CN109787679A - Police infrared arrest system and method based on multi-rotor unmanned aerial vehicle - Google Patents
Police infrared arrest system and method based on multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a kind of police infrared arrest system and method based on multi-rotor unmanned aerial vehicle, belong to infrared arrest technical field, police infrared arrest system based on multi-rotor unmanned aerial vehicle includes multi-rotor unmanned aerial vehicle ontology, visible light camera, infrared thermal imager, main control module, data memory module, data match module, communication module, data memory module includes Common Accidents scene and the image information of target to be tracked down and arrested and the database information of thermal-induced imagery information for storing, data match module is for it will be seen that the arrest region live image of light video camera shooting and the arrest region thermal-induced imagery of infrared thermal imager detection are matched with database information respectively, identify whether as the target image containing arrest.Police infrared arrest system and method disclosed by the invention based on multi-rotor unmanned aerial vehicle, tracks down and arrests high-efficient, is suitable for field and night work, can solve public security track down and arrest it is traditional manually search, surround low efficiency problem, arrest precision height.
Description
Technical field
The present invention relates to infrared arrest technical field more particularly to a kind of police infrared arrests based on multi-rotor unmanned aerial vehicle
System and method.
Background technique
With the continuous development of urban modernization, wagon flow, logistics, the stream of people are sharply increased, and urban public security situation is increasingly complicated,
Traditional artificial scene be familiar with geographical environment or by ordinary two dimensional map command scheduling far from meet public security emergency etc. spies
The application demand of different urgent need, visualization of presence is more more and more urgent.And the information collection of Urban Emergency there are the time,
Many uncertainties in space, scale etc. realize complicated, Shortcomings in terms of the validity of existing information acquisition means.
Unmanned plane has the characteristics that noise is small, concealment is strong, high reliablity and ease for use, is suitble in narrow spaces such as cities
Live rapid deployment, be particularly suitable for the global of social event field condition and control and the taking pictures of the scene of the accident, fire are existing
Field exploration, the investigation of harmful substance region etc..The scene of the accident is detected by unmanned plane, " standard can be checked in, stare at, pass
Obtain fastly ", important evidence is provided for leader's commanding and decision-making.
But existing unmanned plane single can only fly, and return picture by people's naked eyes viewing unmanned plane, can not fly
Middle intelligence capture suspicious object, and when field implements to track down and arrest operation, because building, jungle etc. block, when tracking down and arresting Objects hide, only
It takes photo by plane by unmanned plane image and is difficult to find target, and be also difficult to carry out unmanned plane at night and track down and arrest, influence the efficiency of military operation,
And for prevent because unmanned plane distance track down and arrest target it is excessively close due to make to track down and arrest target detection and abscond, unmanned plane often need to be from tracking down and arresting target one
Set a distance is scanned, and can reduce the identification to captured object in this way, causes to track down and arrest precision reduction.
In addition, existing hunt, when implementing, arrest method is not reasonable, inefficiency is tracked down and arrested, because of outer ring out of office
The earth signals such as border such as mountain area are weaker, and the network coverage is insufficient, and the acquired image of unmanned plane can not return in real time, lead to information delay,
Commanding and decision-making is influenced, and unmanned plane cannot be shared with the location information for arresting personnel, information is unable to intercommunication, tracked down and arrested, surrounded efficiency
Lowly, precision is poor.
Summary of the invention
For overcome the deficiencies in the prior art, a kind of based on more rotors technical problem to be solved by the present invention lies in proposing
The police infrared arrest system and method for unmanned plane, the police infrared arrest system based on multi-rotor unmanned aerial vehicle are taken the photograph by visible light
Camera and thermal infrared imager work at the same time, and carry out intelligent Matching to shooting image and thermal-induced imagery and database information, double
Target is tracked down and arrested in identification again, tracks down and arrests precision height, is effectively promoted and is tracked down and arrested efficiency, and be suitable for field and night work, applicability is wide；
Police infrared arrest method based on multi-rotor unmanned aerial vehicle can solve public security and track down and arrest traditional manually search, surround poor efficiency and ask
Topic, arrests precision height.
The technical scheme adopted by the invention is that:
Police infrared arrest system provided by the invention based on multi-rotor unmanned aerial vehicle, including Telemetry System of UAV and ground
Face command and control system；The Telemetry System of UAV include multi-rotor unmanned aerial vehicle ontology and setting more rotors nobody
Visible light camera, infrared thermal imager, observing and controlling analytical unit on machine ontology；The observing and controlling analytical unit includes master control molding
Block and the data memory module being connected with the main control module, data match module, communication module；The visible light is taken the photograph
Camera and the infrared thermal imager are connected with the main control module respectively；The communication module and the ground control are controlled
System communication connection processed；The data memory module is for storing the image information including Common Accidents scene and target to be tracked down and arrested
And the database information of thermal-induced imagery information；The data match module is used for the arrest for shooting the visible light camera
Region live image and the infrared thermal imager detection arrest region thermal-induced imagery respectively with the database information into
Row matching, and identify whether the arrest region live image and arrest region thermal-induced imagery are the target figure containing arrest
Picture；When the data match module identify the arrests region live image or/and the arrest region thermal-induced imagery for containing
When tracking down and arresting target image, ground control's control system control the multi-rotor unmanned aerial vehicle ontology to track down and arrest target carry out with
Track.
Preferably, ground control's control system include command centre, with the command centre communication connection it is several
A mobile-relay station, the unmanned plane steering station with several mobile-relay station communication connections；The unmanned plane steering station is used
In the manipulation multi-rotor unmanned aerial vehicle ontology；The communication module and several described mobile-relay stations communicate to connect；Several
The mobile-relay station is used to receive the arrest region live image that the communication module is transmitted and the arrest region is red
Outer thermal image, and it is transmitted to the command centre；The command centre is for receiving the arrest region live image and described
Region thermal-induced imagery is tracked down and arrested, and issues action command signal to the mobile-relay station；The mobile-relay station is also used to connect
The action command signal is received, and is transmitted to the unmanned plane steering station；The unmanned plane steering station is also used to based on the received
The action command signal manipulates the multi-rotor unmanned aerial vehicle ontology.
