CN109229378A - A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method - Google Patents
A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method Download PDFInfo
- Publication number
- CN109229378A CN109229378A CN201810855338.3A CN201810855338A CN109229378A CN 109229378 A CN109229378 A CN 109229378A CN 201810855338 A CN201810855338 A CN 201810855338A CN 109229378 A CN109229378 A CN 109229378A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- toxic
- harmful gas
- avoidance
- rescue
- 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.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 128
- 231100000331 toxic Toxicity 0.000 title claims abstract description 87
- 230000002588 toxic effect Effects 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000007789 gas Substances 0.000 claims description 89
- 238000001931 thermography Methods 0.000 claims description 24
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 8
- 125000004122 cyclic group Chemical group 0.000 claims description 5
- 238000013523 data management Methods 0.000 claims description 5
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 claims description 4
- 208000037805 labour Diseases 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims description 4
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 238000010295 mobile communication Methods 0.000 claims description 2
- 229910000037 hydrogen sulfide Inorganic materials 0.000 claims 2
- 230000009194 climbing Effects 0.000 abstract description 2
- 239000003245 coal Substances 0.000 abstract description 2
- 238000003331 infrared imaging Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 10
- 230000007613 environmental effect Effects 0.000 description 6
- 241000282472 Canis lupus familiaris Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 231100000614 poison Toxicity 0.000 description 3
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 2
- 230000004913 activation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000000505 pernicious effect Effects 0.000 description 2
- 230000007096 poisonous effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Alarm Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method, belong to coal mine roadway emergency rescue field.Present system contains user monitoring side and unmanned plane during flying platform two large divisions.Wherein, user monitoring side, which is realized, acquires information back to effective control of unmanned plane and airborne sensor, and unmanned plane during flying platform is detected by carrying instrument.After mine disaster occurs, rescue worker starts this system in nearest safety zone, acquires image information near flight range, infrared imaging information and toxic and harmful gas parameter in real time under the premise of ensureing unmanned plane safe flight, and pass user monitoring side back in real time.When monitoring human body image-forming information or toxic and harmful gas information, corresponding search and rescue are quickly made.The present invention solves that traditional unmanned vehicle mine disaster search and rescue are low with tunnel monitor system obstacle climbing ability, search speed is slow, working range space-constrained technical problem.
Description
Technical field
The invention belongs to coal mine roadway emergency rescue fields, and in particular to a kind of mine disaster based on avoidance unmanned plane search and rescue with
Poisonous and harmful monitoring system and its working method.
Background technique
Mainly there is toxic and harmful gas monitoring system in currently used mine disaster search and rescue and mine: hand-held monitor, rescue dogs,
Mobile robot etc., search and rescue traditional at present are low with monitoring system obstacle climbing ability, search speed is slow, working range is limited by space
Etc. technical problems, be unfavorable for mine disaster occur after fast and effective search and rescue.
Such as: after mine disaster occurs, rescue worker and rescue dogs can not be all directly entered in mine, and environment is unknown in mine,
The safety of rescue worker and rescue dogs is not can guarantee；Hand-held detector, can not be to right since environment in complicated ore and well depth limit
It is detected beyond detection range region.In addition, mobile robot detection system is using ground mobile robot as detection platform,
A variety of monitoring sensors are carried, the unmanned monitoring of environment in mine is realized by wireless remote control.
But common Kuang Nei ground detection robot can not cross large-scale obstacle, and it is poor to terrain adaptability in mine, it can not
Meet environment in complicated ore and searches and rescues demand.Before especially implementing to search and rescue in fast and effective mine after mine disaster generation, landform is broken in mine
It is bad acutely to make ground detection robot that be rapidly achieved mine disaster danger zone.On although remote control avoidance unmanned plane can overcome
Problem is stated, but is still limited by the length of cable, the restriction of the factors such as winding.In addition, using ground detection robot search speed
Slowly, it is unfavorable for the quick search and rescue to trapped person in mine.Therefore, environmental monitoring system is unable to satisfy mine at this stage in common mine
The fast and safely concrete application requirement in the fields such as search and rescue in interior toxic and harmful gas monitoring, mine.
Method introduction similar with the invention with not found in patent consulting in core periodical at present.
