CN107871379A - Fire Long Range Detecting and Ranging, detection method based on unmanned plane - Google Patents

Fire Long Range Detecting and Ranging, detection method based on unmanned plane Download PDF

Info

Publication number
CN107871379A
CN107871379A CN201711074196.9A CN201711074196A CN107871379A CN 107871379 A CN107871379 A CN 107871379A CN 201711074196 A CN201711074196 A CN 201711074196A CN 107871379 A CN107871379 A CN 107871379A
Authority
CN
China
Prior art keywords
unmanned plane
vehicle
smog
processor module
area
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.)
Withdrawn
Application number
CN201711074196.9A
Other languages
Chinese (zh)
Inventor
不公告发明人
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to CN201711074196.9A priority Critical patent/CN107871379A/en
Publication of CN107871379A publication Critical patent/CN107871379A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00Fire alarms; Alarms responsive to explosion
    • G08B17/10Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02Aircraft characterised by the type or position of power plant
    • B64D27/24Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
    • G01N15/06Investigating concentration of particle suspensions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004Gaseous mixtures, e.g. polluted air
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00Aeronautics or air transport
    • Y02T50/50On board measures aiming to increase energy efficiency

Abstract

The present invention relates to a kind of fire Long Range Detecting and Ranging, detection method based on unmanned plane, this fire Long Range Detecting and Ranging includes:Suitable for detecting the unmanned plane of smog, with the base station server of the unmanned plane wireless telecommunications, fire Long Range Detecting and Ranging involved in the present invention and its detection method covered with solar panel on wing by converting light energy into electric energy needed for unmanned plane, the flight range of unmanned plane is greatly extended, is advantageous to carry out large area fire hazard monitoring.

