CN105015767A - Multi-rotor type unmanned aircraft system with fire detecting function - Google Patents

Multi-rotor type unmanned aircraft system with fire detecting function Download PDF

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Publication number
CN105015767A
CN105015767A CN201510396487.4A CN201510396487A CN105015767A CN 105015767 A CN105015767 A CN 105015767A CN 201510396487 A CN201510396487 A CN 201510396487A CN 105015767 A CN105015767 A CN 105015767A
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sensor
aerocraft
unmanned aerial
aerial vehicles
rotor wing
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CN201510396487.4A
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Inventor
贺勇
雷锦涛
曹操
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Hubei Mechanical And Electrical And Design Institute Co Ltd
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Hubei Mechanical And Electrical And Design Institute Co Ltd
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Priority to CN201510396487.4A priority Critical patent/CN105015767A/en
Publication of CN105015767A publication Critical patent/CN105015767A/en
Pending legal-status Critical Current

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Abstract

The invention provides a multi-rotor type unmanned aircraft system with a fire detecting function. Six engine arms and a frame form a body frame of the multi-rotor type unmanned aircraft system; a motor and an electronic speed regulator are connected with each other to control the rotation speed of propeller blades; a landing gear is used for an aircraft to stably land during landing; an unmanned aircraft flight control system is used for controlling stable postures of the aircraft; a sensor is connected with the unmanned aircraft flight control system; a small-sized control computer is connected with laser distance measuring sensors through communication; a processed signal is input into the unmanned aircraft flight control system to control three-dimensional positions and postures of the aircraft indoors; high-definition cameras are connected with an image transmitting device to collect video images of environment; and the image transmitting device is used for transmitting a video image signal to a ground station device so as to realize real-time observation. The multi-rotor type unmanned aircraft system with the fire detecting function, provided by the invention, is advantaged in that the multi-rotor type unmanned aircraft system can autonomously fly under a complicated environment, automatically detect fires in real time, automatically avoid obstacles and protect personal safety; remote monitoring and remote real-time communication are realized; data can be saved and replayed and so on.

