the resulting data, charts, and visual information are transmitted to relevant competent departments for disaster forecast or ecological early warning, and final disaster prevention, disaster prevention, and disaster reduction decisions are made.
本发明技术方案中在一种具体实施中使用的硬件如表一所示：The hardware used in a kind of specific implementation in the technical scheme of the present invention is as shown in Table 1:
。 .
表一：基于无人机和无线传感器网络的监控系统硬件对照表。Table 1: Hardware comparison table of monitoring system based on UAV and wireless sensor network.
本发明技术方案中监测数据分析平台使用开源的java开发，数据库是免费的mysql数据库和免费的sqlite数据库；四旋翼模块和监测节点软件开发环境是开源的java环境，和android的sdk，编译工具开源的eclipse软件。具体见表二：In the technical solution of the present invention, the monitoring data analysis platform uses open-source java development, and the database is a free mysql database and a free sqlite database; the quadrotor module and the monitoring node software development environment are an open-source java environment, and the sdk of android, and the compilation tool is open-source eclipse software. See Table 2 for details:
。 .
表二：系统开发软件工具对应表。Table 2: Correspondence table of system development software tools.
本系统主要针对灾害易发区域或重点环境区域进行临灾预警或生态预警，在特定区域部署一定数量监测终端，对土壤内部水分含量、土壤内部压力、降雨量等关键因素监测，定期由四旋翼飞行器回收数据，传送回监测数据分析平台进行分析处理，借助现存较为成熟的灾害分析模型，完成对各项信息的分析处理、预测和显示，最终达到对灾害预测和生态危机报告目的，进一步帮助灾区人民紧急疏散，保护人民的生命、财产安全和生态环境。This system is mainly aimed at disaster-prone areas or key environmental areas for disaster warning or ecological warning. A certain number of monitoring terminals are deployed in specific areas to monitor key factors such as soil moisture content, soil internal pressure, and rainfall. The aircraft recovers the data, sends it back to the monitoring data analysis platform for analysis and processing, and completes the analysis, processing, prediction and display of various information with the help of the existing relatively mature disaster analysis model, and finally achieves the purpose of disaster prediction and ecological crisis reporting, and further helps disaster areas The people were evacuated urgently to protect people's lives, property safety and the ecological environment.
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410809445.4ACN104517432A (en) | 2014-12-24 | 2014-12-24 | Monitoring system based on unmanned aerial vehicle and wireless sensor network |
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| CN201410809445.4ACN104517432A (en) | 2014-12-24 | 2014-12-24 | Monitoring system based on unmanned aerial vehicle and wireless sensor network |
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| CN104517432Atrue CN104517432A (en) | 2015-04-15 |
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| CN201410809445.4APendingCN104517432A (en) | 2014-12-24 | 2014-12-24 | Monitoring system based on unmanned aerial vehicle and wireless sensor network |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20150415 |