Preferably, the unmanned plane steering station includes mobile operator, mobile terminal and remote controler, the mobile manipulation
Personnel manipulate the multi-rotor unmanned aerial vehicle ontology, the mobile terminal and the mobile-relay station communication link by the remote controler
It connects, the mobile terminal is also used to receive the arrest region live image and described for receiving the action command signal
Track down and arrest region thermal-induced imagery.
Preferably, ground control's control system further includes several emergency operational staffs, and each emergency executes
Personnel are each equipped with the communication terminal communicated to connect with the command centre, and the communication terminal is for receiving the arrest region
Live image and arrest region thermal-induced imagery, and carry into execution a plan letter for receiving the commander that the command centre issues
Number, the emergency operational staff is used to command the signal that carries into execution a plan to go to arrest target region according to described.
Preferably, the alignment sensor being connected with the communication terminal, institute are provided on each communication terminal
Alignment sensor is stated for positioning emergency operational staff position signal, and the position signal is transmitted to the finger
Wave center.
Preferably, the command centre is provided with command scheduling display platform, and the command scheduling display platform is for showing
Show the arrest region live image and arrest region thermal-induced imagery, and in the arrest region live image of display
And label shows the corresponding position of the position signal on the thermal-induced imagery of the arrest region.
Preferably, the observing and controlling analytical unit further includes the image processing module being connected with the main control module, when
The data match module identifies the arrest region live image or/and the arrest region thermal-induced imagery is the mesh containing arrest
When logo image, described image processing module is to containing the arrest region live image or/and the arrest region for tracking down and arresting target
Thermal-induced imagery carries out site-tag.
Preferably, the observing and controlling analytical unit further includes the image compression module being connected with the main control module, institute
Image compression module is stated for arrest region live image or/and arrest region thermal-induced imagery described in compression processing.
Preferably, the Telemetry System of UAV further includes the radar being arranged on the multi-rotor unmanned aerial vehicle ontology, institute
It states radar to be connected with the main control module, the radar is for acquiring between the multi-rotor unmanned aerial vehicle ontology and object
Distance.
Police infrared arrest method provided by the invention based on multi-rotor unmanned aerial vehicle, comprising the following steps:
S1: mobile operator, which by remote controler remotely controls multi-rotor unmanned aerial vehicle ontology and takes off to region to be tracked down and arrested, to survey
It examines, the area video information to be tracked down and arrested for the visible light camera shooting that the multi-rotor unmanned aerial vehicle ontology carries and the thunder of carrying
Elevation information up to acquisition is transmitted to command centre by mobile-relay station；
S2: the command centre shows according to the area video information to be tracked down and arrested and the elevation information in command scheduling
Holographic space stereo-picture is formed on platform, region is tracked down and arrested in locking, and flight path planning is carried out in the arrest region；
S3: the multi-rotor unmanned aerial vehicle ontology plans that planned path and speed are searched described according to the flight path
It catches low latitude in region to reconnoitre, the visible light camera shoots the arrest region live image for tracking down and arresting region, more rotations
The infrared thermal imager that wing drone body is carried detects the arrest region thermal-induced imagery for tracking down and arresting region, more rotors
Data memory module in drone body stores image information including Common Accidents scene and target to be tracked down and arrested and infrared
The database information of thermal image information, data match module on the multi-rotor unmanned aerial vehicle ontology is by the arrest region scene
Image is matched with the database information respectively with arrest region thermal-induced imagery, is identifying the target containing arrest
It is marked when the arrest region live image is with the arrest region thermal-induced imagery, and is passed by the mobile-relay station
Transport to the command centre；
S4: the command centre carries out decision, and issues row to the mobile operator by the mobile-relay station
Dynamic commander's scheme, the multi-rotor unmanned aerial vehicle ontology are tracked to target is tracked down and arrested, and the command centre is to emergency operational staff
It issues commander to carry into execution a plan, the emergency operational staff goes to arrest target to dispose at the scene；
S5: the multi-rotor unmanned aerial vehicle ontology real-time update containing it is described track down and arrest target arrest region live image and
Arrest region thermal-induced imagery, and it is transmitted to the command centre, the institute is shown on the command scheduling display platform
State emergency operational staff position and the arrest target position, the command centre make a policy, and to emergency operational staff
Instruction is arrested in sending.
Compared with prior art, the beneficial effects of the present invention are:
1, the police infrared arrest system provided by the invention based on multi-rotor unmanned aerial vehicle, by the way that multi-rotor unmanned aerial vehicle is arranged
Ontology carries visible light camera and infrared thermal imager is implemented to track down and arrest, it is seen that region scene figure in real time is tracked down and arrested in the shooting of light video camera
Region thermal-induced imagery is tracked down and arrested in picture, infrared thermal imager real-time detection, is realized colored, infrared to ground, black-and-white image data
Acquisition, and carried out by data match module according to the database information containing a large amount of match informations that data memory module is stored
Real-time intelligent match cognization, can comprehensively, accurately identify containing track down and arrest target image, even if range search target pass through farther out it is visible
The combination of light video camera and infrared thermal imager, also can accurate recognition search for target, to realize intelligence, quickly find arrest mesh accurately
Mark, and infrared thermal imager is adapted to the environment that field has barrier obstruction by object infrared detective spatial surface
And night hunt, wide adaptability are connect with multi-rotor unmanned aerial vehicle real time communication by ground control's control system, implement to grab
Action is caught, is effectively improved and is tracked down and arrested precision and arrest efficiency, traditional artificial scene is solved and is familiar with geographical environment or by common
Two-dimensional map command scheduling is insufficient, tracks down and arrests the problem of precision difference.