Description

There is many rotor wing unmanned aerial vehicles aerocraft system of fire inspection function
Technical field
The present invention relates to fire inspection field, particularly relate to a kind of many rotor wing unmanned aerial vehicles aerocraft system with fire inspection function.
Background technology
In current fire inspection, due to the unpredictable of burst accident and uncontrollability, bring great difficulty to fire-fighting and rescue work, and entail dangers to fire fighter inherently safe, this has become one of difficult point of modern fire attack.In order to better solve this difficult problem, fire-fighting unmanned plane arises at the historic moment, and the continuous progress of science and technology also makes the effect of fire-fighting unmanned plane day by day strengthen, and the effect in salvage work is also more and more important.The unmanned function of fire-fighting replaces fire-fighting and rescue personnel remote control to enter in inflammable and explosive, poisonous and harmful and the building that easily caves in, bulk storage plant, the indoor and outdoor such as anoxic, dense smoke hazards scene carries out scouting, gather, process and the data message such as real-time Transmission image scene, voice, toxic gas species, combustable gas concentration, in situ temperature, radiant heat, effectively solves the personal safety that fire fighter faces in above-mentioned place, sustainable reconnaissance time short, data acquisition quantity not sufficient and can not the problem such as real-time feedback information.
And current fire-fighting unmanned plane major part employing is gps satellite position fixing system, Real-Time Monitoring and fixed point monitoring can be realized when there being the outdoor hazards of gps signal on-the-spot, completing fire inspection task.But cannot positioning function be realized when indoor or the environment without gps signal, be difficult to effectively stable follow-on mission, and then fire inspection task cannot be completed.Therefore, how under indoor and outdoor, complex environment, all realizing autonomous flight and the Real-Time Monitoring of fire-fighting unmanned plane by accurate location, is an important topic.
Summary of the invention
Task of the present invention is to provide to solve the problem a kind of many rotor wing unmanned aerial vehicles aerocraft system of the fire inspection task that can independently complete under complex environment.
In order to achieve the above object, present invention employs following technical scheme:
The motor that many rotor wing unmanned aerial vehicles aerocraft system with fire inspection function of the present invention comprises frame, horn, battery, screw blade, driving screw blade rotate, electronic governor, alighting gear, control center's shell, UAV Flight Control System, sensor, laser range sensor, small-sized computer for controlling, high-definition camera, image transmission and ground station apparatus.Wherein, described screw blade, described motor and described electronic governor are installed on described horn, described horn is connected with described frame and forms the organism frame of described many rotor wing unmanned aerial vehicles aerocraft system, described screw blade is then arranged on described motor, described motor is connected with described electronic governor the rotating speed controlling described screw blade simultaneously, described alighting gear is arranged on the bottom of described frame for the settling landing of described many rotor wing unmanned aerial vehicles aerocraft system when flying landing, described UAV Flight Control System is for exporting the parameter signal of described many rotor wing unmanned aerial vehicles aerocraft system to realize the gesture stability of described many rotor wing unmanned aerial vehicles aerocraft system, described sensor is corresponding with the communication interface of described UAV Flight Control System to be connected, and the casing that composition one is closed in described control center shell, described laser range sensor is connected with described small-sized computer for controlling communication, by described small-sized computer for controlling, the signal that described laser range sensor transmits is processed, and the signal after process is inputed in described UAV Flight Control System, for realizing indoor three-dimensional position and gesture stability, described high-definition camera is connected with described image transmission, for gathering the video image of environment, described image transmission is used for the Signal transmissions of video image to described ground station apparatus, realize real-time monitored.
In order to realize indoor accurate three-dimensional position control, described laser range sensor comprises the laser range sensor one of the horizontal direction on the top being arranged on described control center shell and is arranged on the laser range sensor two in downward direction of bottom of described body.The laser range sensor one of described horizontal direction is all connected with described small-sized computer for controlling with described laser range sensor two in downward direction.The detection range of described laser range sensor can reach 270 °.
Further, the shooting that described high-definition camera comprises upward direction is first, the camera two of horizontal direction and camera three in downward direction.Wherein, the camera two of the first and described horizontal direction of the shooting of described upward direction is positioned at the top of described control center shell, and described camera three is in downward direction positioned at the bottom of described body.The video image of top, front and below can be obtained simultaneously.
Concrete, described sensor comprises 9 degree of freedom attitude sensors, GPS sensor, baroceptor, environment humidity sensor, gas concentration sensor.
Beneficial effect of the present invention is:
