CN106569506A - Automatic and accurate fire extinguishing system for unmanned aerial vehicle - Google Patents
Automatic and accurate fire extinguishing system for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106569506A CN106569506A CN201610911989.0A CN201610911989A CN106569506A CN 106569506 A CN106569506 A CN 106569506A CN 201610911989 A CN201610911989 A CN 201610911989A CN 106569506 A CN106569506 A CN 106569506A
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- fire extinguishing
- unmanned plane
- aerial vehicle
- unmanned aerial
- automatic
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Classifications
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- 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
-
- 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
Abstract
The invention discloses an automatic and accurate fire extinguishing system for an unmanned aerial vehicle and relates to the field of the unmanned aerial vehicle. The automatic and accurate fire extinguishing system comprise an unmanned aerial vehicle system and a ground control center; the unmanned aerial vehicle system comprises an unmanned aerial vehicle body and a flight control system arranged on the unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a fire extinguishing controller which is connected with the flight control system, the fire extinguishing controller is connected with a fire extinguishing device, and a thermal imaging system and a binocular visible light camera are mounted on the unmanned aerial vehicle body. According to the automatic and accurate fire extinguishing system, distance between the unmanned aerial vehicle and a fire source can be identified via the binocular visible light camera or the thermal imaging system; data transmitted via a GPS positioning system, a supersonic wave system, an IMU system and a barometer are used; the IMU system is short for an inertial measurement unit system which comprises a gyroscope, an accelerometer and a magnetic compass; a route is planned via the ground control center; the unmanned aerial vehicle is enabled to fly above the fire source, and accurate fire extinguishing operation can be carried out.
Description
Technical field
The invention belongs to unmanned plane field, specifically, the present invention relates to a kind of automatic precisely fire extinguishing system of unmanned plane.
Background technology
At present unmanned plane applies quite varied in terms of image, information gathering, as the continuous development in unmanned plane field is strengthened
Greatly, current unmanned plane has also been contributed in terms of fire process, when fire occurs, can carry out condition of a fire early warning, but existing
In having technology, unmanned plane condition of a fire early warning has following deficiency：
1. infra-red thermal imaging system does not possess active forewarning function mostly, in passive artificial early warning.
2. infrared thermography flexibility ratio is low, and installation site is more fixed, monitoring range and apart from limited.
3. the remote identification ability of thermal infrared imager is limited, it is impossible to the condition of a fire from the beginning of and condition of a fire hidden danger make at corresponding identification
Reason.
4. conventional early warning is longer to the dangerous situation time is processed, it is impossible to process the condition of a fire in the very first time.
5. traditional condition of a fire is processed without early warning mechanism, when the general condition of a fire occurs could identifying processing, easily cause heavy losses.
The content of the invention
The present invention provides a kind of unmanned plane accurate fire extinguishing system automatically, to solve above-mentioned existing multinomial deficiency.
To achieve these goals, the technical scheme taken of the present invention is：A kind of automatic precisely fire extinguishing system of unmanned plane, bag
UAS and ground control centre are included, the UAS includes unmanned plane body and flying on unmanned plane body
Control system, the unmanned plane body is provided with Fire extinguisher and is connected with flight control system, and the Fire extinguisher is connected with and goes out
Fiery device, installs thermal imaging system and binocular Visible Light Camera on the unmanned plane body.
Preferably, head is also equipped with the unmanned plane body, the thermal imaging system and binocular Visible Light Camera are arranged on
On head.
Preferably, the UAS also includes barometer, GPS positioning system, IMU systems, ultrasonic system, data
Transmission system, course planning system and flight directive system, the barometer, GPS positioning system, IMU systems and ultrasonic wave system
System is connected respectively with flight control system, and the data transmission system and flight control system are bi-directionally connected, the course planning system and number
Connect according to Transmission system, the flight directive system is connected with flight control system.
Preferably, cradle head controllor and Wireless Image Transmission Systems, the head control are also included in the UAS
Device processed is connected with head and is wirelessly connected with central processing system, the Wireless Image Transmission Systems respectively with thermal imaging system and binocular
Visible Light Camera connects.
Preferably, the ground control centre also includes earth station's processing system and earth station's video monitoring system and difference
Be connected with central processing system, earth station's image processing system and ground station monitors system respectively with wireless image transmission system
Connection that system is wireless.
Beneficial effects of the present invention:The invention discloses a kind of automatic precisely fire extinguishing system of unmanned plane, Unmanned Aerial Vehicle Data Jing
Number biographies transfer back to central processing system, including the phase such as sensing data, ultrasound data, the flying quality such as gps data, barometer
Numerical value is closed, unmanned plane makes an inspection tour region and makes an inspection tour circuit by ground station control system to unmanned plane planning, during tour, heat
As instrument and binocular Visible Light Camera accurate acquisition data, gathered data is passed by Wireless Image Transmission Systems and issues ground surveillance
System and ground image processing system, surface surveillance system is used to show visible images with the infrared thermal imaging figure Jing after processing
As information and date, ground image processing system is adopted back collection data to thermal imaging system and is processed, and the data after process are sent to
Central processing system, central processing system process found in image when there is abnormal temperature, automatic decision its be burning things which may cause a fire disaster or fire
Feelings hidden danger, to burning things which may cause a fire disaster and condition of a fire hidden danger, current taken image time point gps coordinate is extracted, and destination and course line are planned again, in
Destination and course line are beamed back and are given to unmanned plane by centre processing system, and unmanned plane flies to condition of a fire point or hidden danger point according to course line and destination.
Unmanned plane returns to abnormity point monitoring, reaffirms abnormal temperature area, maximum temperature, judges temperature changing trend, sends the condition of a fire
Alarm.According to anomaly area and maximum temperature, by central control system process, to the treatable burning things which may cause a fire disaster point of unmanned plane or hidden danger point
Implement fire extinguishing to process.
Description of the drawings
Fig. 1 is a kind of block diagram of the automatic precisely fire extinguishing system of unmanned plane of the present invention；
Specific embodiment
As shown in figure 1, a kind of automatic precisely fire extinguishing system of unmanned plane, including UAS and ground control centre, institute
UAS is stated including unmanned plane body and the flight control system on unmanned plane body, the unmanned plane body is provided with and goes out
Fiery controller and it is connected with flight control system, the Fire extinguisher is connected with extinguishing device, heat is installed on the unmanned plane body
As instrument and binocular Visible Light Camera.
Preferably, head is also equipped with the unmanned plane body, the thermal imaging system and binocular Visible Light Camera are arranged on
On head.
Preferably, the UAS also includes barometer, GPS positioning system, IMU systems, ultrasonic system, data
Transmission system, course planning system and flight directive system, the barometer, GPS positioning system, IMU systems and ultrasonic wave system
System is connected respectively with flight control system, and the data transmission system and flight control system are bi-directionally connected, the course planning system and number
Connect according to Transmission system, the flight directive system is connected with flight control system.
Preferably, cradle head controllor and Wireless Image Transmission Systems, the head control are also included in the UAS
Device processed is connected with head and is wirelessly connected with central processing system, the Wireless Image Transmission Systems respectively with thermal imaging system and binocular
Visible Light Camera connects.
Preferably, the ground control centre also includes earth station's processing system and earth station's video monitoring system and difference
Be connected with central processing system, earth station's image processing system and ground station monitors system respectively with wireless image transmission system
Connection that system is wireless.
The operation principle of the present invention：Unmanned Aerial Vehicle Data Jing numbers transfer back to central processing system, including gps data, air pressure
The correlation values such as sensing data, ultrasound data, the flying qualities such as meter, unmanned plane is by ground station control system to unmanned plane
Planning makes an inspection tour region and makes an inspection tour circuit, during tour, thermal imaging system and binocular Visible Light Camera accurate acquisition data, and collection
Data are passed by Wireless Image Transmission Systems and issue surface surveillance system and ground image processing system, and surface surveillance system is used for
Visible images and the infrared thermal imaging image information and data Jing after processing are shown, ground image processing system is to thermal imaging system
Adopt back collection data to be processed, the data after process are sent to into central processing system, central processing system process is found in image
When there is abnormal temperature, it is burning things which may cause a fire disaster or condition of a fire hidden danger to automatic decision, to burning things which may cause a fire disaster and condition of a fire hidden danger, during by current taken image
Between put gps coordinate and extract, destination and course line are planned again, destination and course line are beamed back and are given to unmanned plane by central processing system, nothing
It is man-machine to be flown to condition of a fire point or hidden danger point according to course line and destination.Unmanned plane returns to abnormity point monitoring, reaffirms abnormal temperature face
Product, maximum temperature, judge temperature changing trend, send condition of a fire alarm.According to anomaly area and maximum temperature, it is by central authorities' control
System process, implements fire extinguishing and processes to the treatable burning things which may cause a fire disaster point of unmanned plane or hidden danger point.
The present invention is exemplarily described above in association with accompanying drawing, it is clear that the present invention is implemented and do not receive above-mentioned side
The restriction of formula, as long as employ the improvement of the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied to into other occasions, in protection scope of the present invention
Within.
Claims (5)
1. the automatic precisely fire extinguishing system of a kind of unmanned plane, it is characterised in that：It is described including UAS and ground control centre
UAS includes unmanned plane body and the flight control system on unmanned plane body, and the unmanned plane body is provided with fire extinguishing
Controller and it is connected with flight control system, the Fire extinguisher is connected with extinguishing device, and on the unmanned plane body heat is provided with
As instrument and binocular Visible Light Camera.
2. the automatic precisely fire extinguishing system of a kind of unmanned plane according to claim 1, it is characterised in that：The unmanned plane body
On be also equipped with head, the thermal imaging system and binocular Visible Light Camera are arranged on head.
3. the automatic precisely fire extinguishing system of a kind of unmanned plane according to claim 1, it is characterised in that：The UAS
Also refer to including barometer, GPS positioning system, IMU systems, ultrasonic system, data transmission system, course planning system and flight
System, the barometer, GPS positioning system, IMU systems and ultrasonic system is made to be connected with flight control system respectively, the data
Transmission system and flight control system are bi-directionally connected, and the course planning system is connected with data transmission system, the flight directive system
System is connected with flight control system.
4. the automatic precisely fire extinguishing system of a kind of unmanned plane according to claim 3, it is characterised in that：The UAS
In also include cradle head controllor and Wireless Image Transmission Systems, the cradle head controllor is connected and and central processing system with head
Wireless connection, the Wireless Image Transmission Systems are connected respectively with thermal imaging system and binocular Visible Light Camera.
5. the automatic precisely fire extinguishing system of a kind of unmanned plane according to claim 4, it is characterised in that：In the ground control
The heart also includes earth station's processing system and earth station's video monitoring system and is connected with central processing system respectively, the earth station
Image processing system and ground station monitors system are wirelessly connected respectively with Wireless Image Transmission Systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610911989.0A CN106569506A (en) | 2016-10-19 | 2016-10-19 | Automatic and accurate fire extinguishing system for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610911989.0A CN106569506A (en) | 2016-10-19 | 2016-10-19 | Automatic and accurate fire extinguishing system for unmanned aerial vehicle |
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| CN201610911989.0A Pending CN106569506A (en) | 2016-10-19 | 2016-10-19 | Automatic and accurate fire extinguishing system for unmanned aerial vehicle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390707A (en) * | 2017-08-15 | 2017-11-24 | 江苏穿越金点信息科技股份有限公司 | Unmanned aerial vehicle control system |
| CN107481465A (en) * | 2017-08-21 | 2017-12-15 | 昆明理工大学 | A kind of aerial unmanned plane infrared monitoring method for early warning of forest adaptive cruise |
| CN108765841A (en) * | 2018-07-27 | 2018-11-06 | 合肥阅辞科技有限公司 | A kind of forest fire protection inspection system and visiting method |
| CN108776491A (en) * | 2018-05-23 | 2018-11-09 | 广东容祺智能科技有限公司 | Unmanned plane multiple target monitoring system and monitoring method based on dynamic image identification |
| CN110124228A (en) * | 2019-06-26 | 2019-08-16 | 张兰勇 | Aerial unmanned firefighting robot system |
| CN110209199A (en) * | 2019-07-09 | 2019-09-06 | 山东理工大学 | A kind of farmland fire source monitoring UAV system design |
| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN110772728A (en) * | 2019-12-17 | 2020-02-11 | 淮安航空产业研究院有限公司 | Special unmanned aerial vehicle and system for fire fighting and fire fighting method thereof |
| CN111672049A (en) * | 2020-06-28 | 2020-09-18 | 深圳高度创新技术有限公司 | Fire-fighting unmanned aerial vehicle control system and fire-fighting method |
| CN111796603A (en) * | 2020-06-16 | 2020-10-20 | 五邑大学 | Smoke inspection unmanned aerial vehicle system, inspection detection method and storage medium |
| CN112648973A (en) * | 2020-12-22 | 2021-04-13 | 重庆迪马工业有限责任公司 | Fire source identification and positioning device and method for fire-fighting robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390707A (en) * | 2017-08-15 | 2017-11-24 | 江苏穿越金点信息科技股份有限公司 | Unmanned aerial vehicle control system |
| CN107481465A (en) * | 2017-08-21 | 2017-12-15 | 昆明理工大学 | A kind of aerial unmanned plane infrared monitoring method for early warning of forest adaptive cruise |
| CN108776491A (en) * | 2018-05-23 | 2018-11-09 | 广东容祺智能科技有限公司 | Unmanned plane multiple target monitoring system and monitoring method based on dynamic image identification |
| CN108765841A (en) * | 2018-07-27 | 2018-11-06 | 合肥阅辞科技有限公司 | A kind of forest fire protection inspection system and visiting method |
| CN110124228A (en) * | 2019-06-26 | 2019-08-16 | 张兰勇 | Aerial unmanned firefighting robot system |
| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN110209199A (en) * | 2019-07-09 | 2019-09-06 | 山东理工大学 | A kind of farmland fire source monitoring UAV system design |
| CN110772728A (en) * | 2019-12-17 | 2020-02-11 | 淮安航空产业研究院有限公司 | Special unmanned aerial vehicle and system for fire fighting and fire fighting method thereof |
| CN111796603A (en) * | 2020-06-16 | 2020-10-20 | 五邑大学 | Smoke inspection unmanned aerial vehicle system, inspection detection method and storage medium |
| CN111672049A (en) * | 2020-06-28 | 2020-09-18 | 深圳高度创新技术有限公司 | Fire-fighting unmanned aerial vehicle control system and fire-fighting method |
| CN112648973A (en) * | 2020-12-22 | 2021-04-13 | 重庆迪马工业有限责任公司 | Fire source identification and positioning device and method for fire-fighting robot |
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Application publication date: 20170419 |
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