Description

Fire Long Range Detecting and Ranging, detection method based on unmanned plane
Technical field
The present invention relates to a kind of unmanned plane, and in particular to a kind of fire Long Range Detecting and Ranging based on unmanned plane, detection side Method.
Background technology
Traditional fire Long Range Detecting and Ranging often can only some region of air pollution degree of static instrumentation, can not realize More ground region measurement, and traditional fire Long Range Detecting and Ranging can not be accurately positioned to pollution sources, and unmanned plane due to The limitation of the energy, flying radius is small, can not flying for long time, therefore the problem of cause fire hazard monitoring narrow range.
Therefore, in order to solve the above-mentioned technical problem, the invention provides a kind of fire remote probe system based on unmanned plane System and its detection method.
The content of the invention
It is an object of the invention to provide a kind of fire Long Range Detecting and Ranging and its detection method based on unmanned plane, pass through fortune Realize that large-range fire disaster easily sends out area monitoring with unmanned plane.
In order to solve the above-mentioned technical problem, the invention provides a kind of fire Long Range Detecting and Ranging, including:Suitable for detecting cigarette The unmanned plane of mist, the base station server with the unmanned plane wireless telecommunications, and covered with solar panel on wing, and institute Solar panel is stated to be suitable to convert light energy into electric energy needed for unmanned plane.
Further, the unmanned plane includes:Airborne processor module, the Smoke Detection being connected with the airborne processor module Sensing unit, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced Device;The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area.
Further, after unmanned plane detects smog, the airborne processor module controls unmanned plane around smoke region disk Rotation, to lock current smoke region;And after smoke region is locked, unmanned plane enters smog area, and dives downwards, adjusts simultaneously Flight attitude makes unmanned plane fly nearly smog in smoke zone all the time area occurs, i.e., when unmanned plane is in process of subduction, if smog When detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained in smoke zone, by Gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and smog is occurred The exact position in area is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;The fire Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is suitable to root This area is driven into the exact position that area occurs for the smog sent according to unmanned plane as target location guiding vehicle;It is described vehicle-mounted to lead Boat system includes:In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data storage mould Block;The data memory module is stored with map datum, vehicle radius of turn data;The in-vehicle processor module is suitable to basis Vehicle current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
Further, if the in-vehicle processor module is suitable to precompute between vehicle current location and target location Dry bar preliminary planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to this vehicle institute Corresponding each bend section of radius of turn data screening, that is, obtain the planning navigation road corresponding to the bend section for being adapted to this vehicle Footpath.
Further, the min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;The processor Suitable for turning radius Rs of the min. turning radius r with each bend section is compared, filter out turning radius R and be more than or equal to minimum Radius of turn r bend section, and planned again according to the bend section after each screening and vehicle current location and target location Guidance path.
Further, the in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, i.e., It is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and turning radius R is repaiied using four kinds of ranks as corresponding weight Just;That is R1=R* (1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, representing unimpeded respectively, walking or drive slowly, gathering around Squeeze, four kinds of ranks of congestion, x is bend correction factor, takes 0<x<1.
Further, the in-vehicle processor module is also connected with back wheels of vehicle steering;After vehicle is entering bend, car Borne processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, from The steering angle of dynamic adjustment trailing wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
Another aspect, in order to solve above-mentioned same technical problem, present invention also offers a kind of fire remote probe side Method, smoke region is detected by unmanned plane, and detection data is sent to base station server, and the wing overlying of the unmanned plane Solar panel is stamped, and the solar panel is suitable to convert light energy into electric energy needed for unmanned plane.
Further, the unmanned plane includes:Airborne processor module, the Smoke Detection being connected with the airborne processor module Sensing unit, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced Device;The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area.
When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, gradually Diminution is spiraled scope, and to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and to nutation Punching, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, i.e., when unmanned plane was diving Cheng Zhong, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained at In smoke zone, gradually fly nearly smog and area occur, after unmanned plane reaches certain altitude, area is occurred to smog and locked, And the exact position for smog being occurred area is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;It is and described Fire Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is fitted This area is driven into the exact position that area occurs in the smog sent according to unmanned plane as target location guiding vehicle;The car Carrying navigation system includes:In-vehicle processor module, automotive positioning module, the data being connected with the in-vehicle processor module are deposited Store up module;The data memory module is stored with map datum, vehicle radius of turn data;The in-vehicle processor module is suitable to According to vehicle current location and target location, and combine the radius of turn data schema guidance path of Current vehicle;The car Borne processor module is suitable to precompute some preliminary planning guidance paths between vehicle current location and target location; And corresponding bend section is searched in each preliminary planning guidance path, and the radius of turn data screening according to corresponding to this vehicle Each bend section, that is, obtain the planning guidance path corresponding to the bend section for being adapted to this vehicle;From vehicle radius of turn data The middle min. turning radius r obtained corresponding to this vehicle;The processor is suitable to min. turning radius r and each bend section Turning radius R compares, filter out turning radius R be more than or equal to min. turning radius r bend section, and according to each screening after Bend section and vehicle current location and target location plan guidance path again;The in-vehicle processor module be further adapted for by The real-time road in the bend section of acquisition is classified, that is, is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and by four kinds of levels Not Zuo Wei corresponding weight turning radius R is modified;That is R1=R* (1-kx);In formula, R1 is revised turning radius, k For weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, four kinds of ranks of congestion, x is bend correction factor, takes 0<x<1;It is described In-vehicle processor module is also connected with back wheels of vehicle steering;When vehicle enter bend after, in-vehicle processor module according to from The bend section that is obtained on map and with reference to current vehicle speed, on the basis of front-wheel steer, the steering angle of adjust automatically trailing wheel Degree, i.e. vehicle realize trailing wheel toe-in when turning to.
