CN108107916A - A kind of Intelligent unattended machine hunting system - Google Patents
A kind of Intelligent unattended machine hunting system Download PDFInfo
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- CN108107916A CN108107916A CN201810098350.4A CN201810098350A CN108107916A CN 108107916 A CN108107916 A CN 108107916A CN 201810098350 A CN201810098350 A CN 201810098350A CN 108107916 A CN108107916 A CN 108107916A
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- central processing
- unmanned plane
- intelligent unattended
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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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
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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
- G05D1/12—Target-seeking control
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of Intelligent unattended machine hunting system, including：Unmanned plane, Cloud Server and mobile terminal, unmanned plane and mobile terminal communicate to connect respectively with Cloud Server；Unmanned plane includes central processing unit, image processing unit, laser radar unit, infrared induction unit and communication unit, and image processing unit, laser radar unit, infrared induction unit and communication unit are connected respectively with central processing unit；Laser radar unit includes electric platform, laser emitter and receiving unit, and electric platform, laser emitter and receiving unit are connected respectively with central processing unit；The present invention is searched and rescued by unmanned plane, using the possible life entity of sensor sensing and position this region and carry out laser radar scanning and realize three-dimensional imaging, 3-D view is sent to Cloud Server by unmanned plane, disaster relief personnel can be checked by mobile terminal and determine effective scheme, it substantially reduces and searches and rescues the time, victims of the disaster's life is improved it is also desirable that decreasing the secondary injures and deaths of rescue worker simultaneously.
Description
Technical field
The present invention relates to unmanned air vehicle technique fields, particularly a kind of Intelligent unattended machine hunting system.
Background technology
In recent years, the disasters such as earthquake, tsunami, landslide, nuclear power station leakage occur in succession.After disaster accident occurs, scene is built
Building structure caves in, and causes its environment and topographic structure narrow space, complexity and unstable, current rescue mode is that outside is searched
It rescues, i.e., detects whether need to be rescued personnel under ruins using some life entity sensing devices, however common detection device can not be from outer
Portion is directly acquainted with inner case, and for this high-risk circumstances not known of the building of structure collapses, it can not ensure safe feelings
Under condition, rescue personnel cannot enter rashly, cause rescue worker that can not immediately enter disaster area and reconnoitred and searched and rescued, delay
Rescue opportunity.And after calamity " when gold 72 is small " survival rate of interior disaster affected people at any time in rapidly decline trend：At first day
(i.e. 24 is interior when small), survival rate are 90% or so, and second day is 50%~60%, and the 3rd day is only 20%~30%.
Therefore, it can enter there is an urgent need to one kind instead of rescue worker and topographic(al) reconnaissance and life are carried out in dangerous circumstances not known
The unmanned plane hunting system of search and rescue, rescue personnel can enter danger zone in ruins external remote control unmanned plane and carry out image processor,
It using the possible life entity of sensor sensing and positions this region and carries out laser radar scanning and realize three-dimensional imaging, unmanned plane will
3-D view is sent to Cloud Server, and disaster relief personnel can understand inner case immediately by mobile terminal, judge whether someone, really
Determine effective scheme, it is convenient that search-and-rescue work is unfolded as early as possible, it can not only greatly shorten and search and rescue the time, improve victims of the disaster's life it is also desirable that same
When decrease the secondary injures and deaths of rescue worker.
The content of the invention
The shortcomings that it is an object of the invention to overcome the prior art, provides a kind of Intelligent unattended machine hunting system.
Specifically, a kind of Intelligent unattended machine hunting system, including：Unmanned plane, Cloud Server and mobile terminal, it is described nobody
Machine and mobile terminal communicate to connect respectively with the Cloud Server；The unmanned plane includes central processing unit, image procossing list
Member, laser radar unit, infrared induction unit and communication unit, described image processing unit, laser radar unit, infrared induction
Unit and communication unit are connected respectively with the central processing unit；The laser radar unit includes electric platform, laser is sent out
Emitter and receiving unit, the electric platform, laser emitter and receiving unit are connected respectively with the central processing unit；Institute
It states laser radar unit to send to the central processing unit for acquisition scans Data Concurrent, the infrared induction unit is used to feel
Thermal objects are answered, it is described sharp that the central processing unit is used for the thermal objects control sensed according to the infrared induction unit
Optical radar cell location scans and the space three-dimensional information of object is calculated and to send it to described image processing unit defeated
Go out 3-D view, 3-D view is sent to by the Cloud Server by the communication unit.
Further, the central processing unit is AVR single chip.
Further, the laser emitter is a wordline laser transmitter.
Further, the receiving unit is USB camera.
Further, the laser emitter and the receiving unit are arranged on the electric platform, the electronic cloud
Platform is arranged below the unmanned plane.
Further, the infrared induction unit is arranged on the holder.
Further, the infrared induction unit turns including pyroelectric infrared sensor, collection of simulant signal module and A/D
Block is changed the mold, the pyroelectric infrared sensor, collection of simulant signal module and A/D modular converters are sequentially connected, the A/D conversions
Module is connected with the central processing unit.
Further, the communication unit is 3G/4G/WIFI modules.
Further, the central control unit is also associated with multimode locating module.
The present invention has the following advantages：Enter progress landform in dangerous circumstances not known instead of rescue worker by unmanned plane to survey
It surveys and life is searched and rescued, rescue personnel can enter danger zone in ruins external remote control unmanned plane and carry out image processor, utilize sensing
Device, which senses possible life entity and simultaneously positions this region, to carry out laser radar scanning and realizes three-dimensional imaging, and unmanned plane is by 3-D view
Cloud Server is sent to, disaster relief personnel can understand inner case immediately by mobile terminal, judge whether someone, determine efficacious prescriptions
Case, it is convenient that search-and-rescue work is unfolded as early as possible, it can not only greatly shorten and search and rescue the time, improve victims of the disaster's life it is also desirable that also reducing simultaneously
The secondary injures and deaths of rescue worker.
Description of the drawings
Fig. 1 is a kind of system schematic of Intelligent unattended machine hunting system of the present invention.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute
It states.
As shown in Figure 1, a kind of Intelligent unattended machine hunting system, including：Unmanned plane, Cloud Server and mobile terminal, it is described
Unmanned plane and mobile terminal communicate to connect respectively with the Cloud Server；The unmanned plane includes central processing unit, at image
Manage unit, laser radar unit, infrared induction unit and communication unit, it is described image processing unit, laser radar unit, infrared
Sensing unit and communication unit are connected respectively with the central processing unit；The laser radar unit includes electric platform, swashs
Optical transmitting set and receiving unit, the electric platform, laser emitter and receiving unit connect respectively with the central processing unit
It connects；The laser radar unit is sent for acquisition scans Data Concurrent to the central processing unit, the infrared induction unit
For sensing thermal objects, the thermal objects that the central processing unit is used to be sensed according to the infrared induction unit control
The laser radar cell location scans and the space three-dimensional information of object is calculated and sends it to described image processing
Unit exports 3-D view, and 3-D view is sent to the Cloud Server by the communication unit.
Further, the central processing unit is AVR single chip, can be opened by USB command/laser is closed, if
Put scan path, control cloud platform rotation angle；By the way that the system completes monolithic AVR programmings, hardware is built, imaging controls and image
The control of processing system and scanning means, and can accurately realize indices and function, ensureing preferable realization 3D imagings
Under the premise of, compared with similar laser radar, by a relatively large margin reduce system cost.
Further, the laser emitter is a wordline laser transmitter.
Further, the receiving unit is USB camera.
Microcontroller controls the rotation of holder, and a wordline laser device is driven by holder according to scan path, and transmitting is a series of to sweep
Light beam is retouched, the two-dimentional echo-signal of scanned target return is obtained by USB camera, AVR single chip uses laser ranging algorithm
It obtains target range information and is bonded three-dimensional laser image-forming information with target two-dimensional signal, three are obtained by image processing module
Image is tieed up, and 3-D view is sent to Cloud Server, staff can be judged whether by 3-D view as people, to take phase
The search and rescue measure answered, is protected from weather influences using laser radar, under thick fog, low-visibility conditions also can accurate judgement to be
System implements corresponding control.
Further, the laser emitter and the receiving unit are arranged on the electric platform, the electronic cloud
Platform is arranged below the unmanned plane.
Further, the infrared induction unit is arranged on the holder.
Further, the infrared induction unit turns including pyroelectric infrared sensor, collection of simulant signal module and A/D
Block is changed the mold, the pyroelectric infrared sensor, collection of simulant signal module and A/D modular converters are sequentially connected, the A/D conversions
Module is connected with the central processing unit, and the pyroelectric infrared sensor is multiple, is sensed using 3-5 rpyroelectric infrared
Device is in 360 degree of unmanned plane obliquely downward acquisition infrared signal.
Further, the communication unit is 3G/4G/WIFI modules.
Further, the central control unit is also associated with multimode locating module, and locating module is sent with certain frequency
Location information is to Cloud Server, so that staff positions to searching and rescuing position, while it is further to combine 3-D view
Point is searched in locking.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the application and from the limitation of described sequence of movement, because
For according to the application, certain some step may be employed other orders or be carried out at the same time.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
It please be necessary.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent variations made according to the claims of the present invention, it is still within the scope of the present invention.
Claims (9)
1. a kind of Intelligent unattended machine hunting system, which is characterized in that including：Unmanned plane, Cloud Server and mobile terminal, the nothing
Man-machine and mobile terminal communicates to connect respectively with the Cloud Server；The unmanned plane includes central processing unit, image procossing
Unit, laser radar unit, infrared induction unit and communication unit, described image processing unit, laser radar unit, infrared sense
Unit and communication unit is answered to be connected respectively with the central processing unit；The laser radar unit includes electric platform, laser
Transmitter and receiving unit, the electric platform, laser emitter and receiving unit are connected respectively with the central processing unit；
The laser radar unit is sent for acquisition scans Data Concurrent to the central processing unit, and the infrared induction unit is used for
Sense thermal objects, the central processing unit is used for according to the thermal objects control that the infrared induction unit senses
Laser radar cell location scans and the space three-dimensional information of object is calculated and sends it to described image processing unit
3-D view is exported, 3-D view is sent to by the Cloud Server by the communication unit.
2. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the central processing unit is
AVR single chip.
3. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the laser emitter is one
Wordline laser emitter.
4. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the receiving unit is USB
Camera.
5. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the laser emitter and institute
It states receiving unit to be arranged on the electric platform, the electric platform is arranged below the unmanned plane.
6. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the infrared induction unit is set
It puts on the holder.
A kind of 7. Intelligent unattended machine hunting system according to claim 1, which is characterized in that the infrared induction unit bag
Include pyroelectric infrared sensor, collection of simulant signal module and A/D modular converters, the pyroelectric infrared sensor, simulation letter
Number acquisition module and A/D modular converters are sequentially connected, and the A/D modular converters are connected with the central processing unit.
8. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the communication unit is 3G/
4G/WIFI modules.
9. a kind of Intelligent unattended machine hunting system according to claim 1, which is characterized in that the central control unit is also
It is connected with multimode locating module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098350.4A CN108107916A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine hunting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810098350.4A CN108107916A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine hunting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108107916A true CN108107916A (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810098350.4A Pending CN108107916A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine hunting system |
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| CN (1) | CN108107916A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110162102A (en) * | 2019-05-17 | 2019-08-23 | 广东技术师范大学 | Unmanned plane automatic identification tracking and system based on cloud platform and machine vision |
| CN114063628A (en) * | 2021-11-17 | 2022-02-18 | 杭州电子科技大学 | Unmanned aerial vehicle disaster relief system and method based on deep learning and radar detection |
| WO2022099651A1 (en) * | 2020-11-13 | 2022-05-19 | 南京瑞祥信息技术有限公司 | Apparatus for searching for target object |
-
2018
- 2018-01-31 CN CN201810098350.4A patent/CN108107916A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110162102A (en) * | 2019-05-17 | 2019-08-23 | 广东技术师范大学 | Unmanned plane automatic identification tracking and system based on cloud platform and machine vision |
| WO2022099651A1 (en) * | 2020-11-13 | 2022-05-19 | 南京瑞祥信息技术有限公司 | Apparatus for searching for target object |
| CN114063628A (en) * | 2021-11-17 | 2022-02-18 | 杭州电子科技大学 | Unmanned aerial vehicle disaster relief system and method based on deep learning and radar detection |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180601 |
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