Summary of the invention
For environmental monitoring system in common mine be unable to satisfy in mine at this stage toxic and harmful gas monitoring, in mine quickly
Safety such as searches and rescues at the specific requirements problem of applications, the mine disaster that it is an object of that present invention to provide a kind of based on avoidance unmanned plane search and rescue with
Toxic and harmful gas monitors System and method for.It is to realize in this way that of the invention, which is:
A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitor system, including 1 He of user monitoring station
Avoidance unmanned plane is searched and rescued and toxic and harmful gas monitors flying platform 2；
Wherein, the user monitoring station includes PC machine 1-1, handheld terminal 1-2, radio modem 1-4 and RC control
Device 1-3；
The avoidance unmanned plane during flying is searched and rescued and toxic and harmful gas monitoring flying platform 2 includes unmanned plane during flying platform 2-
1, motor blade assembly 2-2, navigator fix and winged control integral system 2-3, toxic and harmful gas monitoring system 2-4, remote control connect
Receive decoding system 2-5, wireless telecommunication system 2-6, cyclic spring retaining frame 2-7, avoidance subsystem 2-8, vision guided navigation sensor 2-
8-1, ultrasonic positioning system 2-8-2, camera combination 2-9, thermal imaging camera 2-9-1, high-definition camera and searchlight 2-9-2,
Double cell 2-10 and floor stand 2-11.
After mine disaster occurs, rescue worker carries user monitoring side 1 and avoidance unmanned plane is searched and rescued and supervised with toxic and harmful gas
It surveys flying platform 2 to mine disaster and safety zone nearby occurs, and start unmanned plane during flying platform 2-1；Receive user monitoring station PC
Machine 1-1 is taken off by what radio modem 1-4 was sent with after the instruction of destination, and avoidance unmanned plane opens navigation and flies control one
Body system 2-3 and avoidance subsystem 2-8 flies to mine disaster region, and wherein avoidance subsystem 2-8 includes vision guided navigation sensor 2-
8-1 and ultrasonic positioning sensor 2-8-2.Avoidance unmanned plane flies to detection zone in mine, opens toxic and harmful gas monitoring system
System 2-4 and thermal imaging camera 2-9-1 search and rescue and toxic and harmful gas monitors.Wherein, toxic and harmful gas monitors system 2-4
The gases such as hydrogen sulfide h2s, carbon monoxide CO and methane CH4 can be carried out with real-time monitoring processing and alarm, and use explosiveproof isolation
Plate encapsulation.
Avoidance unmanned plane acquires thermal imaging information, toxic and harmful gas monitoring parameters and avoidance unmanned plane around monitoring point and flies
Row is searched and rescued and toxic and harmful gas monitoring platform motion state parameters, and passes user monitoring station back by wireless telecommunication system 2-6
1；User monitoring station PC machine 1-1 carries out Data Management Analysis and goes forward side by side row information visualization processing, obtains avoidance unmanned plane during flying and searches
Rescue with toxic and harmful gas monitoring platform 2-1 three-dimensional position and posture information and toxic and harmful gas parameter, and by synchronizing information
It is sent to handheld terminal.At the same time, PC machine 1-1 judges whether there is sign of life, passes through if no signs of life wireless
Modem 1-4 sends next destination instruction control avoidance unmanned plane during flying and searches and rescues and toxic and harmful gas monitoring platform 2
It is moved to next region of search；If there is sign of life, then search and rescue signal is issued, and is believed according to collected toxic and harmful gas
Breath carries out quick, safety and sues and labours.Avoidance unmanned plane during flying is searched and rescued and toxic and harmful gas monitoring platform 2 completes all regions of search
Search and rescue and toxic and harmful gas monitoring after, close toxic and harmful gas monitoring system and thermal imaging camera, make preparation for dropping or make a return voyage.
The work of a kind of mine disaster search and rescue based on avoidance unmanned plane provided by the invention and toxic and harmful gas monitoring system
Method the following steps are included:
Step a, rescue worker carries user monitoring side and avoidance unmanned plane is searched and rescued and toxic and harmful gas monitoring flight is flat
Safety zone nearby occurs for platform to mine disaster, and starts unmanned plane during flying platform；
Step b, instruction of taking off is sent, navigator fix is opened and flies control integral system and avoidance subsystem, manipulator's knot
Video information and the avoidance subsystem of high-definition camera and searchlight acquisition are closed to control RC controller, guarantees unmanned plane in mine
Safe flight；
Step c, it opens toxic and harmful gas monitoring system and thermal imaging camera, unmanned plane advances and reconnoiters and fly to mine disaster area
Domain；
Step d, thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane during flying around mine disaster region are acquired in real time
The information such as search and rescue and monitoring platform motion state parameters, and pass user monitoring station back；
Step e, Data Management Analysis obtains thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane in mine and flies
Row is searched and rescued and monitoring platform three-dimensional position and posture information；
Step f, after searching for a distance, if user monitoring station shows image information when dying down, hovering/landing immediately nobody
Machine, rescue worker carry user monitoring station and advance to unmanned plane hovering/landing safety zone nearby, control unmanned plane forward again
It advances and reconnoiters；
Step g, it first determines whether toxic and harmful gas monitoring system alarms, is quickly reduced if alarm toxic in air
Pernicious gas cost and concentration, then judge whether there is sign of life, and user monitoring station, which issues, if having sign of life searches and rescues letter
Number, it sues and labours in combination with toxic and harmful gas monitoring information, continues step d, e and f if without sign of life；
Step i, repeat the above steps d, e, f and g, until completing entire region of search.