The beneficial effects of the invention are as follows:Fire Long Range Detecting and Ranging involved in the present invention and its detection method pass through wing On covered with solar panel convert light energy into electric energy needed for unmanned plane, greatly extend the flight range of unmanned plane, Be advantageous to carry out large area fire hazard monitoring, and the direction of pollution sources can also just sentence, be then accurately positioned again, Accurately to lock the geographical position that area occurs for smog, there is accuracy of judgement, the advantages of positioning precision is high;And also by taking photo by plane Device can check that the concrete condition in area occurs for smog, be easy to the staff of base station server to appoint vehicle, enforced the law Or take corresponding measure(Such as rescue, measure of putting out a fire), can also be specified according to the vehicle radius of turn data appointed and accordingly led Bit path, to ensure that relevant work personnel can quickly reach the spot.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of the fire Long Range Detecting and Ranging of the present invention;
Fig. 2 is unmanned plane around smoke region spiral path;
Fig. 3 is underriding track of the unmanned plane in smoke zone;
Fig. 4 is the urban road path of simulation.
In figure:Area 4 occurs for unmanned plane 1, smoke region 2, smoke zone 3, smog.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in figure 1, embodiment 1 provides a kind of fire Long Range Detecting and Ranging, including:Suitable for detecting the unmanned plane of smog, with The base station server of the unmanned plane wireless telecommunications, and covered with solar panel on wing, and the solar cell Plate is suitable to convert light energy into electric energy needed for unmanned plane.
Specifically, being provided with lithium battery in the unmanned plane, solar panel passes through charging-discharging controller and lithium battery phase Even, and the output feeder ear of charging-discharging controller is connected with unmanned plane power taking end.Wherein, the charging-discharging controller can use Prior art is realized.
The unmanned plane includes:Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single First, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor die root tuber Aircraft is positioned with being currently located according to airborne navigation positioning module, and location data is sent to base station server;It is described Airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines that the side in area occurs for smog To.
Wherein, unmanned plane can use 2G, 3G or 4G wireless network, or GPRS wireless communication modes to enter with base station server Row wireless telecommunications, airborne processor module can pass through a variety of known wireless means(Such as less radio-frequency)It is attached.Unmanned plane It can also be communicated wirelessly between base station server through Satellite Communication System.
Wherein, Smoke Detection sensing unit include and be not limited to PM2.5 detection sensors, PM10 detection sensors, smog Sensor etc..
Wherein, the altitude information of aircraft can be obtained by pneumatic process or GPS methods.
As shown in Figures 2 and 3, when unmanned plane detects smog, the airborne processor module controls unmanned plane around cigarette Spiral in fog-zone domain(Scope of spiraling is gradually reduced)To lock current smoke region, and after smoke region is locked, unmanned plane enters Smog area, and dive downwards, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, that is, works as Unmanned plane is in process of subduction, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, corrects flight attitude, with Unmanned plane is maintained in smoke zone, gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, smog is occurred Area is locked, and regional exact position is occurred for smog and is sent to base station server.
The adjustment of the flight attitude can be realized by the gyroscope being connected with airborne processor module.
Wherein, the method for locking can be locked using airborne heat sensor to target, or pass through aerial device people Work locks, and image procossing can also be used to carry out self-locked to target;Obtain the method that the exact position in area occurs for smog Including and be not limited to:When area occurs for unmanned plane locking smog(The places such as building, building site)Afterwards, fly that area is occurring just to smog Overhead, the position for recording current unmanned plane are sent to base station server as the exact position in smog generation area.
Regional method is occurred to obtain the exact position that area occurs for smog close to smog in smoke zone by unmanned plane, Effectively avoid when haze occurs, unmanned plane can not be accurately positioned smog in high-altitude and the problem of regional occurs.
The unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;The fire is remotely visited Examining system also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is suitable to according to nobody This area is driven into the exact position that area occurs for the smog that machine is sent as target location guiding vehicle;The onboard navigation system Including:In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data memory module;Institute State data memory module and be stored with map datum, vehicle radius of turn data;The in-vehicle processor module is suitable to according to vehicle Current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
By the aerial device, the reason for smog occurs can be clearly checked in the staff of base station server, Or fire, or burn away the refuse, in order to appoint corresponding vehicle to be handled, such as fire fighting truck, ambulance or accordingly hold Method vehicle.
Quickly vehicle can will be appointed to sail to scene by the onboard navigation system.
Airborne, the in-vehicle processor module for example with embedded chip, the in-vehicle processor module also with touch Screen is connected, in order to carry out corresponding input operation and display.
Specifically, the vehicle radius of turn data include but is not limited to the length and width of all kinds vehicle, wheelbase, vehicle The data such as radius of turn;The processor can input vehicle by interpersonal interactive interface, and from vehicle radius of turn data The radius of turn data that middle lookup matches with the vehicle, and the weight using the radius of turn data as navigation programming guidance path Will foundation.