2, system is controlled by the way that the ground control including command centre, several mobile-relay stations, unmanned plane steering station is arranged
System, in the coverage area of each mobile-relay station, multi-rotor unmanned aerial vehicle ontology and unmanned plane steering station pass through mobile-relay station
It realizes the wireless communication and multimedia transmission with command centre, forms channel of communication, effectively overcome the complexity for tracking down and arresting landform
Property and field environment network coverage problem, guarantee multi-rotor unmanned aerial vehicle ontology arrest region scene real time data collected can
It is transmitted with instant, high quality with each unmanned plane steering station and command centre, is analyzed in real time convenient for command centre and track down and arrest area
The information such as domain live image, to plan the scheme of arresting accurately and in time and to make a policy.
3, by the way that several emergency operational staffs communicated to connect with command centre are arranged, convenient for command centre according to more rotations
The arrest region scene real time data that wing drone body is returned carries out rationally deployment People's Armed Police special policeman, rescue personnel, fire-fighting people
The emergency operational staff such as member guarantees the efficiency and stable progress arrested, surrounded, and by being configured in each emergency operational staff
Communication terminal on setting alignment sensor position each emergency operational staff position in real time, by setting command scheduling show
Show that platform is intuitively shown and track down and arrest region holographic space stereo-picture, and real-time display tracks down and arrests target position and emergency executor
It is realized efficient convenient for planning arrest direction and the emergency operational staff's progress path of multi-rotor unmanned aerial vehicle ontology member position
It precisely arrests, rescue.
4, the police infrared arrest method provided by the invention based on multi-rotor unmanned aerial vehicle, by with multi-rotor unmanned aerial vehicle sheet
Region real time data information is tracked down and arrested in body acquisition, and is carried out intelligent Matching identification and tracked down and arrested target, multi-rotor unmanned aerial vehicle ontology, Zhi Huizhong
The heart, mobile-relay station move and establish real-time high-efficiency communications network between operator, emergency operational staff, information mutual communication,
Command centre's real-time reception tracks down and arrests region real time data information, carries out Global motion planning, deployment, decision, controls track down and arrest region in real time
Field condition, and plan the arrest of commander's multi-rotor unmanned aerial vehicle ontology, pursuit path, and emergency operational staff is commanded to implement to arrest
Action, thus formed it is a set of efficiently, accurately track down and arrest method, effectively improve the execution efficiency of hunt and arrest precision.
Detailed description of the invention
Fig. 1 is the knot of the police infrared arrest system based on multi-rotor unmanned aerial vehicle provided in the specific embodiment of the invention
Structure schematic diagram；
Fig. 2 is the structural schematic diagram of the multi-rotor unmanned aerial vehicle ontology provided in the specific embodiment of the invention.
In figure:
1, multi-rotor unmanned aerial vehicle ontology；2, visible light camera；3, infrared thermal imager；4, observing and controlling analytical unit；40, main
Control module；41, data memory module；42, data match module；43, communication module；5, command centre；6, mobile-relay station；
7, unmanned plane steering station；70, mobile operator；71, mobile terminal；72, remote controler；8, meet an urgent need operational staff；80, communication is whole
End；81, alignment sensor；51, command scheduling display platform；44, image processing module；45, image compression module；9, radar.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing and technical solution needed in technical description to be briefly described, it should be apparent that, be described below in it is attached
Figure is only some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
The following further describes the present invention with reference to the drawings.
As depicted in figs. 1 and 2, the police infrared arrest system provided in this embodiment based on multi-rotor unmanned aerial vehicle, including
Telemetry System of UAV and ground control's control system, Telemetry System of UAV include multi-rotor unmanned aerial vehicle ontology 1 and setting
Visible light camera 2, infrared thermal imager 3, observing and controlling analytical unit 4 on multi-rotor unmanned aerial vehicle ontology 1, multi-rotor unmanned aerial vehicle
The body and holder of ontology 1 are manufactured using carbon fibre material, possess lighter weight and higher intensity, it is seen that light video camera 2,
Infrared thermal imager 3, observing and controlling analytical unit 4 are arranged on the body or holder of multi-rotor unmanned aerial vehicle ontology 1, observing and controlling analytical unit
4 include main control module 40 and the data memory module 41 being connected with main control module 40, data match module 42, communication
Module 43, it is seen that light video camera 2 and infrared thermal imager 3 are connected with main control module 40 respectively, it is seen that light video camera 2 is height
Clear visible light camera, captured in real-time tracks down and arrests the spatial surface in region and its live image of biology, infrared thermal imager 3 are real-time
The spatial surface in region and its thermal-induced imagery of biology are tracked down and arrested in detection, and communication module 43 is wireless communication module, communication module
43 communicate to connect with ground control's control system, and main control module 40 is the interpretable central processing instructed and carry out data processing
Device, main control module 40 can will be seen that the arrest region live image that light video camera 2 is shot and infrared thermal imager 3 were detected
It tracks down and arrests region thermal-induced imagery and is transmitted to communication module 43, and ground control is transmitted to by 43 telecommunication of communication module and controls system
System, checks for ground control's control system real-time reception and makes arrest scheme, and data memory module 41 includes normal for storing
The image information of the scene of the accident and target to be tracked down and arrested and the database information of thermal-induced imagery information are seen, in multi-rotor unmanned aerial vehicle sheet
Body 1 take off before i.e. in advance by the color image of a large amount of Common Accidents live (including plant, animal etc.), black white image, infrared
Color image, black white image, the thermal-induced imagery of thermal image and the arrest target with characteristic matching value collected
Equal database informations store the database that can will be stored in data memory module 41 to data memory module 41, main control module 40
Information reads and is transmitted to data match module 42, while main control module 40 is also it will be seen that the arrest area that light video camera 2 is shot
The arrest region thermal-induced imagery that domain live image and infrared thermal imager 3 detect is transmitted to data match module 42, data
With module 42 for it will be seen that the arrest area for tracking down and arresting region live image and infrared thermal imager 3 and detecting that light video camera 2 is shot
Domain thermal-induced imagery carries out characteristic matching with database information respectively, and identifies that arrest region live image and arrest region are infrared
Whether thermal image is the target image containing arrest, and the matching algorithm of data match module 42, which can pass through, extracts the bat of visible light camera 2
The matching characteristic to be analyzed tracked down and arrested in the thermal-induced imagery of region tracking down and arresting region live image and infrared thermal imager 3 and detecting taken the photograph
Part, and application neural network carries out characteristic matching with the characteristic to be matched in extracted database information and is contained with identifying
The suspicious image for tracking down and arresting target tracks down and arrests region live image or/and arrest region infrared chart when data match module 42 identifies
When as containing tracking down and arresting target image, feedback signal to main control module 40, main control module 40 controls multi-rotor unmanned aerial vehicle ontology 1
Hovering, and command and control system issues arrest target detection signal, ground control's control system to the ground by communication module 43
Control 1 pair of arrest target of multi-rotor unmanned aerial vehicle ontology tracks.