The present invention provides mine disaster search and rescue and toxic and harmful gas monitoring system and its work side based on avoidance unmanned plane
Method has the advantage that
1, the present invention uses avoidance unmanned plane as search and rescue and monitoring platform, for the full side of environment in mine after mine disaster generation
Position is quickly searched and rescued, the acquisition of continuous multi-parameter information and data transmission, solve after mine disaster in mine complex environment to being searched and rescued in mine and
The safety problem of rescue worker when information collection.Unmanned plane monitoring platform connects monitoring station by wireless telecommunication system, carries out real
When data transmission and communication, the data transfer mode of wireless telecommunications avoid when passing through cable transmission data cable to flying platform
Dragging problem.In addition, carry thermal imaging camera carry out life detection, it can be achieved that in mine disaster buried person person position quick spy
It surveys, is conducive to quickly search and rescue.
2, avoidance unmanned plane is equipped with Dual module intrinsic safety type battery in the present invention, and monitoring flying platform provides sufficient power supply.One
Aspect, which avoids, pulls the limitation of control unmanned plane build-out and winding, and space and distance are restricted when solving avoidance unmanned plane during flying
The problem of.On the other hand the problems such as electric current, voltage and power consumption of single module battery are reduced by Dual module intrinsic safety type battery, it is conducive to
Reach requirement of explosion proof.
3, flying platform carries out obstacle detection equipped with visual sensing navigation system and ultrasonic echo positioning system
And avoidance, promote the safety of flying platform.Avoidance subsystem monitors flying platform nearby environmental information and disturbance of perception object, leads to
It crosses flight control system control flying platform and awing avoids barrier.In addition, also matching flexible shield to unmanned flight's platform rotor
Frame avoids damaging flying platform by friction, collision.
Detailed description of the invention
Fig. 1 is that the mine disaster search and rescue and toxic and harmful gas based on avoidance unmanned plane monitor system structure schematic diagram.
Fig. 2 is that avoidance unmanned plane during flying is searched and rescued and monitoring platform structure diagram.
Fig. 3 is that the mine disaster based on avoidance unmanned plane is searched and rescued and poisonous and harmful monitoring working-flow figure.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
It should be noted that inertial navigation system involved in the present invention is typical navigation positioning system, avoidance subsystem 2-
8 and navigation and fly control integral system 2-3 be conventional equipment, the sensor in environmental monitoring subsystem 2-4 is also typically to survey
Metering device, therefore the present invention is no longer described in detail its principle；
Embodiment one:
Mine disaster search and rescue and toxic and harmful gas based on avoidance unmanned plane monitor system, as shown in Figure 1, including that user monitors
Stand 1 and avoidance unmanned plane during flying search and rescue and monitoring platform 2；
User monitoring station includes PC machine 1-1, handheld terminal 1-2, RC controller 1-3 and radio modem 1-4, is held
Terminal 1-2 and RC controller 1-3 is wirelessly connected PC machine 1-1, and PC machine 1-1 is wirelessly connected avoidance by radio modem 1-4
Unmanned plane during flying is searched and rescued and monitoring platform 2.
Avoidance unmanned plane during flying search and rescue and monitoring platform 2 include unmanned plane during flying platform 2-1, motor rotation blade assembly 2-2,
Navigation and winged control integral system 2-3, toxic and harmful gas monitoring system 2-4, remote control reception decode system 2-5, wireless telecommunications
System 2-6, cyclic spring retaining frame 2-7, avoidance subsystem 2-8, vision guided navigation sensor 2-8-1, ultrasonic positioning system 2-8-
2, camera combination 2-9, thermal imaging camera 2-9-1, high-definition camera and searchlight 2-9-2, double cell 2-10, floor stand 2-
11。
Wherein, the quantity of motor blade assembly 2-2 is four, and four motor blade assemblies are fitted in unmanned four end of machine frame
On angle, four motor blades the assembly 2-2, battery 2-10 that cyclic spring retaining frame 2-7 surrounds unmanned plane are mounted on unmanned plane during flying
The center platform 2-1 medium position, navigation and winged control integral system 2-3 are mounted in unmanned plane during flying platform 2-1 overcentre
Portion position, remote control reception decoding system 2-5 and wireless telecommunication system 2-6 are mounted on unmanned plane during flying platform 2-1 overcentre
Portion position, toxic and harmful gas monitoring system 2-4 by four elongated hex screws be fixed on remote control reception decode system 2-5 and
Above wireless telecommunication system 2-6, toxic and harmful gas monitors system 2-4 can be to hydrogen sulfide h2s, carbon monoxide CO and methane CH4
Equal gases carry out real-time monitoring processing and alarm, and are encapsulated using explosiveproof isolation plate.