In all kinds vehicle:In-between car 8.00~12.00, common fire fighting truck 9.00, large-scale fire fighting truck 12.00, ascend a height Fire fighting truck 12.00, some special type fire control vehicles 16.00~20.00, unit:Rice.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location Step planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle Each bend section of radius of turn data screening, that is, the planning guidance path corresponding to the bend section for being adapted to this vehicle is obtained, should It can be one or some to plan guidance path, so that driver is selected.
Fig. 4 is the urban road path of simulation, and A is vehicle current location, B is that objective, remaining each point represent respectively Each turning section in city.
Setting vehicle current location A to objective B path have:ACDFEB, AKJIHGB, ACDFIHGB, if turning road Section H radius of turn is smaller, is 6m, if selection Current vehicle is a certain medium sized vehicle, min. turning radius r is 8m, then turns Section H radius of turn is less than 8m, therefore this navigation system is rejected in tri- paths of ACDFEB, AKJIHGB, ACDFIHGB with turning Corresponding planning guidance path relevant detour section H, therefore select ACDFEB to arrive at B.
Also, optional, the processor is further adapted for the selected each bend section for meeting vehicle turning and requiring, and according to car Current location and target location, it is minimum or distance is most short for condition with the used time, and planned again according to above-mentioned each bend section Guidance path, to obtain optimum programming guidance path.
By selecting the vehicle of Current vehicle from vehicle radius of turn data, that is, obtain the vehicle corresponding to this vehicle Length and width, wheelbase, min. turning radius r.
The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, and screening is gone off the curve Radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and Again guidance path is planned in target location.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight;That is R1= R*(1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion Four kinds of ranks, x are bend correction factor, take 0<x<1.
Wherein, the value of the weight coefficient k for example take 0,1,2,3 with respectively with it is unimpeded, jogging, crowded, four kinds of congestion Rank is corresponding, and bend correction factor x value can obtain based on experience value, such as take 0.1.For example turning radius R is 50m, when unimpeded, R1=50m;In jogging, R1=45m;When crowded, R1=40m;In congestion, R1=35m;That is, in path During planning, this navigation system is further adapted for, according to real-time road, adjusting and being modified radius of turn, to meet that turn inside diameter will Ask, and then realize and path is planned again.
Or by taking Fig. 4 as an example, if setting vehicle current location A to objective B path have:ACDFEB、AKJIHGB、 ACDFIHGB, if turning section H is unsatisfactory for the requirement of Current vehicle radius of turn, and because D sections get congestion, cause to turn After radius amendment also can not vehicle turn radius requirement, then this navigation system plans guidance path, i.e. AKJIFEB again, with full Sufficient vehicle pass-through requirement.
Wherein, real-time road can be obtained by wireless module from road monitoring server.The wireless module can be with Using 3G/4G modules.
The in-vehicle processor module is also connected with back wheels of vehicle steering;After vehicle is entering bend, on-board processing Device module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, adjust automatically The steering angle of trailing wheel, that is, vehicle is realized when turning to, trailing wheel toe-in.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of fire remote probe method, and smog area is detected by unmanned plane Domain, and detection data is sent to base station server, and covered with solar panel on the wing of the unmanned plane, and it is described Solar panel is suitable to convert light energy into electric energy needed for unmanned plane.
The unmanned plane includes:Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single Member, navigation positioning module;
When the unmanned plane detects smog in flight course, the airborne processor module is according to navigation positioning module pair Aircraft is positioned with being currently located, and location data is sent to base station server;
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area;
When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, is gradually reduced Spiral scope, to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and dives downwards, together When adjustment flight attitude make unmanned plane fly nearly smog in smoke zone all the time area occurs, i.e., when unmanned plane is in process of subduction, If Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained at smog In band, gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and handle The exact position that area occurs for smog is sent to base station server.
Preferably, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;It is and described Fire Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is fitted This area is driven into the exact position that area occurs in the smog sent according to unmanned plane as target location guiding vehicle;The car Carrying navigation system includes:In-vehicle processor module, automotive positioning module, the data being connected with the in-vehicle processor module are deposited Store up module;The data memory module is stored with map datum, vehicle radius of turn data;The method of work includes:It is described In-vehicle processor module is suitable to according to vehicle current location and target location, and combines the radius of turn data rule of Current vehicle Draw guidance path.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location Step planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle Each bend section of radius of turn data screening, that is, obtain the planning guidance path corresponding to the bend section for being adapted to this vehicle.
The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;The processor is suitable to will Min. turning radius r filters out turning radius R and is more than or equal to minimum turn partly compared with the turning radius R in each bend section Footpath r bend section, and plan navigation road again according to the bend section after each screening and vehicle current location and target location Footpath.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight;That is R1= R*(1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion Four kinds of ranks, x are bend correction factor, take 0<x<1;Wherein, the value of the weight coefficient k for example takes 0,1,2,3 with respectively With it is unimpeded, jogging, crowded, four kinds of ranks of congestion are corresponding, bend correction factor x value can obtain based on experience value, Such as take 0.1.
Specifically, when turning section is more crowded, it is clear that for oversize vehicle, radius of turn can be affected, Therefore, in navigation, it is necessary to such a section is prejudged, after avoiding vehicle from entering the bend, turning occurs and is obstructed.
The present invention effectively have modified turning radius according to road conditions, enable the vehicle to effectively keep away by R1=R* (1-kx) formula Exempt from vehicle and drive into respective stretch, cause congestion.
And the in-vehicle processor module is also connected with back wheels of vehicle steering;It is vehicle-mounted after vehicle is entering bend Processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, automatically The steering angle of trailing wheel is adjusted, i.e. vehicle realizes trailing wheel toe-in when turning to.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.

Claims (2)

1. a kind of detection method of fire Long Range Detecting and Ranging, it is characterised in that fire Long Range Detecting and Ranging includes:Suitable for detection The unmanned plane of smog, the base station server with the unmanned plane wireless telecommunications, and
Covered with solar panel on wing, and the solar panel is suitable to convert light energy into electricity needed for unmanned plane Energy;
The unmanned plane includes:Airborne processor module, Smoke Detection sensing unit, the machine being connected with the airborne processor module Carry navigation positioning module;
Described detection method, including:
When the unmanned plane detects smog in flight course, the airborne processor module is according to airborne navigator fix mould Block is positioned with being currently located to aircraft, and location data is sent to base station server;And
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area;
After unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, is worked as with locking Preceding smoke region;
And after smoke region is locked, unmanned plane enters smog area, and dives downwards, while adjusting flight attitude makes unmanned plane begin Fly nearly smog in smoke zone eventually and area occurs, area, which occurs, to smog locks, and smog is occurred the accurate position in area Put and be sent to base station server;
The unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;
The fire Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;
Draw as target location the exact position that area occurs for the smog that the onboard navigation system is suitable to be sent according to unmanned plane Guide-car drives into this area;
The onboard navigation system includes:In-vehicle processor module, the automotive positioning being connected with the in-vehicle processor module Module, data memory module;
The data memory module is stored with map datum, vehicle radius of turn data;
The in-vehicle processor module is suitable to according to vehicle current location and target location, and combines the turning half of Current vehicle Footpath data schema guidance path.
2. the detection method of fire Long Range Detecting and Ranging according to claim 1, it is characterised in that the in-vehicle processor Module is suitable to precompute some preliminary planning guidance paths between vehicle current location and target location;
And corresponding bend section is searched in each preliminary planning guidance path, and the radius of turn data according to corresponding to this vehicle Each bend section is screened, that is, obtains the planning guidance path corresponding to the bend section for being adapted to this vehicle;
The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;
The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, filters out turning radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and target Again guidance path is planned in position.
CN201711074196.9A 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane Withdrawn CN107871379A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711074196.9A CN107871379A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711074196.9A CN107871379A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane
CN201610097051.XA CN105678946B (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging and its detection method based on unmanned plane