Wherein, it is seen that light video camera 2 can photographic subjects object high clear colorful image and black white image, infrared thermal imager 3
The infrared energy of measured target is received using infrared detector and optical imaging objective, and the reflection of energy profile shape is arrived
On the light-sensitive element of infrared detector, to obtain thermal-induced imagery, this kind of thermal image is opposite with the heat distribution field of body surface
It answers.Infrared thermal imager 3 is that the invisible infrared energy for issuing object is changed into visible thermal image, thermal image
Different colours above represent the different temperatures of testee.Any object is all discharging infrared ray, and the object of different temperatures
The infrared ray heat of release is different, the infrared imaging that infrared thermal imager 3 itself is radiated according to different temperatures object,
Night can also be detected.
Detected by visible light camera 2 and infrared thermal imager 3, realize to track down and arrest region field ground it is colored,
Infrared, black-and-white image data acquisitions, and contained largely by data match module 42 according to what data memory module 41 was stored
The database information of match information and arrest regional image information collected carry out real-time intelligent match cognization, can comprehensive, essence
It is identified quasi-ly containing target image is tracked down and arrested, even if range search target passes through visible light camera 2 and infrared thermal imager 3 farther out
In conjunction with, realize dual imaging matching, also can accurate recognition track down and arrest target, to realize intelligence, quickly find arrest target accurately, and is red
Outer thermal imaging system 3 is adapted to environment and night of the field with barrier obstruction by object infrared detective spatial surface
Hunt, wide adaptability are connect with 1 real time communication of multi-rotor unmanned aerial vehicle ontology by ground control's control system, implement to grab
Action is caught, is effectively improved and is tracked down and arrested precision and arrest efficiency, and solves traditional artificial scene and is familiar with geographical environment or by general
Logical two-dimensional map command scheduling is insufficient, tracks down and arrests the problem of precision difference.
Further, main control module 40 is with connecting the included GPS satellite navigation system of multi-rotor unmanned aerial vehicle ontology 1, GIS
Information system, RS remote sensing system are managed, guarantees the steady accurate cruising flight of multi-rotor unmanned aerial vehicle ontology 1, multi-rotor unmanned aerial vehicle sheet
Body 1 can be flown by remote controler manual control, can also by multi-rotor unmanned aerial vehicle ontology 1 carry flight control units into
Row flight at controls has flight manually, increases steady flight, airline operation, gives directions flight, around a variety of flight moulds such as flights
Formula, more steerable, high flexible, stability is high, guarantees that multi-rotor unmanned aerial vehicle ontology 1 is adaptable in urban environment, field ring
Aerial monitoring is completed under the difference complex environment such as border, daily patrol, tracks down and arrests the tasks such as tracking.Multi-rotor unmanned aerial vehicle ontology 1 moves
Force system uses brushless direct driving motor, and gear drive is not necessarily to when work, and mechanical safety greatly improves, the operating of motor high efficiency
The noise generated simultaneously is small, and in 3 meters of distance hovering, noise prevents multi-rotor unmanned aerial vehicle ontology 1 low less than 63~71dBA
It is found due to noise is big, concealment is weak by crime dealer when empty flight and hides in time, and increase search difficulty.
For the accurate arrest convenient for ground control's control system to target is tracked down and arrested, further, observing and controlling analytical unit 4 is also wrapped
The image processing module 44 being connected with main control module 40 is included, image processing module 44 is connected with data match module 42,
When data match module 42 identifies that tracking down and arresting region live image or/and tracking down and arresting region thermal-induced imagery is the target image containing arrest
When, by the image transmitting of the target containing arrest to image processing module 44, image processing module 44 is to containing the arrest area for tracking down and arresting target
Domain live image or/and arrest region thermal-induced imagery carry out site-tag, are sent out in characteristic matching data match module 42
Suspicious arrest target signature part carries out position mark on the existing target image containing arrest, then target figure is tracked down and arrested in containing after label
As being transmitted to ground control's control system by communication module 43, reliable target position etc. of tracking down and arresting is provided for arrest personnel and is tracked down and arrested
Clue.Data match module 42 can be in the arrest region thermal-induced imagery that is detected of real-time matching identification infrared thermal imager 3
Abnormal temperature point and the trapezoidal variation of temperature, and be marked by image processing module 44, then be transmitted to by communication module 43
Ground control's control system.
For convenient for tracking down and arresting region live image and tracking down and arresting region thermal-induced imagery high efficiency of transmission to ground control's control system,
Observing and controlling analytical unit 4 further includes the image compression module 45 being connected with main control module 40, image compression module 45 with communicate
Module 43 is connected, and image compression module 45 tracks down and arrests region live image for compression processing or/and tracks down and arrests region infrared chart
Picture, and compressible processing be marked after containing the image for tracking down and arresting target, transmitted again by communication module 43 after compression processing
To ground control's control system, data transmission efficiency is accelerated, more efficiently quickly.