Avoidance subsystem 2-8 is mounted on unmanned plane during flying platform 2-1 frame and lower position, and avoidance subsystem 2-8 includes
Vision guided navigation sensor 2-8-1 and ultrasonic positioning sensor 2-8-2；It is directly connected to avoidance Navigation of Pilotless Aircraft and flies control integration
System and 2-3 pass through wireless telecommunication system 2-6 connection user monitoring station 1, and user monitoring station 1 passes through 2-6 pairs of wireless telecommunication system
Unmanned plane during flying is searched and rescued and 2 posture position of toxic and harmful gas monitoring platform is monitored and sends control instruction, avoidance nobody
Machine flight, which is searched and rescued, passes environment information parameter in the mine of acquisition back PC machine by wireless telecommunications with toxic and harmful gas monitoring platform 2
1-1 is handled in real time for PC machine 1-1 and is analyzed and make visualization processing.In addition, can also pass through wireless network or mobile communication network
Mode and remote scheduling command centre and handheld terminal 1-2 are communicated.Thermal imaging camera 2-9-1 is mounted on unmanned plane during flying platform 2-
1 central lower, avoidance unmanned plane during flying is searched and rescued and monitoring platform further includes floor stand 2-11.
Embodiment two:
Mine disaster search and rescue and toxic and harmful gas based on avoidance unmanned plane monitor system job process:
After mine disaster generation, rescue worker carries user monitoring side 1 and avoidance unmanned plane and toxic and harmful gas monitoring flies
Row platform 2 is to the nearest safety zone of mine disaster.Start avoidance unmanned plane launching apparatus, guarantees that unmanned plane normally takes off；Confirming
User monitoring station PC machine 1-1 is received under the good situations of flying barrel border passes through taking off of sending of radio modem 1-3 and purpose
After ground instruction, avoidance unmanned plane during flying is searched and rescued and monitoring platform 2 opens navigation and flies control integral system 2-3 and avoidance subsystem
2-8 flies to mine hole destination, and 4 motor blade assembly 2-2 receive navigation and fly the control letter that control integral system 2-3 is transmitted
Number, driving avoidance unmanned plane during flying is searched and rescued and monitoring platform 2 flies to predetermined monitoring region, by visual sensor 2-8-1 and surpasses
Environmental information and disturbance of perception object around the avoidance subsystem 2-8 monitoring unmanned plane of sonic location system 2-8-2 composition, pass through
Navigation and winged control integral system 2-3 control platform awing avoid barrier；
Avoidance unmanned plane during flying is searched and rescued and toxic and harmful gas monitoring flying platform 2 flies to detection zone in mine, and unlatching has
Malicious monitoring harmful gases system 2-4 and thermal imaging camera 2-9 search and rescue and toxic and harmful gas monitors；Avoidance unmanned plane during flying
Search and rescue and toxic and harmful gas monitoring flying platform 2 acquisition region of search around thermal imaging information, toxic and harmful gas parameter and
Avoidance unmanned plane during flying is searched and rescued and monitoring platform moves 2 state parameters, activation system Data acquisition and storage module, to having in mine
Malicious pernicious gas parameter, image information and 2 ontology kinematic parameter of unmanned plane during flying monitoring platform carry out data acquisition and prestore
Storage, and user monitoring station 1 is passed back by wireless telecommunication system 2-6；
User monitoring station PC machine 1-1 carries out Data Management Analysis and goes forward side by side row information visualization processing, obtains avoidance unmanned plane
Flight is searched and rescued and 2 three-dimensional position of monitoring platform and posture information, thermal imaging information and toxic and harmful gas parameter in mine, and will letter
Breath, which synchronizes, is sent to handheld terminal 1-2；PC machine 1-1 judges whether there is sign of life, passes through if no signs of life wireless
Modem 1-3 sends next destination instruction control avoidance unmanned plane during flying search and rescue and toxic and harmful gas monitoring flight is flat
Platform 2 is moved to next region of search；If there is sign of life, then issue search and rescue signal, and according to collected environmental information into
Row is sued and laboured；Avoidance unmanned plane during flying search and rescue and toxic and harmful gas monitoring flying platform 2 complete all regions of search safely, have
After effect is searched and rescued and monitored, closes toxic and harmful gas and monitor system 2-4 and thermal imaging camera 2-9-1, make a return voyage；Airplane parking area to be flown to
Overhead closes navigation and flies control integral system 2-3 and avoidance subsystem 2-8, closes unmanned plane device after safe falling.
