CN104796672A - Emergency monitoring cloud platform device for unmanned aerial vehicle and operating method of emergency monitoring cloud platform device for unmanned aerial vehicle - Google Patents

Abstract

The invention discloses an emergency monitoring cloud platform device for an unmanned aerial vehicle and an operating method of the emergency monitoring cloud platform device for the unmanned aerial vehicle. The monitoring cloud platform device comprises a pod connected to the unmanned aerial vehicle, a cloud platform connected to the pod, a panoramic wide-angle camera arranged on the pod, a control module, a Beidou module, a first wireless communication module, a thermal imager or a video camera arranged on the cloud platform, a second wireless communication module and a control terminal, wherein the panoramic wide-angle camera, the control module, the Beidou module and the first wireless communication module are arranged on the pod, and the second wireless communication module and the control terminal are arranged on the ground and mutually connected; the panoramic wide-angle camera, the Beidou module, the first wireless communication module, the thermal imager and the video camera are connected with the control module; and the first wireless communication module is wirelessly connected with the second wireless communication module. The emergency monitoring cloud platform device for the unmanned aerial vehicle and the operating method of the emergency monitoring cloud platform device for the unmanned aerial vehicle disclosed by the invention keep monitoring surrounding environments through the panoramic wide-angle camera, the system controls the cloud platform to automatically align a concrete target which is found and designated on a monitoring video by an operator to rapidly and effectively achieve video control and target acquisition based on the target.

Description

A kind of unmanned plane is met an urgent need monitoring head device and operational method thereof

Technical field

The present invention relates to unmanned aerial vehicle (UAV) control field, specifically a kind of unmanned plane is met an urgent need monitoring head device and operational method thereof.

Background technology

Current unmanned plane operation mainly relies on ground staff respectively to no-manned machine distant control with to The Cloud Terrace remote control, and realize target detects, and not only efficiency is low, and cannot solve the operation outside visual range.Because unmanned plane power supply supports that the single operation time is short, exploitation control system and operating system, realize automation thus raise the efficiency very necessary.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of unmanned plane and meets an urgent need monitoring head device and operational method thereof, can realize the Automatic Control of based target, and realize target acquisition rapidly and efficiently, practical simplicity, operating efficiency are high.

Technical scheme of the present invention is:

A kind of unmanned plane is met an urgent need monitoring head device, include the gondola be connected on unmanned plane, be connected to the The Cloud Terrace on gondola, be arranged at the panorama wide-angle camera on gondola, control module, Big Dipper module and the first wireless communication module, be arranged at the thermal imager on The Cloud Terrace or video camera, and be arranged on ground and interconnective second wireless communication module and control terminal; Wherein, described panorama wide-angle camera, Big Dipper module, the first wireless communication module, thermal imager or video camera are all connected with control module; The first described wireless communication module and the second wireless communication module wireless connections.

Also include and be arranged on The Cloud Terrace and the laser distance sensor be connected with control module.

Described panorama wide-angle camera includes front panorama wide-angle camera, rear panorama wide-angle camera, left panorama wide-angle camera, right panorama wide-angle camera, upper panorama wide-angle camera and lower panorama wide-angle camera, and the visual angle of each camera is 120 degree.

Described The Cloud Terrace is vertically connected on the pedestal of gondola, The Cloud Terrace includes and is installed on vertical axial rotating shaft in tripod head frame and horizontal axis rotating shaft, the anglec of rotation of vertical axial rotating shaft is 360 degree, and the anglec of rotation of horizontal axis rotating shaft is be that benchmark respectively rotates 45 degree up and down with horizontal direction.

Described thermal imager or video camera, laser distance sensor are arranged on The Cloud Terrace side by side, and keep towards unanimously, and wherein, the visual angle of thermal imager or video camera is 90 degree.