For convenient for 1 flying height of real-time detection multi-rotor unmanned aerial vehicle ontology, further, Telemetry System of UAV further includes
Radar 9 on multi-rotor unmanned aerial vehicle ontology 1 is set, and radar 9 can be millimetre-wave radar or laser radar, radar 9 and main control
Module 40 is connected, and radar 9 is connected with communication module 43, and radar 9 is for acquiring multi-rotor unmanned aerial vehicle ontology 1 and object
The distance between and generate altitude signal, and main control module 40 is transmitted to by communication module 43, main control module 40 passes through
Flight control units adjust the flight attitude of multi-rotor unmanned aerial vehicle ontology 1, and altitude signal is transmitted to by communication module 43
Ground control's control system.
Demand due to tracking down and arresting the complexity of landform and to the manipulation of multiple multi-rotor unmanned aerial vehicle ontologies 1, can be to mobile logical
Believe that signal generates large effect, especially in the field environment, the network coverage is not in place, easily makes multi-rotor unmanned aerial vehicle in arrest region
Data transmission lag between ontology 1 and ground control's control system influences to track down and arrest commanding and decision-making.For convenient for multi-rotor unmanned aerial vehicle
Between ontology 1 and ground control's control system it is instant, steadily communicate to connect, improve track down and arrest efficiency, further, ground refers to
Waving control system includes in command centre 5, several mobile-relay stations 6 communicated to connect with command centre 5 and several movements
After the unmanned plane steering station 7 that station 6 communicates to connect, unmanned plane steering station 7 is for manipulating multi-rotor unmanned aerial vehicle ontology 1, communication module
43 with several mobile-relay stations 6 communicate to connect, unmanned plane steering station 7 be provided with it is multiple, manipulate respectively multiple more rotors nobody
1 pair of arrest region of machine ontology implements to track down and arrest, and more multi-rotor unmanned aerial vehicle ontologies 1 are communicated with several mobile-relay stations 6 respectively
Connection, every multi-rotor unmanned aerial vehicle ontology 1 are responsible for tracking down and arresting the different piece region in region, effectively improve arrest efficiency, especially
Track down and arrest target position it is indefinite and under tracking down and arresting the biggish situation in region, manipulated respectively by multiple unmanned plane steering station 7 multiple
Multi-rotor unmanned aerial vehicle ontology 1 is tracked down and arrested, and can quickly find to track down and arrest target, is improved and is tracked down and arrested efficiency, the choosing of several mobile-relay stations 6
In designated place or place with advantageous geographic range, several mobile-relay stations 6 can be separately positioned on communication command vehicle,
Carried by automobile it is easy to remove, so as to carry out layout of making rational planning for according to different arrest area sizes and geographical environment, protect
Instant, the stabilized communication connection between multiple multi-rotor unmanned aerial vehicle ontologies 1 and mobile-relay station 6 are demonstrate,proved, each mobile-relay station 6 is
It is provided with the receiving module of signal for receiving data and is used for transmission the transmission module of data-signal, several mobile-relay stations
6 for receiving the arrest region live image of the transmission of communication module 43 and tracking down and arresting region thermal-induced imagery, and is transmitted in commander
The heart 5, command centre 5 tracks down and arrests region live image and arrest region thermal-induced imagery for receiving, and passes through the finger of command centre 5
The personnel of waving carry out issuing action command signal to mobile-relay station 6 after analysis planning, and mobile-relay station 6 is also used to receiving activity and refers to
Signal is waved, and is transmitted to unmanned plane steering station 7, it is more that unmanned plane steering station 7 is also used to action command signal manipulation based on the received
Rotor wing unmanned aerial vehicle ontology 1.In the signal cover of each mobile-relay station 6, multi-rotor unmanned aerial vehicle ontology 1, unmanned plane behaviour
Control station 7 and command centre 5 can communicate to connect with any one mobile-relay station 6, because of multiple and different multi-rotor unmanned aerial vehicle ontologies 1
The movement of different zones flight in the sky, can fly into the signal cover of different mobile-relay stations 6, multi-rotor unmanned aerial vehicle sheet
Body 1 can be communicated to connect with any one mobile-relay station 6, and the switching that can be automatically performed between different mobile-relay stations 6, nothing
Manual intervention is needed, realizes multi-rotor unmanned aerial vehicle ontology 1 and unmanned plane steering station 7 and command centre 5 by mobile-relay station 6
Wireless communication and multimedia transmission, form careful channel of communication, effectively overcome the complexity and field ring for tracking down and arresting landform
The network coverage in border problem not in place guarantees that 1 arrest region scene collected real time data of multi-rotor unmanned aerial vehicle ontology can
It is transmitted with instant, high quality with each unmanned plane steering station 7 and command centre 5, convenient for command centre 5, analysis is tracked down and arrested in real time
The information such as region live image effectively improve arrest efficiency to plan the scheme of arresting accurately and in time and to make a policy.
For the manipulation convenient for unmanned plane steering station 7 to multi-rotor unmanned aerial vehicle ontology 1, further, unmanned plane steering station 7 is wrapped
Mobile operator 70, mobile terminal 71 and remote controler 72 are included, mobile operator 70 can manipulate more rotors by remote controler 72
Drone body 1, mobile terminal 71 and mobile-relay station 6 communicate to connect, and mobile terminal 71 is used for receiving activity command signal, also
Region live image and arrest region thermal-induced imagery are tracked down and arrested for receiving, in order to which the mobile observation in real time of operator 70 is tracked down and arrested
Region scene, mobile terminal 71 can be smart phone, tablet computer, laptop computer etc..Several mobile-relay stations 6 can be by certainly
The modes such as dedicated network (self-built wireless network), carrier network (4G/5G network), satellite communication are built to realize and multiple more rotors
Long-range across landform wireless communication connection between the communication module 43 of drone body 1, mobile terminal 71 and command centre 5, just
Field datas, the mobile terminal 71 such as arrest region live image and arrest region thermal-induced imagery are transmitted in communication module 43 and are referred to
It waves center 5 and receives field data, and assign instruction to mobile operator 70 convenient for command centre 5.
For the instant accurate execution convenient for arresting action, further, ground control's control system further include People's Armed Police special policeman,
Several emergency operational staffs 8 such as rescue personnel, fire fighter, each emergency operational staff 8 are each equipped with logical with command centre 5
Believe connection communication terminal 80, communication terminal 80 can directly with command centre 5 communicate to connect, also can by mobile-relay station 6 with
Command centre 5 communicates to connect, and prevents signal interruption, and communication terminal 80 can be mobile phone, tablet computer, laptop computer etc., and communication is eventually
Region live image and arrest region thermal-induced imagery are tracked down and arrested for receiving in end 80, track down and arrest region site environment convenient for real time inspection
And it tracks down and arrests target position and action, the arrest area that command centre 5 is returned according to multi-rotor unmanned aerial vehicle ontology 1 is arrested with motor-driven adjustment
Domain scene real time data carries out rationally deployment People's Armed Police special policeman, rescue personnel, the emergency operational staff such as fire fighter, guarantee arrests,
The efficiency surrounded and stablizing carries out, and communication terminal 80 receives the commander that command centre 5 issues and carries into execution a plan signal, and meet an urgent need executor
Member 8 according to commander carry into execution a plan signal go to track down and arrest target region execute arrest action.
For the location information for controlling emergency operational staff 8 in real time convenient for command centre 5, further, each communication terminal
The alignment sensor 81 being connected with communication terminal 80 is provided on 80, alignment sensor 81 is for positioning emergency operational staff
8 position signal, and position signal is transmitted to command centre 5 is controlled each answer in real time convenient for the commanding of command centre 5
The location information of anxious operational staff 8 realizes that more accurately planning emergency operational staff 8 implements rescue, arrest, surrounding action.Together
When, mobile operator 70 and mobile-relay station 6 are respectively arranged with alignment sensor, for positioning mobile 70 institute of operator
In 6 position information of location information and mobile-relay station, and will mobile 70 location information of operator by mobile-relay station 6
And 6 location information of mobile-relay station is transmitted to command centre 5, controls the behaviour for participating in action in real time for 5 commanding of command centre
The personnel location informations such as control, track down and arrest, arresting, rescuing, convenient for layout of making rational planning for.
Region scene real-time condition is tracked down and arrested intuitively to understand convenient for command centre 5, further, command centre 5 is provided with
Command scheduling display platform 51, command scheduling display platform 51 is for accessing and showing the received communication module 43 of command centre 5
The arrest region live image and arrest region thermal-induced imagery returned, and in the arrest region live image of display and arrest
Label shows the corresponding position of position signal for the emergency operational staff 8 that located sensor 81 positions on the thermal-induced imagery of region
It sets, and shows the location information for carrying out the arrest target of site-tag through image processing module 44, command scheduling display platform 51
The height for tracking down and arresting region live image and track down and arrest region thermal-induced imagery, the acquisition of radar 9 that can be returned according to communication module 43
Signal forms holographic space stereo-picture, has on the holographic space stereo-picture and tracks down and arrests region site contour landforms, building
The information such as frame, and each mobile-relay station 6, each mobile operator 70, each emergency operational staff 8, track down and arrest target
The equal real-time update of location information is simultaneously shown on 51 holographic space stereo-picture of command scheduling display platform, for command centre 5
Commanding controls the overall situation in real time, according to the position for tracking down and arresting region field condition adjustment layout mobile-relay station 6, immediately, rationally
The arrest direction of ground planning multi-rotor unmanned aerial vehicle ontology 1 and emergency and surround scheme at 8 progress path of operational staff, realize efficiently,
It accurately arrests, rescue.
Police infrared arrest method provided in this embodiment based on multi-rotor unmanned aerial vehicle, comprising the following steps:
S1: mobile operator 70 is by the long-range connection communication module 43 of remote controler 72 to control multi-rotor unmanned aerial vehicle ontology
1, which takes off to region to be tracked down and arrested, is reconnoitred, multi-rotor unmanned aerial vehicle ontology 1 carry 2 captured in real-time of visible light camera wait search
It catches the elevation information that the radar 9 of area video information and carrying acquires in real time and mobile-relay station is transmitted to by communication module 43
6, and pass through the mobile terminal 71 that mobile-relay station 6 is transmitted to command centre 5 and mobile operator 70；
S2: command scheduling display platform 51 accesses the received area video information to be tracked down and arrested of command centre 5 and elevation information
And holographic space stereo-picture is formed, the commanding of command centre 5, which analyzes region field condition to be tracked down and arrested and locks, tracks down and arrests area
Domain, and flight path planning is carried out to multi-rotor unmanned aerial vehicle ontology 1 tracking down and arresting in region, determine flight optimal path and optimal speed
Degree；Meanwhile command centre 5 can assign layout instruction to mobile-relay station 6, keep mobile-relay station 6 mobile by communication command vehicle
To best place；
Flight path planning, which with multi-rotor unmanned aerial vehicle ontology 1 is scanned diameter range and had, directly to be contacted, and unmanned plane scans
The minimum zone needs of diameter, which pass through, determines one group of closed curve of zone boundary building, between this adjacent closure equivalent curve
Distance be range that unmanned plane scans diameter, and the adjacent closure equivalent curve of this group need it is a series of specific by setting
Regional boundary condition and construct corresponding partial differential equation, obtain this using finite element or calculus of finite differences and organize adjacent closed curve
Solution, just can successively obtain this and organize adjacent closure equivalent curve regenerating and write music after equal part closed curve
Line, and using transition curve is approached in least square method to obtain new curve scans model with what this had obtained unmanned plane
It encloses, obtains scanning after range for unmanned plane, the key of unmanned machine operation application is to need to be continuously improved the operation of unmanned plane
Efficiency, it is therefore desirable to calculate unmanned plane most short hours underway and it is maximum in this period scan range, by unmanned plane
Speed optimized, the speed of unmanned plane and location information are finally converted into timing information immediately, pass through spline curve
Equal jerk come plan unmanned plane start-stop point and control unmanned plane path or track is planned again, thus really
Multi-rotor unmanned aerial vehicle ontology 1 is determined in the flight optimal path and optimal velocity for tracking down and arresting region.The specific algorithm of flight path planning
For the more mature prior art, do not repeat herein；
S3: multi-rotor unmanned aerial vehicle ontology 1 plans that planned path and speed are being tracked down and arrested in region in fact according to flight path
Apply low latitude prospecting, it is seen that the arrest region live image in region is tracked down and arrested in the shooting of light video camera 2, and multi-rotor unmanned aerial vehicle ontology 1 carries
The detection of infrared thermal imager 3 track down and arrest the arrest region thermal-induced imagery in region, the data storage on multi-rotor unmanned aerial vehicle ontology 1
Module 41 stores including a large amount of Common Accidents scenes and tracks down and arrests the image information of target and the database of thermal-induced imagery information
Information, the data match module 42 on multi-rotor unmanned aerial vehicle ontology 1 will track down and arrest region live image and track down and arrest region infrared chart
It is infrared containing the arrest region live image and arrest region for tracking down and arresting target identifying as being matched respectively with database information
Site-tag is carried out by image processing module 44 when thermal image and marks arrest target position, meanwhile, data match module 42 will
Signal feeds back to main control module 40, and main control module 40 controls multi-rotor unmanned aerial vehicle ontology 1 and hovers, and passes through communication module 43
It issues and tracks down and arrests target detection signal, the movement through 6 relaying transport of mobile-relay station to command centre 5 and mobile operator 70
Terminal 71,45 pairs of image compression module are tracked down and arrested region live image and track down and arrest the arrest region after region thermal-induced imagery, label
Live image and arrest region thermal-induced imagery carry out compression processing, and are transmitted to communication module 43, then led to by communication module 43
Cross the mobile terminal 71 that mobile-relay station 6 is transmitted to command centre 5 and mobile operator 70；
S4: the arrest region live image and arrest region infrared chart of the access passback in real time of command scheduling display platform 51
Arrest region live image and arrest region thermal-induced imagery after picture, label, track down and arrest region field condition with real-time update, refer to
The commanding for waving center 5 conceals area to rescue personnel position and offender are suspicious according to tracking down and arresting the analysis of region field condition
Domain, topography and geomorphology, abscond walking path situations such as, action commander side is issued to mobile operator 70 by mobile-relay station 6
Case, mobile operator 70 manipulate 1 pair of arrest target of multi-rotor unmanned aerial vehicle ontology and track, meanwhile, command centre 5 is to emergency
Operational staff 8 issues commander and carries into execution a plan, and the emergency operational staff 8 such as People's Armed Police special policeman, rescue personnel, fire fighter is made to go to arrest
Target is disposed at the scene；
S5: multi-rotor unmanned aerial vehicle ontology 1 carries visible light camera 2 and infrared thermal imager 3 monitors surface state in real time,
Real-time update tracks down and arrests region live image and tracks down and arrests the abnormal temperature control point of region thermal-induced imagery, mobile infrared object, contains and track down and arrest
The arrest region live image and arrest region thermal-induced imagery of target, and it is transmitted to command centre 5, command scheduling display platform
Real-time update display tracks down and arrests region live image and tracks down and arrests region thermal-induced imagery on 51, and shows mobile operator 70
Set, 6 position of mobile-relay station, each 8 position of emergency operational staff and track down and arrest target position, the commanding of command centre 5
It is analyzed and is made a policy, plan arrest direction and the progress path of our each emergency operational staff 8, and executed to emergency
Personnel 8, which issue, arrests instruction or rescue instruction, is arrested or is rescued to target is tracked down and arrested.
Police infrared arrest method provided by the invention based on multi-rotor unmanned aerial vehicle, by with multi-rotor unmanned aerial vehicle ontology
Region real time data information is tracked down and arrested in 1 acquisition, and is carried out intelligent Matching identification and tracked down and arrested target, multi-rotor unmanned aerial vehicle ontology 1, Zhi Huizhong
The heart 5, mobile-relay station 6 move and establish real-time high-efficiency communications network, information between operator 70, emergency operational staff 8
Intercommunication, 5 real-time reception of command centre track down and arrest region real time data information, carry out Global motion planning, deployment, decision, control search in real time
Region field condition is caught, plans 6 placement position of mobile-relay station, the arrest of planning commander's 1 ontology of multi-rotor unmanned aerial vehicle, tracking rail
Mark, and emergency operational staff 8 is commanded to implement to arrest action, thus formed a set of intelligence, it is efficient, accurately track down and arrest method, effectively
It improves and the execution efficiency of hunts such as arrests, rescues and arresting precision.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (10)
1. the police infrared arrest system based on multi-rotor unmanned aerial vehicle, it is characterised in that:
Including Telemetry System of UAV and ground control's control system；
The Telemetry System of UAV includes multi-rotor unmanned aerial vehicle ontology (1) and is arranged in the multi-rotor unmanned aerial vehicle ontology
(1) visible light camera (2), infrared thermal imager (3), observing and controlling analytical unit (4) on；
The observing and controlling analytical unit (4) includes main control module (40) and the data that are connected with the main control module (40)
Memory module (41), data match module (42), communication module (43)；
The visible light camera (2) and the infrared thermal imager (3) are connected with the main control module (40) respectively；Institute
It states communication module (43) and ground control's control system communicates to connect；
It includes Common Accidents scene and the image information and infrared heat for tracking down and arresting target that the data memory module (41), which is used to store,
The database information of image information；
The data match module (42) is used for the arrest region live image that shoots the visible light camera (2) and described
The arrest region thermal-induced imagery of infrared thermal imager (3) detection is matched with the database information respectively, and identifies institute
It states and tracks down and arrests whether region live image and arrest region thermal-induced imagery are the target image containing arrest；
When the data match module (42) identify the arrest region live image or/and arrest region thermal-induced imagery
When for containing tracking down and arresting target image, ground control's control system controls the multi-rotor unmanned aerial vehicle ontology (1) to arrest target
It is tracked.