Embodiment three:
Step a, rescue worker carries user monitoring side (1) and avoidance unmanned plane is searched and rescued and flown with toxic and harmful gas monitoring
Safety zone nearby occurs for platform (2) to mine disaster, and starts unmanned plane during flying platform (2-1)；
Step b, instruction of taking off is sent, navigator fix is opened and flies control integral system (2-3) and avoidance subsystem (2-
8), manipulator combines video information and the avoidance subsystem (2-8) of high-definition camera and searchlight (2-9-2) acquisition to control RC
Controller (1-3) guarantees unmanned plane safe flight in mine；
Step c, toxic and harmful gas monitoring system (2-4) and thermal imaging camera (2-9) are opened, unmanned plane is advanced and reconnoitered simultaneously
Fly to mine disaster region；
Step d, thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane during flying around mine disaster region are acquired in real time
The information such as search and rescue and monitoring platform (2) motion state parameters, and pass user monitoring station (1) back；
Step e, Data Management Analysis obtains thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane in mine and flies
Row is searched and rescued and monitoring platform (2) three-dimensional position and posture information；
Step f, after searching for a distance, if user monitoring station shows image information when dying down, hovering/landing immediately nobody
Machine, rescue worker carry user monitoring station and advance to unmanned plane hovering/landing safety zone nearby, control unmanned plane forward again
It advances and reconnoiters；
Step g, it first determines whether toxic and harmful gas monitoring system (2-4) alarms, quickly reduces air if alarm
Middle toxic and harmful gas cost and concentration, then judge whether there is sign of life, and user monitoring station (1) is sent out if having sign of life
Search and rescue signal out, sues and labours in combination with toxic and harmful gas monitoring information, continues step d, e and f if without sign of life；
Step i, repeat the above steps d, e, f and g, until completing entire region of search.
Specific workflow figure of the invention, process are as follows:
Step 1, it debugs and confirms that system wiring is correct and operates normally, safety zone starts nobody near mine disaster generation
Machine flight instruments；
Step 2, instruction of taking off is sent, navigator fix is opened and flies control integral system 2-3 and avoidance subsystem 2-8, and
Judge avoidance unmanned plane search and rescue with toxic and harmful gas monitoring flying platform 2 whether safe flight, if not then manipulator tie
Video information and the avoidance subsystem 2-8 of high-definition camera and searchlight 2-9-2 acquisition are closed to control RC controller 1-3, makes to keep away
Hinder unmanned plane to search and rescue and the toxic and harmful gas monitoring safe flight in mine of flying platform 2；If so, entering step 3；
Step 3, it opens toxic and harmful gas and monitors system 2-4 and thermal imaging camera 2-9, unmanned plane is advanced and reconnoitered and flown to
Mine disaster region, enters step 4；
Step 4, activation system Data acquisition and storage module, avoidance unmanned plane is searched and rescued to fly with toxic and harmful gas monitoring
Platform 2 carries out data acquisition and prestores to graphic images information, toxic and harmful gas parameter and ontology kinematic parameter in mine
Storage, and measurement data back is passed in user monitoring end 1 and handheld terminal 1-2 by wireless telecommunication system 2-6, enter step 5；
Step 5, poison monitoring harmful gases system 2-4 first judges whether toxic and harmful gas concentration is exceeded, if exceeded
Toxic and harmful gas ingredient and concentration in air are quickly reduced, if without entering step 6 if exceeded；
Step 6, user monitoring station 1 receives avoidance unmanned plane and toxic and harmful gas monitoring by wireless telecommunication system 2-6
Graphic images information judges whether there is sign of life in the mine that flying platform 2 is passed back, the user monitoring station 1 if having sign of life
Search and rescue signal is issued, carries out Quick rescue in combination with toxic and harmful gas monitoring information；Continue step if no sign of life
3,4 and 5；
Step 7, after searching for a distance, if user monitoring station shows image information when dying down, hovering/landing immediately nobody
Machine, rescue worker carry user monitoring station and advance to unmanned plane hovering/landing safety zone nearby, control unmanned plane forward again
It advances and reconnoiters；The search for judging whether completion all areas repeats the above steps 3,4,5 and 6 until completing whole if not
A region of search, enters step 8
Step 8, avoidance unmanned plane, which searches and rescues to close toxic and harmful gas with toxic and harmful gas monitoring flying platform 2 and monitor, is
Unite 2-4 and thermal imaging camera 2-9-1, makes a return voyage；Airplane parking area overhead to be flown to closes navigation and flies control integral system 2-3 and keep away
Subsystem 2-8 closes unmanned plane device after safe falling.