Unmanned plane is met an urgent need the operational method of monitoring head device, comprises the following steps:

(1), the monitoring to surrounding environment is kept by panorama wide-angle camera;

(2), the video of panorama wide-angle camera shooting transfers to the second wireless communication module by the first wireless communication module;

(3), Ground Operation personnel select monitoring objective in the video image of control terminal;

(4), control terminal according to the position of target position in video, unmanned plane, The Cloud Terrace current pose, draw The Cloud Terrace horizontal and vertical amount of spin, and the vertical movement of unmanned plane;

(5), the result of step (4) sends to control module by control terminal, and control module controls that unmanned plane carries out moving, The Cloud Terrace rotates, thus automatically fast by thermal imager or camera alignment target, completes target acquisition automatically.

The concrete calculation procedure of described step (4) is:

(a), first judge whether target location is positioned at The Cloud Terrace field of view center scope, field range due to panorama wide-angle camera is 120 degree, and the anglec of rotation of The Cloud Terrace horizontal axis rotating shaft is be that benchmark respectively rotates 45 degree up and down with horizontal direction, again because field of view angle is directly proportional to video pixel, therefore draw formula (1):

$\frac{Y1}{Y}=\frac{(120-90)*1/2}{120}---\left(1\right),$

Wherein, Y=Y1+Y2, Y are the video pixel height of panorama wide-angle camera, and Y2-Y1 is the central vision boundary height of thermal imager or video camera;

After being out of shape by formula (1), obtain formula (2),

$Y1=(120-90)/120*Y/2=\frac{1}{8}Y---\left(2\right),$

Again due to formula (3):

$Y2=Y-Y1=\frac{7}{8}Y---\left(3\right),$

Now show that the ordinate Ya of target meets formula (4):

Y1≤Ya≤Y2 (4)，

If meet, then target is within the scope of The Cloud Terrace field of view center; If do not meet, then target is not within the scope of The Cloud Terrace field of view center;

B (), the calculating The Cloud Terrace amount of horizontally rotating, because field of view angle and video pixel keep equal proportion, therefore draw formula (5),

(Xa-Xc)/(X-Xc)＝α/60 (5)，

Wherein, Xa is the abscissa of target, and Xc is the abscissa of the field of view center position of panorama wide-angle camera, and X is the abscissa of panorama wide-angle camera limit on the right-right-hand limit;

Due to formula (6):

$\mathrm{Xc}=\frac{1}{2}X---\left(6\right),$

So, draw α, see formula (7),

$\mathrm{\α}=\frac{2\mathrm{Xa}-X}{X}*60---\left(7\right),$

Wherein, α is based on place panorama wide-angle camera center position, the angle value of adjustment clockwise; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates clockwise α angle, completes The Cloud Terrace and horizontally rotates adjustment;

(c), calculating The Cloud Terrace vertical rotation amount and aircraft vertical amount of movement:

First be divided into two kinds of situations according to the result of step (a): when target is within the scope of The Cloud Terrace field of view center, then only an adjustment The Cloud Terrace vertical rotation amount can meet and aims at the mark in the vertical direction, without the need to mobile aircraft; When target is not within the scope of The Cloud Terrace field of view center, then need to adjust aircraft altitude, specific as follows:

When target is within the scope of The Cloud Terrace field of view center, draw formula (8):

$\mathrm{\β}=\frac{2\mathrm{Ya}-Y}{Y}*60---\left(8\right),$

Wherein, β is based on place panorama wide-angle camera center position, to the angle value of upside adjustment; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates β angle to upside, completes the adjustment of The Cloud Terrace vertical rotation;

When target is not within the scope of The Cloud Terrace field of view center, then first The Cloud Terrace is adjusted to extreme position i.e. 45 degree of positions to direction, target place, measure air line distance L1 by laser distance sensor, draw horizontal range L by cosine function, specifically see formula (9):

Draw altitude datum difference H1 by SIN function, specifically see formula (10):

Because object height H2 is formula (11):

H2＝L1*tanβ (11)，

Draw target adjustment height difference H 3, see formula (12):

$H3=H2-H1=\tan \mathrm{\β}*L1-\frac{\sqrt{2}}{2}L1=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(12\right),$

Again owing to keeping The Cloud Terrace to be positioned at veritcal limit position, vertically movement, then gondola adjustment height difference H x=H3, is formula (13):

$\mathrm{Hx}=H3=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(13\right),$

The result of formula (8) is brought into, obtains Hx.

The target range that described control module collects according to laser distance sensor, obtain best focusing value, then control module controls The Cloud Terrace to thermal imager or video camera focusing, and last manual operation control terminal, control module controls The Cloud Terrace and finely tunes thermal imager or video camera.

Advantage of the present invention is:

The present invention keeps the supervision to surrounding environment by panorama wide-angle camera, when operating personnel is monitoring the target of selecting in video to specify, control The Cloud Terrace is realized thermal imager or video camera auto-alignment target by system, and the video realized fast and effectively based on target controls and target acquisition.

Accompanying drawing explanation

Fig. 1 is that unmanned plane of the present invention is met an urgent need the structured flowchart of monitoring head control principle.

Fig. 2 is the structural representation of gondola of the present invention and The Cloud Terrace.

Fig. 3 is the schematic diagram of panorama wide-angle camera of the present invention and The Cloud Terrace visual field.

Fig. 4 is the schematic diagram that the present invention calculates the The Cloud Terrace amount of horizontally rotating.

Fig. 5 is the schematic diagram that the present invention calculates The Cloud Terrace vertical rotation amount and aircraft vertical amount of movement.

Embodiment

See Fig. 1 and Fig. 2, a kind of unmanned plane is met an urgent need monitoring head device, include the gondola 1 be connected on unmanned plane, be connected to the The Cloud Terrace 2 on gondola 1, be arranged at the panorama wide-angle camera 3 on gondola 1, control module 4, Big Dipper module 5 and the first wireless communication module 6, be arranged at the thermal imager on The Cloud Terrace 2 or video camera 7, be arranged at the laser distance sensor 8 on The Cloud Terrace 2, and to be arranged on ground and interconnective second wireless communication module 9 and control terminal 10; Wherein, panorama wide-angle camera 3, Big Dipper module 5, first wireless communication module 6, thermal imager or video camera 7, laser distance sensor 8 are all connected with control module 4; First wireless communication module 6 and the second wireless communication module 9 wireless connections.

See Fig. 1 and Fig. 2, wherein, panorama wide-angle camera 3 includes front panorama wide-angle camera 31, rear panorama wide-angle camera 32, left panorama wide-angle camera 33, right panorama wide-angle camera 34, upper panorama wide-angle camera 35 and lower panorama wide-angle camera 36, and the visual angle of each camera is 120 degree; The Cloud Terrace 2 is vertically connected on the pedestal of gondola 1, The Cloud Terrace 2 includes and is installed on vertical axial rotating shaft 22 in tripod head frame 21 and horizontal axis rotating shaft 23, the anglec of rotation of vertical axial rotating shaft 22 is 360 degree, and the anglec of rotation of horizontal axis rotating shaft 23 is be that benchmark respectively rotates 45 degree up and down with horizontal direction; Thermal imager or video camera 7, laser distance sensor 8 are arranged on The Cloud Terrace side by side, and keep towards unanimously, and wherein, the visual angle of thermal imager or video camera 7 is 90 degree.

Unmanned plane is met an urgent need the operational method of monitoring head device, comprises the following steps:

(1), the monitoring to surrounding environment is kept by panorama wide-angle camera 3;

(2) video that, panorama wide-angle camera 3 is taken transfers to the second wireless communication module 9 by the first wireless communication module 6;

(3), Ground Operation personnel select monitoring objective A in the video image of control terminal 10;

(4), control terminal 10 according to the position of target A position in video, unmanned plane, The Cloud Terrace 2 current pose, draw The Cloud Terrace 2 horizontal and vertical amount of spin, and the vertical movement of unmanned plane, concrete calculation procedure is:

(a), see Fig. 3, first judge whether target A position is positioned at The Cloud Terrace 2 field of view center scope, field range due to panorama wide-angle camera 3 is 120 degree, and the anglec of rotation of The Cloud Terrace horizontal axis rotating shaft 23 is be that benchmark respectively rotates 45 degree up and down with horizontal direction, again because field of view angle is directly proportional to video pixel, therefore draw formula (1):

$\frac{Y1}{Y}=\frac{(120-90)*1/2}{120}---\left(1\right),$

Wherein, Y=Y1+Y2, Y are the video pixel height of panorama wide-angle camera, and Y2-Y1 is the central vision boundary height of thermal imager or video camera;

After being out of shape by formula (1), obtain formula (2),

$Y1=(120-90)/120*Y/2=\frac{1}{8}Y---\left(2\right),$

Again due to formula (3):

$Y2=Y-Y1=\frac{7}{8}Y---\left(3\right),$

Now show that the ordinate Ya of target A meets formula (4):

Y1≤Ya≤Y2 (4)，

If meet, then target A is within the scope of The Cloud Terrace field of view center; If do not meet, then target A is not within the scope of The Cloud Terrace field of view center;

(b), see Fig. 4, calculate The Cloud Terrace 2 amount of horizontally rotating, because field of view angle and video pixel keep equal proportion, therefore draw formula (5),

(Xa-Xc)/(X-Xc)＝α/60 (5)，

Wherein, Xa is the abscissa of target A, and Xc is the abscissa of the field of view center position C of panorama wide-angle camera, and X is the abscissa of panorama wide-angle camera limit on the right-right-hand limit;

Due to formula (6):

$\mathrm{Xc}=\frac{1}{2}X---\left(6\right),$

So, draw α, see formula (7),

$\mathrm{\α}=\frac{2\mathrm{Xa}-X}{X}*60---\left(7\right),$

Wherein, α is based on place panorama wide-angle camera center position, the angle value of adjustment clockwise; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates clockwise α angle, completes The Cloud Terrace and horizontally rotates adjustment;

(c), see Fig. 5, calculate The Cloud Terrace vertical rotation amount and aircraft vertical amount of movement:

First be divided into two kinds of situations according to the result of step (a): when target A is within the scope of The Cloud Terrace field of view center, then only adjustment The Cloud Terrace vertical rotation amount can meet the A that aims at the mark in the vertical direction, without the need to mobile aircraft; When target A is not within the scope of The Cloud Terrace field of view center, then need to adjust aircraft altitude, specific as follows:

When target A is within the scope of The Cloud Terrace field of view center, draw formula (8):

$\mathrm{\β}=\frac{2\mathrm{Ya}-Y}{Y}*60---\left(8\right),$

Wherein, β is based on place panorama wide-angle camera center position, to the angle value of upside adjustment; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates β angle to upside, completes the adjustment of The Cloud Terrace vertical rotation;

When target A is not within the scope of The Cloud Terrace field of view center, then first The Cloud Terrace is adjusted to extreme position i.e. 45 degree of positions to direction, target A place, measure air line distance L1 by laser distance sensor, draw horizontal range L by cosine function, specifically see formula (9):

Draw altitude datum difference H1 by SIN function, specifically see formula (10):

Because target A height H 2 is formula (11):

H2＝L1*tanβ (11)，

Show that target A adjusts height difference H 3, see formula (12):

$H3=H2-H1=\tan \mathrm{\β}*L1-\frac{\sqrt{2}}{2}L1=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(12\right),$

Again owing to keeping The Cloud Terrace to be positioned at veritcal limit position, vertically movement, then gondola adjustment height difference H x=H3, is formula (13):

$\mathrm{Hx}=H3=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(13\right),$

The result of formula (8) is brought into, obtains Hx.

(5), the result of step (3) is sent to control module 4 by control terminal 10, control module 4 automatically controls that unmanned plane carries out moving, the rotating shaft of The Cloud Terrace 2 is rotated, thus the A that automatically fast thermal imager or video camera 7 aimed at the mark, complete target A and catch;

(6), the target A distance that collects according to laser distance sensor 8 of control module 4, obtain best focusing value, then control module 4 controls The Cloud Terrace and focuses to thermal imager or video camera 7, last manual operation control terminal 10, control module 4 controls The Cloud Terrace and finely tunes thermal imager or video camera 7.

Claims (8)

1. a unmanned plane is met an urgent need monitoring head device, it is characterized in that: include the gondola be connected on unmanned plane, be connected to the The Cloud Terrace on gondola, be arranged at the panorama wide-angle camera on gondola, control module, Big Dipper module and the first wireless communication module, be arranged at the thermal imager on The Cloud Terrace or video camera, and be arranged on ground and interconnective second wireless communication module and control terminal; Wherein, described panorama wide-angle camera, Big Dipper module, the first wireless communication module, thermal imager or video camera are all connected with control module; The first described wireless communication module and the second wireless communication module wireless connections.

2. a kind of unmanned plane according to claim 1 is met an urgent need monitoring head device, it is characterized in that: also include and be arranged on The Cloud Terrace and the laser distance sensor be connected with control module.

3. a kind of unmanned plane according to claim 1 is met an urgent need monitoring head device, it is characterized in that: described panorama wide-angle camera includes front panorama wide-angle camera, rear panorama wide-angle camera, left panorama wide-angle camera, right panorama wide-angle camera, upper panorama wide-angle camera and lower panorama wide-angle camera, the visual angle of each camera is 120 degree.

4. a kind of unmanned plane according to claim 1 is met an urgent need monitoring head device, it is characterized in that: described The Cloud Terrace is vertically connected on the pedestal of gondola, The Cloud Terrace includes and is installed on vertical axial rotating shaft in tripod head frame and horizontal axis rotating shaft, the anglec of rotation of vertical axial rotating shaft is 360 degree, and the anglec of rotation of horizontal axis rotating shaft is be that benchmark respectively rotates 45 degree up and down with horizontal direction.

5. a kind of unmanned plane according to claim 2 is met an urgent need monitoring head device, it is characterized in that: described thermal imager or video camera, laser distance sensor are arranged on The Cloud Terrace side by side, and keep towards unanimously, wherein, the visual angle of thermal imager or video camera is 90 degree.

6. a kind of unmanned plane according to claim 1 is met an urgent need the operational method of monitoring head device, it is characterized in that: comprise the following steps:

(1), the monitoring to surrounding environment is kept by panorama wide-angle camera;

(2), the video of panorama wide-angle camera shooting transfers to the second wireless communication module by the first wireless communication module;

(3), Ground Operation personnel select monitoring objective in the video image of control terminal;

(4), control terminal according to the position of target position in video, unmanned plane, The Cloud Terrace current pose, draw The Cloud Terrace horizontal and vertical amount of spin, and the vertical movement of unmanned plane;

(5), the result of step (4) sends to control module by control terminal, and control module controls that unmanned plane carries out moving, The Cloud Terrace rotates, thus automatically fast by thermal imager or camera alignment target, completes target acquisition automatically.

7. a kind of unmanned plane according to claim 1 is met an urgent need the operational method of monitoring head device, it is characterized in that: the concrete calculation procedure of described step (4) is:

(a), first judge whether target location is positioned at The Cloud Terrace field of view center scope, field range due to panorama wide-angle camera is 120 degree, and the anglec of rotation of The Cloud Terrace horizontal axis rotating shaft is be that benchmark respectively rotates 45 degree up and down with horizontal direction, again because field of view angle is directly proportional to video pixel, therefore draw formula (1):

$\frac{Y1}{Y}=\frac{(120-90)*1/2}{120}---\left(1\right),$

Wherein, Y=Y1+Y2, Y are the video pixel height of panorama wide-angle camera, and Y2-Y1 is the central vision boundary height of thermal imager or video camera;

After being out of shape by formula (1), obtain formula (2),

$Y1=(120-90)/120*Y/2=\frac{1}{8}Y---\left(2\right),$

Again due to formula (3):

$Y2=Y-Y1=\frac{7}{8}Y---\left(3\right),$

Now show that the ordinate Ya of target meets formula (4):

Y1≤Ya≤Y2 (4)，

If meet, then target is within the scope of The Cloud Terrace field of view center; If do not meet, then target is not within the scope of The Cloud Terrace field of view center;

B (), the calculating The Cloud Terrace amount of horizontally rotating, because field of view angle and video pixel keep equal proportion, therefore draw formula (5),

(Xa-Xc)/(X-Xc)＝α/60 (5)，

Wherein, Xa is the abscissa of target, and Xc is the abscissa of the field of view center position of panorama wide-angle camera, and X is the abscissa of panorama wide-angle camera limit on the right-right-hand limit;

Due to formula (6):

$\mathrm{Xc}=\frac{1}{2}X---\left(6\right),$

So, draw α, see formula (7),

$\mathrm{\α}=\frac{2\mathrm{Xa}-X}{X}*60---\left(7\right),$

Wherein, α is based on place panorama wide-angle camera center position, the angle value of adjustment clockwise; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates clockwise α angle, completes The Cloud Terrace and horizontally rotates adjustment;

(c), calculating The Cloud Terrace vertical rotation amount and aircraft vertical amount of movement:

First be divided into two kinds of situations according to the result of step (a): when target is within the scope of The Cloud Terrace field of view center, then only an adjustment The Cloud Terrace vertical rotation amount can meet and aims at the mark in the vertical direction, without the need to mobile aircraft; When target is not within the scope of The Cloud Terrace field of view center, then need to adjust aircraft altitude, specific as follows:

When target is within the scope of The Cloud Terrace field of view center, draw formula (8):

$\mathrm{\β}=\frac{2\mathrm{Ya}-Y}{Y}*60---\left(8\right),$

Wherein, β is based on place panorama wide-angle camera center position, to the angle value of upside adjustment; The Cloud Terrace first turns to place panorama wide-angle camera center position, then rotates β angle to upside, completes the adjustment of The Cloud Terrace vertical rotation;

When target is not within the scope of The Cloud Terrace field of view center, then first The Cloud Terrace is adjusted to extreme position i.e. 45 degree of positions to direction, target place, measure air line distance L1 by laser distance sensor, draw horizontal range L by cosine function, specifically see formula (9):

Draw altitude datum difference H1 by SIN function, specifically see formula (10):

Because object height H2 is formula (11):

H2＝L1*tanβ (11)，

Draw target adjustment height difference H 3, see formula (12):

$H3=H2-H1=\tan \mathrm{\β}*L1-\frac{\sqrt{2}}{2}L1=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(12\right),$

Again owing to keeping The Cloud Terrace to be positioned at veritcal limit position, vertically movement, then gondola adjustment height difference H x=H3, is formula (13):

$\mathrm{Hx}=H3=(\tan \mathrm{\β}-\frac{\sqrt{2}}{2})*L1---\left(13\right),$

The result of formula (8) is brought into, obtains Hx.

8. a kind of unmanned plane according to claim 1 is met an urgent need the operational method of monitoring head device, it is characterized in that: the target range that described control module collects according to laser distance sensor, obtain best focusing value, then control module controls The Cloud Terrace to thermal imager or video camera focusing, last manual operation control terminal, control module controls The Cloud Terrace and finely tunes thermal imager or video camera.