2. the police infrared arrest system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
Ground control's control system includes command centre (5), several movements with the command centre (5) communication connection
Relay station (6), the unmanned plane steering station (7) with several mobile-relay station (6) communication connections；The unmanned plane steering station
(7) for manipulating the multi-rotor unmanned aerial vehicle ontology (1)；
The communication module (43) and several described mobile-relay stations (6) communicate to connect；
Several described mobile-relay stations (6) are used to receive the arrest region live image of the communication module (43) transmission
And arrest region thermal-induced imagery, and it is transmitted to the command centre (5)；
The command centre (5) for receiving the arrest region live image and arrest region thermal-induced imagery, and to
The mobile-relay station (6) issues action command signal；
The mobile-relay station (6) is also used to receive the action command signal, and is transmitted to the unmanned plane steering station (7)；
The unmanned plane steering station (7) is also used to the action command signal based on the received and manipulates the multi-rotor unmanned aerial vehicle sheet
Body (1).
3. the police infrared arrest system according to claim 2 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The unmanned plane steering station (7) includes mobile operator (70), mobile terminal (71) and remote controler (72)；
The mobile operator (70) manipulates the multi-rotor unmanned aerial vehicle ontology (1) by the remote controler (72)；
The mobile terminal (71) and the mobile-relay station (6) communicate to connect, and the mobile terminal (71) is described for receiving
Action command signal is also used to receive the arrest region live image and arrest region thermal-induced imagery.
4. the police infrared arrest system according to claim 2 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
Ground control's control system further includes several emergency operational staff (8)；
Each emergency operational staff (8) is each equipped with the communication terminal (80) with the command centre (5) communication connection；
The communication terminal (80) is used in combination for receiving the arrest region live image and arrest region thermal-induced imagery
It carries into execution a plan signal in receiving the commander that the command centre (5) issues；
The emergency operational staff (8) is used to command the signal that carries into execution a plan to go to arrest target region according to described.
5. the police infrared arrest system according to claim 4 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The alignment sensor (81) being connected with the communication terminal (80) is provided on each communication terminal (80)；
The alignment sensor (81) is used to position the position signal of emergency operational staff (8), and by the position signal
It is transmitted to the command centre (5).
6. the police infrared arrest system according to claim 5 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The command centre (5) is provided with command scheduling display platform (51)；
The command scheduling display platform (51) is for showing the infrared heat of the arrest region live image and the arrest region
Image, and label shows the position in the arrest region live image of display and arrest region thermal-induced imagery
The corresponding position of signal.
7. the police infrared arrest system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The observing and controlling analytical unit (4) further includes the image processing module (44) being connected with the main control module (40)；
When the data match module (42) identify the arrest region live image or/and arrest region thermal-induced imagery
For containing track down and arrest target image when, described image processing module (44) to containing track down and arrest target arrest region live image or/
Site-tag is carried out with the arrest region thermal-induced imagery.
8. the police infrared arrest system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The observing and controlling analytical unit (4) further includes the image compression module (45) being connected with the main control module (40)；
Described image compression module (45) is infrared for arrest region live image or/and the arrest region described in compression processing
Thermal image.
9. the police infrared arrest system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The Telemetry System of UAV further includes the radar (9) being arranged on the multi-rotor unmanned aerial vehicle ontology (1)；
The radar (9) is connected with the main control module (40)；
The radar (9) is for acquiring the distance between the multi-rotor unmanned aerial vehicle ontology (1) and object.
10. the police infrared arrest method based on multi-rotor unmanned aerial vehicle, it is characterised in that:
The following steps are included:
S1: mobile operator (70) remotely control multi-rotor unmanned aerial vehicle ontology (1) is taken off to wait track down and arrest by remote controler (72)
Region prospecting, the area video information to be tracked down and arrested for visible light camera (2) shooting that the multi-rotor unmanned aerial vehicle ontology (1) is carried
And the elevation information for radar (9) acquisition carried is transmitted to command centre (5) by mobile-relay station (6)；
S2: the command centre (5) shows according to the area video information to be tracked down and arrested and the elevation information in command scheduling
Holographic space stereo-picture is formed on platform (51), region is tracked down and arrested in locking, and flight path rule are carried out in the arrest region
It draws；
S3: the multi-rotor unmanned aerial vehicle ontology (1) plans that planned path and speed are searched described according to the flight path
It catches low latitude in region to reconnoitre, visible light camera (2) the shooting arrest region live image for tracking down and arresting region is described more
Infrared thermal imager (3) the detection arrest region thermal-induced imagery for tracking down and arresting region that rotor wing unmanned aerial vehicle ontology (1) carries, institute
The data memory module (41) on multi-rotor unmanned aerial vehicle ontology (1) is stated to store including Common Accidents scene and target to be tracked down and arrested
The database information of image information and thermal-induced imagery information, the data match module on the multi-rotor unmanned aerial vehicle ontology (1)
(42) by the arrest region live image and arrests region thermal-induced imagery respectively with database information progress
Match, is marked when the arrest region live image for identifying the target containing arrest is with the arrest region thermal-induced imagery
Note, and the command centre (5) are transmitted to by the mobile-relay station (6)；
S4: the command centre (5) issues action commander to the mobile operator (70) by the mobile-relay station (6)
Scheme, the multi-rotor unmanned aerial vehicle ontology (1) to track down and arrest target track, the command centre (5) to emergency operational staff
(8) it issues commander to carry into execution a plan, the emergency operational staff (8) goes to arrest target to dispose at the scene；
S5: multi-rotor unmanned aerial vehicle ontology (1) real-time update containing it is described track down and arrest target arrest region live image and
Arrest region thermal-induced imagery, and the command centre (5) are transmitted to, it is shown on the command scheduling display platform (51)
The emergency operational staff (8) position and the arrest target position, the command centre (5) make a policy, and to
Emergency operational staff (8) issues and arrests instruction.
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