Claims (2)
1. a kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitor system, it is characterised in that: including user
Monitoring station (1) and avoidance unmanned plane are searched and rescued and toxic and harmful gas monitoring flying platform (2)；
Wherein, the user monitoring station includes PC machine (1-1), handheld terminal (1-2), radio modem (1-4) and RC control
Device (1-3) processed；Handheld terminal (1-2) and RC controller (1-3) are wirelessly connected PC machine (1-1), and PC machine (1-1) passes through wireless-modulated
Demodulator (1-4) is wirelessly connected avoidance unmanned plane during flying and searches and rescues and toxic and harmful gas monitoring platform (2)；
The avoidance unmanned plane during flying is searched and rescued and toxic and harmful gas monitoring flying platform (2) includes unmanned plane during flying platform (2-
1), motor blade assembly (2-2), navigator fix and fly control integral system (2-3), toxic and harmful gas monitoring system (2-4),
Remote control reception decodes system (2-5), wireless telecommunication system (2-6), cyclic spring retaining frame (2-7), avoidance subsystem (2-8), view
Feel navigation sensor (2-8-1), ultrasonic positioning system (2-8-2), camera combination (2-9), thermal imaging camera (2-9-1), height
Clear video camera and searchlight (2-9-2), double cell (2-10) and floor stand (2-11)；
Wherein, the quantity of motor blade assembly (2-2) is four, and four motor blade assemblies are fitted in unmanned machine frame quadripolar corners
On, cyclic spring retaining frame (2-7) surrounds four motor blade assemblies (2-2) of unmanned plane, and battery (2-10) is mounted on unmanned plane
The center flying platform (2-1) medium position, navigation and winged control integral system (2-3) are mounted on unmanned plane during flying platform (2-1)
Overcentre medium position, remote control reception decoding system (2-5) and wireless telecommunication system (2-6) are mounted on unmanned plane during flying platform
(2-1) overcentre upper position, toxic and harmful gas monitor system (2-4) and are fixed on remote control by four elongated hex screws
It receives above decoding system (2-5) and wireless telecommunication system (2-6), toxic and harmful gas monitors system (2-4) can be to hydrogen sulfide
The gases such as H2S, carbon monoxide CO and methane CH4 carry out real-time monitoring processing and alarm, and are encapsulated using explosiveproof isolation plate；
Avoidance subsystem (2-8) is mounted on unmanned plane during flying platform (2-1) frame and lower position, avoidance subsystem (2-8) packet
Include vision guided navigation sensor (2-8-1) and ultrasonic positioning sensor (2-8-2)；It is directly connected to avoidance Navigation of Pilotless Aircraft and flies control
Integral system simultaneously (2-3) passes through wireless telecommunication system (2-6) connection user monitoring station (1), and user monitoring station passes through channel radio
News system (2-6) searches and rescues unmanned plane during flying and toxic and harmful gas monitoring platform (2) posture position is monitored and sends control
System instruction, avoidance unmanned plane during flying is searched and rescued and toxic and harmful gas monitoring platform (2) lead to environment information parameter in the mine of acquisition
It crosses wireless telecommunications and passes PC machine (1-1) back, processing is analyzed and makees visualization processing in real time for PC machine (1-1), further, it is also possible to pass through
The mode of wireless network or mobile communication network and remote scheduling command centre and handheld terminal (1-2) communicate；Thermal imaging camera
(2-9-1) is mounted on unmanned plane during flying platform (2-1) central lower.
