CN105592305A - Three-dimensional video emergency communication system based on multi-rotor unmanned plane - Google Patents
Three-dimensional video emergency communication system based on multi-rotor unmanned plane Download PDFInfo
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- CN105592305A CN105592305A CN201510976241.4A CN201510976241A CN105592305A CN 105592305 A CN105592305 A CN 105592305A CN 201510976241 A CN201510976241 A CN 201510976241A CN 105592305 A CN105592305 A CN 105592305A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/194—Transmission of image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application discloses a three-dimensional video emergency communication system based on a multi-rotor unmanned plane, comprising an unmanned plane system module, a police wireless data link private network module and a background command system module. The unmanned plane system module is used for collecting emergency field images, and sending the emergency field images to the police wireless data link private network module; the police wireless data link private network module is used for receiving the emergency field images, and sending the emergency field images to the background command system module; the background command system module is used for receiving the emergency field images sent by the police wireless data link private network module, and establishing an emergency field three-dimensional model. The three-dimensional video emergency communication system can restore an emergency filed through three-dimensional videos by three dimensional modeling.
Description
Technical field
The application belongs to communication technical field, specifically, relates to a kind of based on three of many rotor wing unmanned aerial vehiclesDimension video emergency communication system.
Background technology
Along with China's sustained and rapid development of economy, various factors leading to social instability increase day by day, meanwhile,All kinds of natural calamities are also in frequent generation. These accidents, often bring about great losses to social life,Social stability is produced to significant threat. In order to tackle above-mentioned accident, need to be by field condition exactlyConvey to commanding. Traditional mobile communications network, can realize field personnel and command centreBetween voice communication. Be that simple voice communication can not realize completely to emergent on-the-spot complete multipleExisting, can not meet command centre to emergent on-the-spot task deployment, the like this enforcement to emergency disaster relief actionProduce great obstacle. Therefore, we need a kind of emergency communication system, not only can make commander peopleMember's " listening clearly ", can also accomplish " visible ".
In emergency worker does not reach the emergent on-the-spot time period, it is the later stage that emergent site environment is surveyedThe key point that disaster relief operations is implemented. Unmanned plane technology is full-fledged gradually, and unmanned plane carries camera and becomesFor the main way of on-site land survey. Common unmanned plane is divided into fixed-wing, helicopter and many rotors conventionally.Before 10 years, no matter the unmanned plane of fixed-wing and helicopter type is taking photo by plane or model plane Sports Field,Substantially occupy absolute leading position, but along with the raising of taking photo by plane and requiring, fixed-wing, helicopter classThe unmanned plane of type has cruelly spilt a lot of inborn deficiencies in the process of taking photo by plane, such as handling deficiency, spiritActivity is inadequate etc. And many rotor wing unmanned aerial vehicles are in the time that lift-launch camera carries out IMAQ, show exclusiveAdvantage. Many rotor wing unmanned aerial vehicles are to have utilizing radio robot and providing program control for oneself of multiple rotorsThe not manned aircraft that device processed is handled. Many rotor wing unmanned aerial vehicles have good handling, and flexibility is high,Difficulty and the cost of taking photo by plane are greatly reduced. Adopt the conduct of many rotor wing unmanned aerial vehicles for emergency communication systemCamera carrying platform has highlighted exclusive advantage.
The image effect collection of image often being obtained by traditional technology is all two-dimentional plane effect,Two dimensional image is when to emergent on-the-spot reduction, and just a plane is shown. Commanding is according to obtain twoDimension image is difficult to the emergent scene of rediscover.
Summary of the invention
In view of this, technical problems to be solved in this application are, in existing technology commanding according toThe two dimensional image obtaining cannot rediscover emergent scene.
In order to solve the problems of the technologies described above, the application provides following technical scheme:
A 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles, comprises UAS mouldPiece, public security wireless data link private network module, and backstage command system module;
Described UAS module, for gathering emergent on-the-spot image, and be sent to described public security withoutLine data link private network module;
Described public security wireless data link private network module, for receiving the image at described emergent scene, concurrentDeliver to described backstage command system module;
Described backstage command system module, sends for receiving described public security wireless data link private network moduleThe image at described emergent scene, and set up the threedimensional model at described emergent scene.
Further, described UAS module comprises:
Image capture module, for gathering emergent on-the-spot image;
Video data compression coding/decoding module, for carrying out compressed encoding by the image at described emergent scene;
Control instruction coding/decoding module, the instruction of assigning for resolving backstage command system, and instruction is turnedChange the instruction encoding that image capture module can be identified into;
Data transmission system module, for transmitting the image at the described emergent scene after compressed encoding;
Unmanned plane basic module, for carrying described image capture module, described video data compression volume solutionCode module, described control instruction coding/decoding module, and described data transmission system module.