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201610097051.XA Division CN105678946B (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging and its detection method based on unmanned plane

Publications (1)

Publication Number Publication Date
CN107871379A true CN107871379A (en) 2018-04-03

Family

ID=56304799

Family Applications (5)

Application Number Title Priority Date Filing Date
CN201711074196.9A Withdrawn CN107871379A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane
CN201711074198.8A Withdrawn CN107680320A (en) 2016-02-22 2016-02-22 The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane
CN201610097051.XA Active CN105678946B (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging and its detection method based on unmanned plane
CN201711074189.9A Withdrawn CN107886672A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane
CN201711074199.2A Withdrawn CN107680321A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging based on unmanned plane

Family Applications After (4)

Application Number Title Priority Date Filing Date
CN201711074198.8A Withdrawn CN107680320A (en) 2016-02-22 2016-02-22 The fire Long Range Detecting and Ranging of fire-prone area monitoring is realized based on unmanned plane
CN201610097051.XA Active CN105678946B (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging and its detection method based on unmanned plane
CN201711074189.9A Withdrawn CN107886672A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging, detection method based on unmanned plane
CN201711074199.2A Withdrawn CN107680321A (en) 2016-02-22 2016-02-22 Fire Long Range Detecting and Ranging based on unmanned plane

Country Status (1)

Country Link
CN (5) CN107871379A (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106448161A (en) * 2016-09-30 2017-02-22 广东中星微电子有限公司 Road monitoring method and road monitoring device
CN106781180A (en) * 2017-02-14 2017-05-31 无锡觅睿恪科技有限公司 Scene of fire monitors unmanned plane
CN107289945A (en) * 2017-07-07 2017-10-24 深圳市华琥技术有限公司 A kind of Navigation of Pilotless Aircraft method
CN108254503A (en) * 2018-01-11 2018-07-06 上海交通大学 Unmanned plane discharges the method for telemetering and its system
CN110084992A (en) * 2019-05-16 2019-08-02 武汉科技大学 Ancient buildings fire alarm method, device and storage medium based on unmanned plane
CN110706444B (en) * 2019-10-22 2021-05-14 北京航天常兴科技发展股份有限公司 Comprehensive pyrolytic particle electrical fire monitoring method, device and system
CN112148028B (en) * 2020-08-28 2022-06-14 合肥工业大学 Environment monitoring method and system based on unmanned aerial vehicle shooting image
CN115585850B (en) * 2022-11-15 2023-04-07 中国地质大学(北京) Underground engineering disaster source multi-element detection amphibious unmanned aerial vehicle platform and detection method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997035433A1 (en) * 1996-03-17 1997-09-25 Malat Division, Israel Aircraft Industries Ltd. A fire imaging system and method
CN202976376U (en) * 2012-11-22 2013-06-05 华南农业大学 Forest fire monitoring and emergency command system based unmanned aerial vehicle
CN104567897A (en) * 2013-10-16 2015-04-29 大陆汽车投资(上海)有限公司 Road condition forecast combined path planning method and navigation device
CN204802088U (en) * 2015-07-03 2015-11-25 新疆思迪信息技术有限公司 Be applied to unmanned aerial vehicle of conflagration early warning

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090205845A1 (en) * 2008-02-16 2009-08-20 Fire Termination Equipment, Incorporated System and method for extinguishing wildfires
KR20140127574A (en) * 2013-04-25 2014-11-04 (주)유타스 Fire detecting system using unmanned aerial vehicle for reducing of fire misinformation
US9158304B2 (en) * 2013-11-10 2015-10-13 Google Inc. Methods and systems for alerting and aiding an emergency situation
CN203865002U (en) * 2014-06-09 2014-10-08 江苏工程职业技术学院 Straw burning monitoring device
CN104156901A (en) * 2014-08-01 2014-11-19 江苏恒创软件有限公司 People searching and basic material conveying method based on unmanned aerial vehicle in special environment
CN104143248B (en) * 2014-08-01 2016-09-14 江苏恒创软件有限公司 Forest fire detection based on unmanned plane and preventing control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997035433A1 (en) * 1996-03-17 1997-09-25 Malat Division, Israel Aircraft Industries Ltd. A fire imaging system and method
CN202976376U (en) * 2012-11-22 2013-06-05 华南农业大学 Forest fire monitoring and emergency command system based unmanned aerial vehicle
CN104567897A (en) * 2013-10-16 2015-04-29 大陆汽车投资(上海)有限公司 Road condition forecast combined path planning method and navigation device
CN204802088U (en) * 2015-07-03 2015-11-25 新疆思迪信息技术有限公司 Be applied to unmanned aerial vehicle of conflagration early warning

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
孙毅: "《无人机驾驶员航空知识手册》", 31 October 2014 *
李林: "《一看就懂的500项汽车构造原理》", 30 June 2014 *

Also Published As

Publication number Publication date
CN107680320A (en) 2018-02-09
CN107680321A (en) 2018-02-09
CN105678946A (en) 2016-06-15
CN105678946B (en) 2017-12-12
CN107886672A (en) 2018-04-06

Similar Documents

Publication Publication Date Title
CN105678946B (en) Fire Long Range Detecting and Ranging and its detection method based on unmanned plane
CN105758993B (en) Smog Long Range Detecting and Ranging and its detection method based on independent navigation unmanned plane
US20200278695A1 (en) Link level wind factor computation for efficient drone routing using 3d city map data
US9274529B2 (en) Safe emergency landing of a UAV
CN105389988B (en) A kind of express highway intelligent cruising inspection system of multiple no-manned plane collaboration
US9257048B1 (en) Aircraft emergency landing route system
CN106568441B (en) Method for carrying out power inspection by using Beidou-based power inspection equipment
CN202050188U (en) Unmanned aerial vehicle
CN109683629B (en) Unmanned aerial vehicle electric power overhead line system based on combination navigation and computer vision
CN106494612A (en) Improve method and the unmanned plane patrol system of rotor craft autonomous flight stability
CN112817307B (en) Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception
CN104991565A (en) Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method
CN109358654A (en) A kind of empty amphibious search and rescue support unmanned vehicle system of water
CN106444816A (en) Control system for sunshade of unmanned aerial vehicle and control method thereof
CN111650958A (en) Online path planning method for switching in route points of take-off section of fixed-wing unmanned aerial vehicle
CN105675822A (en) Smoke remote detection system based on autonomous navigation unmanned aerial vehicle and detection method of smoke remote detection system
CN109901620A (en) A kind of multiple UAVs cooperative system and formation method
CN113758478A (en) Routing inspection flight planning method and system for long-distance power transmission and transformation line unmanned aerial vehicle
CN105824038A (en) Remote fire behavior monitoring system and working method thereof
Li et al. Low-cost vector map assisted navigation strategy for autonomous vehicle
CN105807297A (en) Fire detecting, positioning and rescuing system and method based on wireless network
CN105676244B (en) A kind of portable navigation system, working method and vehicle
EP3487039A1 (en) Recharging an aircraft in a region using areas of increased sunlight within the region
CN112639910B (en) Method and device for observing traffic elements
CN105466446B (en) A kind of navigation system, working method and the vehicle of GPS Redundancy Design

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication
WW01 Invention patent application withdrawn after publication

Application publication date: 20180403