2. the working method of a kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system, feature exist
In:
The following steps are included:
Step (a): rescue worker carries user monitoring side and avoidance unmanned plane searches and rescues and monitors flying platform with toxic and harmful gas
Safety zone nearby occurs to mine disaster, and starts unmanned plane during flying platform；
Step (b): sending instruction of taking off, and opens navigator fix and flies control integral system and avoidance subsystem, manipulator combines
The video information and avoidance subsystem of high-definition camera and searchlight acquisition controls RC controller, guarantees that unmanned plane is pacified in mine
Full flight；
Step (c): opening toxic and harmful gas monitoring system and thermal imaging camera, unmanned plane advance and reconnoiter and fly to mine disaster area
Domain；
Step (d): thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane during flying are searched around acquisition mine disaster region in real time
Rescue with the information such as monitoring platform motion state parameters, and pass user monitoring station back；
Step (e): Data Management Analysis obtains thermal imaging information, toxic and harmful gas parameter and avoidance unmanned plane during flying in mine
It searches and rescues and monitoring platform three-dimensional position and posture information；
Step (f): after search a distance, if user monitoring station shows image information when dying down, hovering/landing immediately nobody
Machine, rescue worker carry user monitoring station and advance to unmanned plane hovering/landing safety zone nearby, control unmanned plane forward again
It advances and reconnoiters；
Step (g): first determining whether toxic and harmful gas monitoring system alarms, toxic in quick reduction air if alarm to have
Evil gas cost and concentration, then judge whether there is sign of life, and user monitoring station issues search and rescue signal if having sign of life,
It sues and labours in combination with toxic and harmful gas monitoring information, continues step (d), (e) and (f) if without sign of life；
Step (i): repeat the above steps d, e, f and g, until completing entire region of search.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810855338.3A CN109229378B (en) | 2018-07-31 | 2018-07-31 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810855338.3A CN109229378B (en) | 2018-07-31 | 2018-07-31 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109229378A true CN109229378A (en) | 2019-01-18 |
| CN109229378B CN109229378B (en) | 2022-04-05 |
Family
ID=65073273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810855338.3A Active CN109229378B (en) | 2018-07-31 | 2018-07-31 | Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109229378B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104167A (en) * | 2019-04-25 | 2019-08-09 | 江苏大学 | A kind of automation search and rescue UAV system and control method using infrared thermal imaging sensor |
| CN110182365A (en) * | 2019-06-13 | 2019-08-30 | 中国矿业大学 | A kind of coal mine underground explosion proof type quadrotor drone |
| CN111498111A (en) * | 2020-05-08 | 2020-08-07 | 青岛滴都生命保障救援设备科技有限公司 | Take life to detect search for and rescue unmanned aerial vehicle of function |
| CN111924120A (en) * | 2020-08-19 | 2020-11-13 | 汇众翔环保科技股份有限公司 | Airborne monitoring control device and control method for unmanned aerial vehicle |
| CN113008488A (en) * | 2021-02-24 | 2021-06-22 | 陈盈 | Combined industrial hazardous gas leakage detector suitable for different occasions |
| CN113008832A (en) * | 2021-03-04 | 2021-06-22 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113359797A (en) * | 2021-06-23 | 2021-09-07 | 重庆飞扬测控技术研究院有限公司 | Unmanned aerial vehicle system for monitoring gas quality |
| CN113401343A (en) * | 2021-06-18 | 2021-09-17 | 中国石油大学(华东) | Vital sign sniffs miniature aircraft based on ionic wind drive |
| CN116184510A (en) * | 2023-04-26 | 2023-05-30 | 军事科学院系统工程研究院网络信息研究所 | Search and rescue method based on quantum magnetometer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692446A (en) * | 2013-12-31 | 2014-04-02 | 中国矿业大学 | Moving and flying multi-robot system used for gallery detection and search-and-rescue |
| CN203819497U (en) * | 2014-03-19 | 2014-09-10 | 华南农业大学 | Fire-fighting unmanned aerial vehicle system based on 3G network |
| CN104597913A (en) * | 2015-01-06 | 2015-05-06 | 哈尔滨理工大学 | Eight-rotor flying robot used in coal mine and tunnel environment |
| CN205691166U (en) * | 2016-06-21 | 2016-11-16 | 南京信息工程大学 | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles |
| CN106769241A (en) * | 2016-12-16 | 2017-05-31 | 常州市环境监测中心 | It is a kind of for atmospheric sampling detection and toxic and harmful early warning and monitoring unmanned plane |
| CN106741875A (en) * | 2016-12-30 | 2017-05-31 | 天津市天安博瑞科技有限公司 | A kind of flight search and rescue system and method |
| CN107089319A (en) * | 2017-04-20 | 2017-08-25 | 中化舟山危化品应急救援基地有限公司 | Storage tank fire detection system |
| CN107894779A (en) * | 2017-11-23 | 2018-04-10 | 哈尔滨工程大学 | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane |
-
2018