Further, described public security wireless data link private network module comprises:
Portable police satellite communication system, for receiving the described emergent scene of transmission after compressed encodingImage is also sent to described backstage command system module;
340M wireless image transmission system, for receiving the image at the described emergent scene after transmission compressed encodingAnd be sent to described backstage command system module;
3G/4G image delivering system, for receiving the image at the described emergent scene after transmission compressed encodingAnd be sent to described backstage command system module.
Further, described backstage command system module comprises the auxiliary system of love scene outdoor scene three-dimensional modelingSystem.
Further, described love scene outdoor scene three-dimensional modeling accessory system comprises:
Treatment Analysis system, analyzes for the image to described emergent scene, and according to the knot of analyzingThe fruit on-the-spot three-dimensional modeling of meeting an urgent need;
Storage system, for storing the threedimensional model at described emergent scene;
Management calling system, for calling the three-dimensional modeling data of described storage system, and answers according to describedAnxious on-the-spot three-dimensional modeling data are sent control instruction.
Compared with prior art, the application can obtain and comprise following technique effect:
Can realize vacant lot interlock, three-dimensional collection, real-time Transmission. Make up police incident command system notFoot, solves current public security organ in solution of emergent event, rescue and relief work, disposal Mass disturbance and law enforcementIn activity on duty, cannot the very first time gather and the asking of real-time Transmission field data and operative scenario comprehensivelyTopic. The application utilizes on-the-spot outdoor scene three-dimensional image to provide reference frame intuitively for commanding and decision-making. ProfitBy the imaging advantage of unmanned plane low latitude oblique photograph, Combining with technology of virtual reality, realize low cost, efficientThe three-dimensional modeling of rate.
Certainly, arbitrary product of enforcement the application must not necessarily need to reach above-described all skills simultaneouslyArt effect.
Brief description of the drawings
Accompanying drawing described herein is used to provide further understanding of the present application, forms of the applicationPoint, the application's schematic description and description is used for explaining the application, does not form the application'sImproper restriction. In the accompanying drawings:
Fig. 1 is the 3 D video emergency communication system signal of the embodiment of the present application based on many rotor wing unmanned aerial vehiclesFigure;
Fig. 2 is the information gathering of the embodiment of the present application UAS and transfer process figure;
Fig. 3 is the on-the-spot outdoor scene three-dimensional modeling of the embodiment of the present application accessory system workflow diagram.
Detailed description of the invention
Below cooperation drawings and Examples are described in detail to the application's embodiment, by this to the applicationThe implementation procedure how application technology means solve technical problem and reach technology effect can fully understandAnd implement according to this.
Along with the development of 3 Dimension Image Technique, the scene that 3-D view is applied under various environment more and moreMany. Emergent field by using 3-D view is presented to commanding, and there is to great side at the scene of reducing trulyHelp. But emergent scene often exists a lot of uncertain factors, and site environment is fast changing, onlyThat three dimensionality image can not meet commanding emergent on-the-spot emergency worker is made to real-time task allotment.For above deficiency, in emergency communication system, adopt 3 D video technology, from three dimensions of lengthDegree provides relief static image to reappear fast, thereby improves better commanding's Decision Quality.
Fig. 1 is the 3 D video emergency communication system signal of the embodiment of the present application based on many rotor wing unmanned aerial vehiclesFigure.
The 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles of the embodiment of the present application comprises: unmannedMachine system module, public security wireless data link private network module, backstage command system module. UASThe solution of practical function between module, public security wireless data link private network module and backstage command system moduleCoupling, reduces the relevance of function, and before module, usage data coffret ensures that data carry out effectively reliableTransmission. Described UAS module, for gathering emergent on-the-spot image, and is sent to described public affairsPeace wireless data link private network module; Described public security wireless data link private network module, described in receivingEmergent on-the-spot image, and be sent to described backstage command system module; Described backstage command system module,Be used for the image at the described emergent scene that receives described public security wireless data link private network module transmission, and buildThe threedimensional model at vertical described emergent scene.
UAS module is connected with public security wireless data link private network module, by the wireless number of public securityThe scene image information gathering to backstage command system module transmission in real time according to link private network module. Unmanned planeSystem module comprises: unmanned plane basic module, image capture module, video data compression coding/decoding module,Control instruction coding/decoding module, data transmission system module. Image capture module, emergent existing for gatheringThe image of field; Video data compression coding/decoding module, for compressing the image at described emergent sceneCoding; Control instruction coding/decoding module, the instruction of assigning for resolving backstage command system, and by instructionConvert the instruction encoding that image capture module can be identified to; Data transmission system module, for transmitting pressureReduce the staff the image at the described emergent scene after code; Unmanned plane basic module, for carrying described IMAQModule, described video data compression coding/decoding module, described control instruction coding/decoding module, and described inData transmission system module.
Public security wireless data link private network module comprises: portable police satellite communication system, 340M withoutLine image transmission system and 3G/4G image delivering system. Portable police satellite communication system, for receiving biographyThe image at the described emergent scene after defeated compressed encoding is also sent to described backstage command system module; 340MWireless image transmission system, for receiving the image at the described emergent scene after transmission compressed encoding and being sent to instituteState backstage command system module; 3G/4G image delivering system, for receiving the institute after transmission compressed encodingState emergent on-the-spot image and be sent to described backstage command system module.
340M wireless image transmission system adopts 5 fixed base stations, and 2 mobile base stations, complete in appointed areaSignal cover. Portable police satellite communication system is utilized portable transceiver terminal directly and satellite carries outCommunication. 3G/4G image delivering system directly utilizes public's commercial network. 3 subsystems in this moduleModule is supplemented mutually, for subsequent use each other. First transmission adopts background control system choosing while gathering the information such as imageWith communicator module, suppose to select 340M wireless image transmission system, now portable police satellite communicationSystem and 3G/4G image delivering system will be in stand-by states, when event appears in 340M wireless image transmission systemWhen barrier, portable police will be determined to adopt according to the priority of backstage command system specific radio data linkSatellite communication system or 3G/4G image delivering system, thus ensure to gather the information such as image in real time continuouslyDig is defeated. Described portable police satellite communication system transmission range is large, is not subject to the restriction in geographical position;340M wireless image transmission system bandwidth is stable, strong security, data traffic are large; 3G/4G image transmitting systemUnite large in coverage, cost is low, easy to use. Multiple wireless transmitting system merges mutually, standby each otherPart, the wireless video command system of structure three-dimensional, can pass through back-stage management between each wireless transmitting systemSwitching between system realization arbitrarily, the demand of satisfied actual combat condition flexibly and fast.
Backstage command system module comprises love scene outdoor scene three-dimensional modeling accessory system. Described love sceneOutdoor scene three-dimensional modeling accessory system comprises: Treatment Analysis system, storage system and management calling system. PlaceReason analytical system, analyzes for the image to described emergent scene, and carries out according to the result of analyzingEmergent on-the-spot three-dimensional modeling; Storage system, for storing the threedimensional model at described emergent scene; ManagementCalling system, for calling the three-dimensional modeling data of described storage system, and according to described emergent sceneThree-dimensional modeling data are sent control instruction. Backstage command system is the control mould of whole emergency communication systemPiece, completes the allotment of whole system task, realizes the data analysis to passback data.
Fig. 2 is the information gathering of the embodiment of the present application UAS and transfer process figure.
S201: backstage command system module by public security wireless data link private network module to UASModule is assigned instruction;
S202: UAS module is compiled command by data transmission system module to control instructionDecoder module carries out instruction parsing;
S203: after obtaining parsing instruction, image capture module gathers emergent image scene;
S204: image capture module obtains after Information Monitoring, will by video data compression coding/decoding moduleCompressed encoding is carried out in Information Monitoring;
S205: Information Monitoring is passed to public security wireless data link private network mould by data transmission system modulePiece.
Because existing unmanned plane cannot carry multiple cameras, therefore adopt based on low latitude oblique photograph automaticModeling method, Combining with technology of virtual reality forms 3-D view. UAS module embeds by utilizationFormula communication integration technology solves that unmanned plane eats dishes without rice or wine with public security private radio data link transmission system interfaceThe problem that interconnects, realizes conversion, the Data Format Transform of UAV Communication agreement and private network communication agreement,Realizing air-ground integrated emergency communication system merges.
Fig. 3 is the on-the-spot outdoor scene three-dimensional modeling of the embodiment of the present application accessory system workflow diagram.
S301: backstage command system module gets after the video data of collection, transfers to Treatment Analysis systemSystem;
S302: Treatment Analysis system judges whether obtained data are that UAS module has been built upOn-the-spot three-dimensional modeling data;
S303: if the on-the-spot three-dimensional modeling data that UAS module has been built up, Treatment AnalysisSystem directly stores on-the-spot three-dimensional modeling data into storage system;
S304: the on-the-spot three-dimensional modeling data of having built up if not UAS module, process and divideAnalysis system further carries out Treatment Analysis and realizes three-dimensional modeling in Treatment Analysis system to the data of obtaining,Then three-dimensional modeling data are stored in storage system. The data of storage system, can be for managing callSystem directly calls. Realize the reduction of emergent on-the-spot truth according to emergent on-the-spot three-dimensional modeling.
Compared with prior art, the application can obtain and comprise following technique effect:
Can realize vacant lot interlock, three-dimensional collection, real-time Transmission. Make up police incident command system notFoot, solves current public security organ in solution of emergent event, rescue and relief work, disposal Mass disturbance and law enforcementIn activity on duty, cannot the very first time gather and the asking of real-time Transmission field data and operative scenario comprehensivelyTopic. The application utilizes on-the-spot outdoor scene three-dimensional image to provide reference frame intuitively for commanding and decision-making. ProfitBy the imaging advantage of unmanned plane low latitude oblique photograph, Combining with technology of virtual reality, realize low cost, efficientThe three-dimensional modeling of rate.
Also it should be noted that, term " comprises ", " comprising " or its any other variant are intended to contain non-Comprising of exclusiveness, thus make to comprise that the commodity of a series of key elements or system not only comprise that those willElement, but also comprise other key elements of clearly not listing, or be also included as this commodity or beThe intrinsic key element of uniting. In the situation that there is no more restrictions, limited by statement " comprising ... "Key element, and be not precluded within and comprise in the commodity of described key element or system and also have other identical element.
Above-mentioned explanation illustrates and has described some preferred embodiments of the application, but as previously mentioned, should manageSeparate the application and be not limited to disclosed form herein, should not regard the eliminating to other embodiment as,And can be used for various other combinations, amendment and environment, and can be in application contemplated scope described herein,Technology or knowledge by above-mentioned instruction or association area are changed. Change and those skilled in the art carry outThe spirit and scope moving and variation does not depart from the application, all should be in the protection of the application's claimsIn scope.
Claims (5)
1. the 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles, is characterized in that, bagDraw together UAS module, public security wireless data link private network module, and backstage command system module;
Described UAS module, for gathering emergent on-the-spot image, and be sent to described public security withoutLine data link private network module;
Described public security wireless data link private network module, for receiving the image at described emergent scene, concurrentDeliver to described backstage command system module;
Described backstage command system module, sends for receiving described public security wireless data link private network moduleThe image at described emergent scene, and set up the threedimensional model at described emergent scene.
2. the 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles as claimed in claim 1,It is characterized in that, described UAS module comprises:
Image capture module, for gathering emergent on-the-spot image;
Video data compression coding/decoding module, for carrying out compressed encoding by the image at described emergent scene;
Control instruction coding/decoding module, the instruction of assigning for resolving backstage command system, and instruction is turnedChange the instruction encoding that image capture module can be identified into;
Data transmission system module, for transmitting the image at the described emergent scene after compressed encoding;
Unmanned plane basic module, for carrying described image capture module, described video data compression volume solutionCode module, described control instruction coding/decoding module, and described data transmission system module.
3. the 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles as claimed in claim 2,It is characterized in that, described public security wireless data link private network module comprises:
Portable police satellite communication system, for receiving the described emergent scene of transmission after compressed encodingImage is also sent to described backstage command system module;
340M wireless image transmission system, for receiving the image at the described emergent scene after transmission compressed encodingAnd be sent to described backstage command system module;
3G/4G image delivering system, for receiving the image at the described emergent scene after transmission compressed encodingAnd be sent to described backstage command system module.
4. the 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles as claimed in claim 3,It is characterized in that, described backstage command system module comprises love scene outdoor scene three-dimensional modeling accessory system.
5. the 3 D video emergency communication system based on many rotor wing unmanned aerial vehicles as claimed in claim 4,It is characterized in that, described love scene outdoor scene three-dimensional modeling accessory system comprises:
Treatment Analysis system, analyzes for the image to described emergent scene, and according to the knot of analyzingThe fruit on-the-spot three-dimensional modeling of meeting an urgent need;
Storage system, for storing the threedimensional model at described emergent scene;
Management calling system, for calling the three-dimensional modeling data of described storage system, and answers according to describedAnxious on-the-spot three-dimensional modeling data are sent control instruction.
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| CN115755136A (en) * | 2022-11-22 | 2023-03-07 | 中国科学院空天信息创新研究院 | Emergency command scheduling system based on Beidou and three-dimensional live-action data fusion |
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Effective date of registration: 20170122 Address after: 400065 Chongwen Road, Nan'an District, Chongqing, No. 2 Applicant after: Chongqing Telecommunication Univ. Applicant after: Chongqing City Research Institute of Public Security Science Technology Applicant after: Chongqing Nanchuan District Public Security Bureau Address before: 400065 Chongqing Road, Nanshan District, south bank, Chongwen Road, No. 2 Applicant before: Chongqing Telecommunication Univ. |
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Application publication date: 20160518 |