Many rotor wing unmanned aerial vehicles aerocraft system of the present invention can replace manually carrying out the work such as information reconnaissance, information acquisition, personnel's search and rescue at fire-fighting scene.There is autonomous flight under complex environment, automatically real time reconnaissance, automatically obstacle, protection personal safety, remote monitor and control, long-range real-time communication, data can preserve playback so that advantages such as analysis and summary.Be embodied in:
1. many rotor wing unmanned aerial vehicles aerocraft system of the present invention all can realize autonomous flight in outdoor and indoor, and realizes accurate three-dimensional position and gesture stability.GPS navigation can be adopted in outdoor to locate and to realize fast and accurately flying to objective, when the environment of indoor, disappearance gps signal, the laser ranging position fixing system based on SLAM algorithm can be adopted, complete in indoor, the autonomous flight lacked in the environment of gps signal, the difficulty that the fire-fighting scene avoiding complex environment cannot be monitored.
2. many rotor wing unmanned aerial vehicles aerocraft system of the present invention can replace manually under complicated hazardous environment, carrying out information reconnaissance and information acquisition, enters dangerous fire-fighting scene, the human safety issues in not dangerous environment without the need to personnel.
3. many rotor wing unmanned aerial vehicles aerocraft system of the present invention gathers the video image of top, front and below by the camera two of first, the described horizontal direction of the shooting of described upward direction, described camera San Tong method in downward direction, the appearance observing dead angle situation can be avoided, condition of a fire situation in Real-Time Monitoring fire-fighting scene, condition of a fire position, location, for follow-up decision-making provides failure-free information.
4. many rotor wing unmanned aerial vehicles aerocraft system of the present invention detects the concentration of flammable, the poisonous and hazardous characteristic gas in fire-fighting scene in real time by described sensor, can give alarm in time to the dangerous situation in fire-fighting scene.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention's many rotor wing unmanned aerial vehicles aerocraft system;
Fig. 2 is GPS navigation positioning control block scheme;
Fig. 3 is the laser ranging positioning control block scheme based on SLAM algorithm;
Fig. 4 is the block scheme of real-time image transmission system;
Fig. 5 is the block scheme of ambient temperature and humidity and gas concentration warning.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described in detail:
As Figure 1-5, many rotor wing unmanned aerial vehicles aerocraft system of the present invention comprises battery (not shown in figure 1), screw blade 1, drive the motor 2 that screw blade rotates, electronic governor 3, horn 4, alighting gear 5, laser range sensor 26 in downward direction, camera 37 in downward direction, frame 8, UAV Flight Control System 9, small-sized computer for controlling 10, sensor 11, the shooting first 12 of upward direction, the camera 2 13 of horizontal direction, the laser range sensor 1 of horizontal direction, control center's shell 15, image transmission 16, ground station apparatus (not shown in figure 1).Wherein, screw blade 1 is installed on motor 2, motor 2 is connected with electronic governor 3, motor 2 is installed on horn 4, electronic governor 3 is installed in horn 4, horn 4 is (not shown in Fig. 1 by connecting device with frame 8, adopt conventional air plug device) form the organism frame of many rotor wing unmanned aerial vehicles aerocraft system of the present invention, horn 4 has six altogether, UAV Flight Control System 9 and sensor 11 are all installed on the inside of control center's shell 15, sensor 11 is corresponding with the communication interface of UAV Flight Control System 9 to be connected, small-sized computer for controlling 10 and image transmission 16 are installed on the both sides of control center's shell 15 outside, small-sized computer for controlling 10 is connected with UAV Flight Control System 9 gesture stability and position control that realize the present invention's many rotor wing unmanned aerial vehicles aerocraft system, alighting gear 5 is installed on the bottom of frame 8, the shooting first 12 of upward direction, the camera 2 13 of horizontal direction and the laser range sensor 1 of horizontal direction are installed on the top of control center's shell 15, relative, camera 37 in downward direction and laser range sensor 26 are in downward direction arranged on alighting gear 8, the shooting first 12 of upward direction, the camera 2 13 of horizontal direction is connected with image transmission 16 with camera 37 in downward direction, image transmission 16 by wireless telecommunications by video signal transmission to ground station apparatus (not shown in figure 1), laser range sensor 26 is in downward direction connected with small-sized computer for controlling 10 with the laser range sensor 1 of horizontal direction.The shooting of upward direction is first 12, the camera 2 13 of horizontal direction and camera 37 are in downward direction respectively used to gather top, the video image of front and below, the laser range sensor 1 of horizontal direction is for detecting environment and the obstacle of surrounding, and laser range sensor 26 is in downward direction for detecting the flying height of the present invention's many rotor wing unmanned aerial vehicles aerocraft system.
In said structure, sensor 11 comprises 9 degree of freedom attitude sensors, a GPS sensor, baroceptor, an environment humidity sensor and a multiple gas concentration sensor, determines kind and number as required in application.9 degree of freedom attitude sensors are for obtaining the three-axis attitude angle of the present invention's many rotor wing unmanned aerial vehicles aerocraft system in flight course and acceleration information, GPS sensor is used for realizing navigator fix when outdoor flight, baroceptor is for the current gas pressure value that obtains when outdoor flight and obtain elevation information, environment humidity sensor is for obtaining the current humiture information at fire-fighting scene, gas concentration sensor is for obtaining the concentration information of current flammable, the poisonous and hazardous characteristic gas at fire-fighting scene, and characteristic gas comprises CO, CO 2, HCl, H 2s, CH 4and other fire gasess.
The present invention's many rotor wing unmanned aerial vehicles aerocraft system outdoor, have gps signal environment and indoor, all can realize autonomous flight without gps signal environment, realize accurate position control respectively by gps satellite position fixing system and indoor based on the laser ranging position fixing system of SLAM algorithm.Below flight and indoor flight is outdoor illustrated the working process of the present invention's many rotor wing unmanned aerial vehicles aerocraft system respectively.
Referring to Fig. 2, in outdoor, under having gps signal environment, the present invention's many rotor wing unmanned aerial vehicles aerocraft system receives gps signal by GPS sensor, obtain current geographical location information, by the three-axis attitude angle under 9 degree of freedom attitude sensors acquisition current pose and acceleration information, obtain current altitude info ination by baroceptor, and by being connected with UAV Flight Control System 9, by above information transmission to UAV Flight Control System 9.Operating personal exports flight directive by ground station apparatus to UAV Flight Control System 9, the velocity information that flight directive comprises the geographical location information of objective, altitude info ination and presets, the Various types of data information that all kinds of parameter of objective and sensor 11 obtain is run control algorithm and is calculated by UAV Flight Control System 9, draw rotating speed needed for motor 2 and speed signal be transferred to motor 2, realizing the outdoor of the present invention's many rotor wing unmanned aerial vehicles aircraft, have gps signal environment under fly from master control.
Referring to Fig. 3, in indoor, without when flying in gps signal environment, the present invention's many rotor wing unmanned aerial vehicles aerocraft system adopts the laser ranging position fixing system based on SLAM algorithm, location information and the elevation information of unmanned plane is obtained by the laser range sensor 1 of horizontal direction and laser range sensor 26 in downward direction, by the three-axis attitude angle under 9 degree of freedom attitude sensors acquisition current pose and acceleration information, using this two parts information as input, three-dimensional position and the attitude information that SLAM algorithm obtains unmanned plane is run by small-sized computer for controlling 10, the three-dimensional position adopting above-mentioned algorithm to obtain and attitude information are as feedback quantity, transfer to UAV Flight Control System 9, simultaneously, operating personal exports flight directive by ground station apparatus to UAV Flight Control System 9, UAV Flight Control System 9 using all kinds of parameter of flight directive with run control algorithm as the three-dimensional position fed back and attitude information and calculate, draw rotating speed needed for motor 2 and speed signal is transferred to motor 2, realize the present invention's many rotor wing unmanned aerial vehicles aerocraft system in indoor, fly from master control without under gps signal environment.
Referring to Fig. 4, the video image information of surrounding environment is obtained by the make a video recording camera 2 13 of first 12, horizontal direction and camera 37 in downward direction of upward direction, after being processed by image transmission 16 pairs of video image informations, the video image information processed is sent to ground station apparatus.The camera 2 13 of first 12 by the shooting of upward direction in ground station apparatus, horizontal direction and camera 37 in downward direction observe above the present invention's many rotor wing unmanned aerial vehicles aerocraft system simultaneously, the video image of front and below.
Referring to Fig. 5, the present invention's many rotor wing unmanned aerial vehicles aerocraft system when the existing airdrome flight of fire-fighting, by environment humidity sensor and each gas concentration sensor (CO gas concentration sensor, CO 2gas concentration sensor, HCl gas concentration sensor, H 2s gas concentration sensor, CH 4gas concentration sensor, environment humidity sensor etc.) obtain the concentration information of humiture information and all kinds of flammable, poisonous and hazardous characteristic gas in environment, this type of characteristic gas includes CO, CO 2, HCl, H 2s, CH 4and other fire gasess.The humiture information got and characteristic gas concentration information real-time Transmission are to small-sized computer for controlling 10, small-sized controlling calculation 10 is according to the alarming value pre-set, Real-Time Monitoring is carried out to the humiture in environment and characteristic gas concentration, carry out classifying alarm to characteristic gas concentration, alarm message is by being wirelessly transmitted to ground station apparatus.
Implementation method recited above is only be described preferred implementation method of the present invention; not the spirit and scope of the present invention are limited; do not departing under design plan prerequisite of the present invention; the various modification that in this area, common engineering staff make technical scheme of the present invention and improvement; protection scope of the present invention all should be fallen into; the technology contents of request protection of the present invention, all records in detail in the claims.

Claims (4)

1. there is many rotor wing unmanned aerial vehicles aerocraft system of fire inspection function, it is characterized in that: comprise frame (8), horn (4), battery, screw blade (1), the motor (2) driving screw blade rotation, electronic governor (3), alighting gear (5), control center's shell (15), UAV Flight Control System (9), sensor (11), laser range sensor (6,14), small-sized computer for controlling (10), high-definition camera (7,12,13), image transmission (16) and ground station apparatus, wherein, described motor (2) and described electronic governor (3) are installed on described horn (4), described horn (4) is connected with described frame (8) and forms the organism frame of described many rotor wing unmanned aerial vehicles aerocraft system, described screw blade (1) is arranged on described motor (2), described motor (2) is connected with described electronic governor (3) rotating speed controlling described screw blade (1) simultaneously, the bottom that described alighting gear (5) is arranged on described frame (8) is used for the settling landing of described many rotor wing unmanned aerial vehicles aerocraft system when flying landing, described UAV Flight Control System (9) is for exporting the parameter signal of described many rotor wing unmanned aerial vehicles aerocraft system to realize the gesture stability of described many rotor wing unmanned aerial vehicles aerocraft system, described sensor (11) is corresponding with the communication interface of described UAV Flight Control System (9) to be connected, and the casing that composition one is closed in described control center shell (15), described laser range sensor (6, 14) be connected with the communication of described small-sized computer for controlling (10), by described small-sized computer for controlling (10) to described laser range sensor (6, 14) signal transmitted processes, and the signal after process is inputed in described UAV Flight Control System (9), for realizing indoor three-dimensional position and gesture stability, described high-definition camera (7, 12, 13) be connected with described image transmission (16), for gathering the video image of environment, and by the Signal transmissions of video image to described ground station apparatus, realize real-time monitored.
2. many rotor wing unmanned aerial vehicles aerocraft system according to claim 1, is characterized in that: described laser range sensor (6,14) includes the laser range sensor one (14) of the horizontal direction being arranged on described control center shell (15) top and is arranged on described frame lower laser range sensor two (6) in downward direction; The laser range sensor one (14) of described horizontal direction is all connected with described small-sized computer for controlling (10) with described laser range sensor two (6) in downward direction.
3. the many rotor wing unmanned aerial vehicles aerocraft system according to claim 1 or 2, it is characterized in that: described high-definition camera (7,12,13) comprises the shooting first (12) of upward direction, the camera two (13) of horizontal direction and camera three (7) in downward direction; Wherein, the shooting first (12) of described upward direction and the camera two (13) of described horizontal direction are positioned at the top of described control center shell (15), and described camera three (7) is in downward direction positioned at the bottom of described body.
4. many rotor wing unmanned aerial vehicles aerocraft system according to claim 1 and 2, is characterized in that: described sensor (11) comprises 9 degree of freedom attitude sensors, GPS sensor, baroceptor, environment humidity sensor, gas concentration sensor.
CN201510396487.4A 2015-07-09 2015-07-09 Multi-rotor type unmanned aircraft system with fire detecting function Pending CN105015767A (en)

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