- 2018-07-31 CN CN201810855338.3A patent/CN109229378B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692446A (en) * | 2013-12-31 | 2014-04-02 | 中国矿业大学 | Moving and flying multi-robot system used for gallery detection and search-and-rescue |
| CN203819497U (en) * | 2014-03-19 | 2014-09-10 | 华南农业大学 | Fire-fighting unmanned aerial vehicle system based on 3G network |
| CN104597913A (en) * | 2015-01-06 | 2015-05-06 | 哈尔滨理工大学 | Eight-rotor flying robot used in coal mine and tunnel environment |
| CN205691166U (en) * | 2016-06-21 | 2016-11-16 | 南京信息工程大学 | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles |
| CN106769241A (en) * | 2016-12-16 | 2017-05-31 | 常州市环境监测中心 | It is a kind of for atmospheric sampling detection and toxic and harmful early warning and monitoring unmanned plane |
| CN106741875A (en) * | 2016-12-30 | 2017-05-31 | 天津市天安博瑞科技有限公司 | A kind of flight search and rescue system and method |
| CN107089319A (en) * | 2017-04-20 | 2017-08-25 | 中化舟山危化品应急救援基地有限公司 | Storage tank fire detection system |
| CN107894779A (en) * | 2017-11-23 | 2018-04-10 | 哈尔滨工程大学 | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104167A (en) * | 2019-04-25 | 2019-08-09 | 江苏大学 | A kind of automation search and rescue UAV system and control method using infrared thermal imaging sensor |
| CN110182365A (en) * | 2019-06-13 | 2019-08-30 | 中国矿业大学 | A kind of coal mine underground explosion proof type quadrotor drone |
| CN110182365B (en) * | 2019-06-13 | 2022-05-10 | 煤炭科学研究总院 | Four rotor unmanned aerial vehicle of explosion-proof type in pit in colliery |
| CN111498111A (en) * | 2020-05-08 | 2020-08-07 | 青岛滴都生命保障救援设备科技有限公司 | Take life to detect search for and rescue unmanned aerial vehicle of function |
| CN111924120A (en) * | 2020-08-19 | 2020-11-13 | 汇众翔环保科技股份有限公司 | Airborne monitoring control device and control method for unmanned aerial vehicle |
| CN113008488A (en) * | 2021-02-24 | 2021-06-22 | 陈盈 | Combined industrial hazardous gas leakage detector suitable for different occasions |
| CN113008488B (en) * | 2021-02-24 | 2023-01-13 | 陈盈 | Combined industrial hazardous gas leakage detector suitable for different occasions |
| CN113008832A (en) * | 2021-03-04 | 2021-06-22 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113008832B (en) * | 2021-03-04 | 2022-09-02 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113401343A (en) * | 2021-06-18 | 2021-09-17 | 中国石油大学(华东) | Vital sign sniffs miniature aircraft based on ionic wind drive |
| CN113359797A (en) * | 2021-06-23 | 2021-09-07 | 重庆飞扬测控技术研究院有限公司 | Unmanned aerial vehicle system for monitoring gas quality |
| CN116184510A (en) * | 2023-04-26 | 2023-05-30 | 军事科学院系统工程研究院网络信息研究所 | Search and rescue method based on quantum magnetometer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109229378B (en) | 2022-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109229378A (en) | A kind of mine disaster search and rescue based on avoidance unmanned plane and toxic and harmful gas monitoring system and its working method | |
| US11814173B2 (en) | Systems and methods for unmanned aerial vehicles | |
| US20210084551A1 (en) | Information processing system | |
| Flammini et al. | Railway infrastructure monitoring by drones | |
| CN110109480A (en) | A kind of unmanned plane inspection search and rescue system and rescue method based on Multi-sensor Fusion | |
| CN107352022B (en) | Collision-resistant quadrotor spherical unmanned aerial vehicle system | |
| CN103455036B (en) | A kind of scene aerial patrol method and aircraft | |
| Luque-Vega et al. | Power line inspection via an unmanned aerial system based on the quadrotor helicopter | |
| CN103612756B (en) | The multi-rotor aerocraft of electric power line inspection and based on its system | |
| US8880241B2 (en) | Vertical takeoff and landing (VTOL) small unmanned aerial system for monitoring oil and gas pipelines | |
| CN107894779A (en) | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane | |
| CN206388203U (en) | A kind of environmental monitoring system | |
| EP4012529A1 (en) | System and method for data recording and analysis | |
| CN205691166U (en) | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles | |
| CN109760837A (en) | A kind of cable duct and the patrol unmanned machine system in tunnel | |
| WO2017084198A1 (en) | Unmanned aerial vehicle for detecting environmental toxic gas | |
| CN106645577A (en) | Toxic and harmful gas detection system based on multi-rotor unmanned aerial vehicle platform | |
| CN105015767A (en) | Multi-rotor type unmanned aircraft system with fire detecting function | |
| CN107521678A (en) | The UAS and its method for positioning and capturing for nuclear radiation radioactive source | |
| CN205525015U (en) | Multi -functional firefighting rescue unmanned aerial vehicle | |
| CN207268846U (en) | Electric inspection process robot | |
| CN105282517A (en) | Multi-rotor-wing-unmanned-aerial-vehicle-based fire disaster situation investigation method and system of high building | |
| CN107797561A (en) | A kind of explosion prevention robot cruising inspection system and method | |
| CN110647168A (en) | Cable tunnel environment detecting system based on multi-rotor unmanned aerial vehicle | |
| CN107340547A (en) | A kind of UAV system spectrum detection system and its control method for danger detection operation |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |