CN106530589A - Fire-hazard automatic patrol unmanned aerial vehicle - Google Patents

Fire-hazard automatic patrol unmanned aerial vehicle Download PDF

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Publication number
CN106530589A
CN106530589A CN201611230926.5A CN201611230926A CN106530589A CN 106530589 A CN106530589 A CN 106530589A CN 201611230926 A CN201611230926 A CN 201611230926A CN 106530589 A CN106530589 A CN 106530589A
Authority
CN
China
Prior art keywords
fire
unmanned plane
unmanned aerial
control board
aerial vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611230926.5A
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Chinese (zh)
Inventor
曹永胜
李德敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Donghua University
National Dong Hwa University
Original Assignee
Donghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Donghua University filed Critical Donghua University
Priority to CN201611230926.5A priority Critical patent/CN106530589A/en
Publication of CN106530589A publication Critical patent/CN106530589A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention provides a fire-hazard automatic patrol unmanned aerial vehicle. The unmanned aerial vehicle comprises a fire hazard monitoring system and an automatic cruise system which are connected to an embedded middle control plate. Compared to the prior art, by using the above technical scheme, the unmanned aerial vehicle possesses the following advantages and positive effects that the unmanned aerial vehicle possesses good practicality and existing equipment can be improved; a mode of combining a barometer and an accelerometer is used to carry out complementation filtering so that a fixed flight height can be realized; and an upper computer checks a state of flight control in real time and sends an instruction to the flight control. One or more unmanned aerial vehicles can be monitored in real time on a background. Once an abnormal situation is discovered, a corresponding instruction is emitted timely.

Description

A kind of fire makes an inspection tour unmanned plane automatically
Technical field
The present invention relates to a kind of fire makes an inspection tour unmanned plane automatically.
Background technology
The existing area of woods of China has 2.08 hundred million hectares, and thousands of forest fires occur every year, and the property loss for causing is high Up to several hundred million.If we can utilize and can carry out fire prison to forest incessantly within 24 hours with the unmanned plane of autonomous cruise Survey, find the condition of a disaster in time, it becomes possible to take action in time, suppress spreading for fire.A big chunk manpower can so be saved Material resources, while can also reduce property loss.
The content of the invention
The purpose of the present invention is to utilize to carry out fire prison to forest incessantly within 24 hours with the unmanned plane of autonomous cruise Survey.
In order to achieve the above object, to the technical scheme is that and unmanned plane is maked an inspection tour automatically there is provided a kind of fire, which is special Levy and be, including the fire hazard monitoring system and automatic cruising system that are connected with embedded control board, wherein：Fire hazard monitoring system bag Photographic head, wireless communication module, air mass sensor, flame sensor and fuel gas detection sensor are included, by embedded Control board judges whether to send out according to the data that air mass sensor, flame sensor and fuel gas detection sensor are detected Light a fire calamity, or fire occurs, then scene of fire image is shot by photographic head, meanwhile, embedded control board passes through radio communication mold The current position coordinates and corresponding image that block is obtained by the alarm that fire occurs, by automatic cruising system are sent to the tune of distal end Degree platform.
Preferably, the automatic cruising system includes GPS module, barometer, magnetometer, magnetic inertia measuring unit and electricity Machine, the embedded control board read the data of GPS module, barometer, magnetometer and magnetic inertia measuring unit, by resolving Algorithm obtains positional information etc., and according to positional information, embedded control board manipulation motor carries out the adjustment of position and attitude automatically.
Preferably, the wireless communication module is 4G communication modules, between dispatching desk and unmanned plane and unmanned plane and nothing Communicated using 4G between man-machine.
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitates Really：The present invention has good practicality, can be transformed on existing equipment.Merged with accelerometer using barometer Mode, carries out complementary filter, can realize fixed altitudes well.Host computer real time inspection flies the state controlled can be with Instruction is sent to winged control.Can so accomplish in one or more unmanned plane of backstage monitor in real time, once unusual circumstance and When send corresponding instruction.
Description of the drawings
Fig. 1 is overall system diagram of the present invention：1 is GPS module, and 2 is barometer, and 3 is magnetometer, and 4 is magnetic inertia measurement Unit, 5 is embedded control board, and 6 is fire detection module, and 7 is lithium battery, and 8 is photographic head, and 9 is wireless communication module, and 10 are Motor, 11 is air mass sensor, and 12 is flame sensor, and 13 is fuel gas detection sensor；
Fig. 2 is unmanned aerial vehicle (UAV) control flow chart.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention Rather than limit the scope of the present invention.In addition, it is to be understood that after the content for having read instruction of the present invention, people in the art Member can be made various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited Scope.
As shown in figure 1, a kind of fire that the present invention is provided makes an inspection tour unmanned plane, including GPS module 1, barometer 2, magnetic automatically Power meter 3, magnetic inertia measuring unit 4, embedded control board 5, fire detection module 6, lithium battery 7, photographic head 8, radio communication mold Block 9, motor 10, air mass sensor 11, flame sensor 12, fuel gas detection sensor 13.
Embedded control board 5 reads the data of GPS module 1, barometer 2, magnetometer 3 and magnetic inertia measuring unit 4, leads to Cross computation and obtain positional information of current flight device etc., according to these information, unmanned plane can manipulate motor 10 and enter automatically Line position puts the adjustment with attitude.The pattern of unmanned plane can be manually adjusted by earth station or remote control.It is specific to control Flow process processed is shown in Fig. 2.The embedded control board 5 is powered by lithium battery 7.
Photographic head 8 is used for the image taking of scene of fire.Unmanned plane according to setting path autonomous cruise, if it find that fiery Calamity, then start alert program and pass position coordinateses and image back；If electricity is low, charging of making a return voyage automatically, system are adjusted automatically Spend next class unmanned plane on duty；If patrol unmanned plane runs into failure, fault message and position coordinateses are passed back, system start-up should Anxious prediction scheme, dispatches guest machine.
Wireless communication module 9 is 4G communication modules.4G is adopted between dispatching desk and unmanned plane, and unmanned plane and unmanned plane Communication.
The fuel gas detection sensors 13 such as air mass sensor 11, flame sensor 12, carbon monoxide are used to carry out Fire detection, sensor is fixed on the downside of fuselage.
The forest fire that the present invention is provided makes an inspection tour unmanned plane by the way of barometer is with accelerometer fusion automatically, carries out Complementary filter, can realize fixed altitudes well.Host computer real time inspection flies the state controlled and can send out to control is flown Send instruction.Can so accomplish in one or more unmanned plane of backstage monitor in real time, once unusual circumstance sends phase in time The instruction answered.

Claims (3)

1. a kind of fire makes an inspection tour unmanned plane automatically, it is characterised in that include the fire hazard monitoring system being connected with embedded control board And automatic cruising system, wherein：Fire hazard monitoring system includes that photographic head, wireless communication module, air mass sensor, flame are passed Sensor and fuel gas detection sensor, by embedded control board according to air mass sensor, flame sensor and combustible gas The data that body detecting sensor is detected judge whether fire, or fire occurs, then shoot scene of fire figure by photographic head Picture, meanwhile, embedded control board is by wireless communication module by the alarm that fire occurs, by the current of automatic cruising system acquisition Position coordinateses and corresponding image are sent to the dispatching desk of distal end.
2. fire according to claim 1 makes an inspection tour unmanned plane automatically, it is characterised in that the automatic cruising system includes GPS module, barometer, magnetometer, magnetic inertia measuring unit and motor, the embedded control board read GPS module, air pressure The data of meter, magnetometer and magnetic inertia measuring unit, obtain positional information etc. by computation, according to positional information, are embedded in Formula control board manipulation motor carries out the adjustment of position and attitude automatically.
3. fire according to claim 1 makes an inspection tour unmanned plane automatically, it is characterised in that the wireless communication module is logical for 4G Letter module, is communicated using 4G between dispatching desk and unmanned plane and between unmanned plane and unmanned plane.
CN201611230926.5A 2016-12-27 2016-12-27 Fire-hazard automatic patrol unmanned aerial vehicle Pending CN106530589A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611230926.5A CN106530589A (en) 2016-12-27 2016-12-27 Fire-hazard automatic patrol unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611230926.5A CN106530589A (en) 2016-12-27 2016-12-27 Fire-hazard automatic patrol unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
CN106530589A true CN106530589A (en) 2017-03-22

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN106990789A (en) * 2017-04-11 2017-07-28 北京机械设备研究所 A kind of rapid reconnaissance method of special environment Reconnaissance system and special environment
CN107765706A (en) * 2017-10-17 2018-03-06 山东交通学院 Ship unmanned engine room fire inspection quadrotor and its control method
CN108230678A (en) * 2018-03-01 2018-06-29 温仕鑫 Using the traffic route monitoring system of monitoring unmanned
CN108347587A (en) * 2018-03-01 2018-07-31 温仕鑫 Closed monitor system for traffic route
CN108346254A (en) * 2018-04-19 2018-07-31 贵州大学 A kind of forest fire monitoring system based on unmanned plane
CN108347588A (en) * 2018-03-01 2018-07-31 温仕鑫 Urban road closed monitor system
CN108983806A (en) * 2017-06-01 2018-12-11 菜鸟智能物流控股有限公司 Method and system for generating area detection and air route planning data and aircraft
CN111415485A (en) * 2020-03-17 2020-07-14 元博科技(香港)有限公司 Forest fire prevention monitor and control system thereof
CN111696331A (en) * 2020-06-03 2020-09-22 广州福勒自动控制设备科技有限公司 Unmanned on duty unmanned aerial vehicle fire control early warning and control system
CN111796603A (en) * 2020-06-16 2020-10-20 五邑大学 Smoke inspection unmanned aerial vehicle system, inspection detection method and storage medium

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106990789B (en) * 2017-04-11 2021-08-31 北京机械设备研究所 Special environment detection system and quick detection method for special environment
CN106990789A (en) * 2017-04-11 2017-07-28 北京机械设备研究所 A kind of rapid reconnaissance method of special environment Reconnaissance system and special environment
CN108983806A (en) * 2017-06-01 2018-12-11 菜鸟智能物流控股有限公司 Method and system for generating area detection and air route planning data and aircraft
CN107765706A (en) * 2017-10-17 2018-03-06 山东交通学院 Ship unmanned engine room fire inspection quadrotor and its control method
CN108347587A (en) * 2018-03-01 2018-07-31 温仕鑫 Closed monitor system for traffic route
CN108347588A (en) * 2018-03-01 2018-07-31 温仕鑫 Urban road closed monitor system
CN108230678B (en) * 2018-03-01 2020-12-01 深圳联和智慧科技有限公司 Traffic road monitoring system using unmanned aerial vehicle for monitoring
CN108347587B (en) * 2018-03-01 2020-12-25 安徽交控信息产业有限公司 Closed-circuit monitoring system for traffic road
CN108347588B (en) * 2018-03-01 2021-04-20 温仕鑫 Urban road closed circuit monitoring system
CN108230678A (en) * 2018-03-01 2018-06-29 温仕鑫 Using the traffic route monitoring system of monitoring unmanned
CN108346254A (en) * 2018-04-19 2018-07-31 贵州大学 A kind of forest fire monitoring system based on unmanned plane
CN111415485A (en) * 2020-03-17 2020-07-14 元博科技(香港)有限公司 Forest fire prevention monitor and control system thereof
CN111696331A (en) * 2020-06-03 2020-09-22 广州福勒自动控制设备科技有限公司 Unmanned on duty unmanned aerial vehicle fire control early warning and control system
CN111796603A (en) * 2020-06-16 2020-10-20 五邑大学 Smoke inspection unmanned aerial vehicle system, inspection detection method and storage medium

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