CN110316376A - It is a kind of for detecting the unmanned plane of mine fire - Google Patents
It is a kind of for detecting the unmanned plane of mine fire Download PDFInfo
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- CN110316376A CN110316376A CN201910593127.1A CN201910593127A CN110316376A CN 110316376 A CN110316376 A CN 110316376A CN 201910593127 A CN201910593127 A CN 201910593127A CN 110316376 A CN110316376 A CN 110316376A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
Abstract
The present invention discloses a kind of for detecting the unmanned plane of mine fire, using multi-rotor unmanned aerial vehicle as carrier, realizes in combination with technology of taking photo by plane to the comprehensive inspection of mine, carries out real-time monitoring to mine.Unmanned plane autonomous flight is realized using machine vision applications control theory, is operated without personnel, realizes long-distance flight.Terminal is established by underground, realizes the full mine inspection of unmanned plane.The present invention is by improving the collocation of airborne sensor and the algorithm of vision navigation system, so that unmanned plane may be implemented not realize that unmanned autonomous positioning and self path planning detect mine laneway under no manual intervention automatically by external devices such as GPS, the efficiency and accuracy of discovery fire is improved；Meanwhile processor unit of the present invention can be very good to eliminate because of factors bring measurement errors such as unmanned plane shakes by using the optimal estimation under Gaussian noise model.
Description
Technical field
The present invention relates to be related to technical field of fire detection, specifically a kind of unmanned plane for being used to detect mine fire.
Background technique
In coal in China industry, mine fire is one of the disaster in Coal Mine Disasters, seriously threatens coal mine peace
Full production.Due to the diversity of mine fire and sudden so that the emergency management and rescue work difficulty of mine fire increases, but such as
Fruit can find fire early, effectively carry out emergency processing rapidly in the initial stage of fire, as a result just big different, on the contrary,
Even if the fire of very little, if taking emergency trouble shooting measures not in time, it is more likely that lead to large-sized fire, cause heavy losses.
Underground space is small, and workplace is narrow；Electrical equipment is more, and the combustibles such as mine timber are more, and coal can inherently ignite, then
In addition fireproofing installation is unsound, fire distinguisher is not complete, underground have again it is fresh distinguished and admirable, once occur fire, unlike superficial fire
It is easy to save like that.
And various fire (such as electrically catching fire, the fire and spontaneous combustionof coal that oil plant is on fire, gas explosion is formed) all can
Occur, saving method is also different.If putting out a fire not in time or dealing with improperly, development will be spread, high fire is often led to, this
It is more difficult to allow for fire-fighting work.Meanwhile underground work personnel concentrate, and meet fire, it is not known that occur wherein, it is difficult to hide
It keeps away and evacuates, this can all aggravate loss caused by fire.
And existing mine fire monitoring device has a single function, monitoring project it is few, have unfavorable mine fire monitoring and
The defect prevented in advance.
Summary of the invention
To solve the deficiency mentioned in above-mentioned background technique, the purpose of the present invention is to provide one kind for detecting Mine Fire
The unmanned plane of calamity solves existing mine fire monitoring device and has a single function, and monitoring project is few, the monitoring of unfavorable mine fire
The defect prevented in advance.
The purpose of the present invention can be achieved through the following technical solutions:
It is a kind of for detecting the unmanned plane of mine fire, including flight control system, flight control system includes receiving day
Line, power supply and master controller, the telecommand that master controller is issued by receiving antenna satellite receiver；
The unmanned plane includes vision navigation system and image processing module, and vision navigation system includes thermal infrared imager,
Thermal infrared imager, image processing module are connected with the master controller of flight control system respectively, the output end of thermal infrared imager
It is connected with the input terminal of image processing module；
The flight control system includes Inertial Measurement Unit, processor unit and signal processing module, processor unit
Connect two special sockets；
The unmanned plane includes motor and propeller, the rotation of motor control propeller.
Further, the vision navigation system includes airborne ir imaging instrument and real-time image transmission system, airborne red
Outer imager and real-time image transmission system are connected with flight control system respectively；
Using thermal infrared imager as visual sensor, infrared chart likes aobvious with different colors vision navigation system
Show temperature value different in picture, there is cross cursor to capture the highest object of temperature and displays temperature number in picture automatically always
According to when the soon starting sound-light alarm for having more than set temperature in picture, the warning sensitivity that can be set in advance is able to achieve and appoints
The accurate alarm for set temperature section exception of anticipating, is suitable as unmanned aerial vehicle onboard sensor.
Further, the real-time image transmission system is made of micro treatment module, power module and network module.
Further, the real-time image transmission system further includes for adjusting the airborne ir imaging instrument pitch angle
Pitch angle regulating mechanism, the pitch angle regulating mechanism are connected with the flight control system, and with the airborne ir imaging
Instrument is mutually sequentially connected, and for the present invention before take-off or in take-off process, staff sends instruction to the present invention, passes through pitch angle tune
Save the monitoring angle that mechanism adjusts airborne ir imaging instrument.
Further, described image processing module includes image input part, image processing and analyzing part, image output unit
Point.
Further, the unmanned plane is assisted using onboard flight control system and vision navigation system, image processing module
With the scheme calculated, iteration in the flight control system with regard near point element by information that image processing module is exported into
Row analysis carries out position and TRAJECTORY CONTROL for unmanned aerial vehicle control system.
Further, the processor unit is IC array processor, is accelerated using display core, is used
Optimal estimation under Gaussian noise model handles data collected by vision navigation system.
Further, the processor unit matches different location institute with regard to close-point search method with regard to proximal point algorithm using iteration
The point cloud data of observation, then be aided with the airborne sensor that it is carried and do not realize positioning, institute by external devices such as GPS to realize
Unmanned plane is stated in flight course, the variation of airborne ir imaging instrument real-time detection ambient temperature.
Further, the collected mobile data of the unmanned plane include camera t frame reconnoitre picture Zt: Ω →
R+, Ω is pixel set, current prospecting point cloud Vt, in which: the built-in matrix of known camera
Current observation point cloud v can be calculatedt(s)=H-1[sx, sy, 1]Tzt(s),
S=[sx, sy]T∈ Ω,
The pose T of t moment camera can be expressed as with homogeneous coordinate transformation
Wherein Rt∈R3；
It is world coordinate system that the pose, which converts the corresponding frame of reference, is indicated with symbol g, puts cloud coordinate also with homogeneous seat
Mark indicates；
The point cloud that a moment is observed is projected to world coordinate system are as follows:
Further, the signal processing module includes programmable data amplifier, high cmrr isolated amplifier
Module, integrated modem, analog switch, sampling holder, switch capacitor filter.
Beneficial effects of the present invention:
1, the present invention allows unmanned plane real by improving the collocation of airborne sensor and the algorithm of vision navigation system
Now do not realize that unmanned autonomous positioning and self path planning detect mine under no manual intervention automatically by external devices such as GPS
Roadway road improves the efficiency and accuracy of discovery fire；
2, the present invention carries out specially treated by the thermal infrared imager to vision navigation system, and monitoring area is big, infrared heat
When as monitoring head working condition, the infrared heat radiation of all targets in passive detection picture, it has multiple detector cells,
Multiple temperature datas as several points in full frame are measured simultaneously, and at Temperature Distribution thermal image, detection angle is 24 ° of level, vertically
18 °, effective area and distance dependent are detected, infrared thermal imagery monitoring head belongs to face battle array detecting devices, and monitoring area is very big；
3, processor unit of the present invention can be very good to eliminate because of nothing by using the optimal estimation under Gaussian noise model
The factors bring measurement error such as man-machine shake；
4, two special sockets that processor unit connects in the present invention, can directly replace special sensor, with full
Demand of the sufficient unmanned plane in different scenes.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is positive structure diagram of the present invention；
Fig. 2 is system software architecture block diagram of the invention；
In figure: vision navigation system 1, image processing module 2, flight control system 3, Inertial Measurement Unit 4, processor list
First 5, motor 6, signal processing module 7, power supply 8, propeller 9, special socket 10.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " aperture ", "upper", "lower", " thickness ", "top", " in ",
Indicating positions or the positional relationship such as " length ", "inner", " surrounding ", are merely for convenience of description of the present invention and simplification of the description, without
It is that the component of indication or suggestion meaning or element must have a particular orientation, is constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
It is a kind of for detecting the unmanned plane of mine fire, as shown in Figure 1, include vision navigation system 1, image processing module
2, flight control system 3, motor 6 and propeller 9, the flight control system 3 include Inertial Measurement Unit 4, processor unit 5
With signal processing module 7.
The motor 6 uses fire-proof motor, and motor 6 controls the rotation of propeller 9, the propeller 9 through explosion-proof isolation at
Reason, it is ensured that when it works in mine, will not occur to generate the behavior that electrostatic spark etc. threatens tunnel safety.
The flight control system 3 includes that receiving antenna, power supply 8 and master controller, master controller are connect by receiving antenna
The telecommand that earth station issues is received, power supply 8 is battery.The flight control system 3 flies control using Pixhawk, in its open source
On the basis of algorithm, vision navigation system 1 is integrated, flight control system 3, which controls, independently makes a return voyage after completion task of the present invention to rising
Flying spot.
The vision navigation system 1 includes thermal infrared imager, and thermal infrared imager is for capturing unmanned plane local environment for it
Self planning progress path, thermal infrared imager and image processing module 2 are connected with the master controller of flight control system 3 respectively
It connects, and the output of the thermal infrared imager of vision navigation system 1 is connected to the input of image processing module 2, image processing module 2 includes
Image input part, image processing and analyzing part, image output portion.
The vision navigation system 1 includes airborne ir imaging instrument and real-time image transmission system (realtime graphic transmission system
System is made of micro treatment module, power module and network module), airborne ir imaging instrument and real-time image transmission system respectively with
Flight control system 3 is connected, and using thermal infrared imager as visual sensor, infrared chart likes vision navigation system 1
Temperature value different in picture is shown with different colors, has cross cursor to capture the highest object of temperature in picture automatically always
Body and displays temperature data.When the soon starting sound-light alarm for having more than set temperature in picture, the alarm that can be set in advance
Sensitivity is able to achieve the accurate alarm of any set temperature section exception, is suitable as unmanned aerial vehicle onboard sensor, the airborne biography
Sensor includes high speed, high-precision gyroscope, for Attitude estimation and from steady accelerometer, and height when for flight
Increase steady barometer, ultrasound and pressure sensor.
The real-time image transmission system includes the pitch angle regulating mechanism for adjusting airborne ir imaging instrument pitch angle,
The pitch angle regulating mechanism is connected with flight control system 3, and is mutually sequentially connected with airborne ir imaging instrument, and the present invention is rising
Before flying or in take-off process, staff sends instruction to the present invention, adjusts airborne ir imaging by pitch angle regulating mechanism
The monitoring angle of instrument.
The Inertial Measurement Unit 4 is made of two acceleration transducers and three velocity sensors, the processor list
Member 5 connects two special sockets 10, can directly replace special sensor, and processor unit 5 is IC array processing
Device is accelerated using display core, is handled collected by vision navigation system 1 using the optimal estimation under Gaussian noise model
The data arrived, processor unit 5 match the point cloud that different location is observed with regard to close-point search method with regard to proximal point algorithm using iteration
Data, then be aided with the airborne sensor that it is carried and do not realize positioning by external devices such as GPS to realize, the unmanned plane exists
In flight course, the variation of airborne ir imaging instrument real-time detection ambient temperature.The signal processing module 7 includes programmable data
Amplifier, high cmrr isolated amplifier module, integrated modem, analog switch, sampling holder, switching capacity
Filter.
When in use, unmanned plane is cooperateed with using flight control system 3 with vision navigation system 1, image processing module 2
The scheme of calculating, iteration in the flight control system 3 with regard near point element by information that image processing module 2 is exported into
Row analysis carries out position and TRAJECTORY CONTROL for unmanned aerial vehicle control system.
The collected mobile data of unmanned plane includes Zt: Ω → R of picture that camera t frame is reconnoitred+, Ω is picture
Element set, current prospecting point cloud Vt, in which: the built-in matrix of known cameraCurrent sight can be calculated
Measuring point cloud vt(s)=H-1[sx, sy, 1]Tzt(s),
S=[sx, sy]T∈ Ω,
The pose T of t moment camera can be expressed as with homogeneous coordinate transformation
Wherein Rt∈R3:
It is world coordinate system that the pose, which converts the corresponding frame of reference, is indicated with symbol g, puts cloud coordinate also with homogeneous seat
Mark indicates；
The point cloud that a moment is observed is projected to world coordinate system are as follows:
As shown in Fig. 2, describing in conjunction with a kind of for detecting the unmanned plane of mine fire of vision positioning and scene rebuilding
System algorithm framework.Within the system, unmanned plane by self-contained high speed, high-precision gyroscope, be used for Attitude estimation
Increase sensors and the airborne ir imaging instrument such as steady barometer, ultrasound with the height from steady accelerometer, and when for flight
For acquiring the environmental information data of surrounding, flight control system is transmitted separately to after signal processing module fusion, filtering
After processor unit and image processing module, image processing module and earth station's cooperated computing, by the continuous observation to environment,
More accurate environmental model can be constructed, realizes the vision positioning and model construction of unmanned plane, the model newly constructed is on the one hand
For supplementing the ambient enviroment map of unmanned plane drafting, on the other hand it is used to update unmanned plane to the location of itself and posture
Judgement, obtain more accurately estimating unmanned plane self-position and posture, and after processor unit is calculated
Data carry out position and TRAJECTORY CONTROL for unmanned plane together after signal processing module is handled.
It is a kind of for detecting the application method of the unmanned plane of mine fire, comprising the following steps:
(1) present invention is placed in region to be detected by selected target place, and to sensor entrained by it do it is appropriate more
It changes；
(2) the starting present invention, the present invention are assisted by vision navigation system 1 and image processing module 2 and flight control system 3
With calculating, its automatic detective path is planned, and be unfolded to detect；
(3) staff continues to execute the instruction of navigational duty to present invention transmission, and the present invention continues to detect next wait visit
Region is surveyed, and (2) setting that repeats the above steps, until the present invention has detected the last one target area；
(4) when the present invention has detected the last one target area, if do not received yet newly beyond longest setting time
Instruction, then can automatic returning to ground.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of for detecting the unmanned plane of mine fire, which is characterized in that including flight control system (3), flight control (3)
System includes that receiving antenna, power supply (8) and master controller, master controller are referred to by the remote control that receiving antenna satellite receiver issues
It enables；
The unmanned plane includes vision navigation system (1) and image processing module (2), and vision navigation system (1) includes infrared heat
As instrument, thermal infrared imager, image processing module (2) are connected with the master controller of flight control system (3) respectively, infrared thermal imagery
The output end of instrument is connected with the input terminal of image processing module (2)；
The flight control system (3) includes Inertial Measurement Unit (4), processor unit (5) and signal processing module (7), place
It manages device unit (5) and connects two special sockets (10)；
The unmanned plane includes motor (6) and propeller (9), and motor (6) controls the rotation of propeller (9).
2. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the vision guided navigation
System (1) includes airborne ir imaging instrument and real-time image transmission system, airborne ir imaging instrument and real-time image transmission system
It is connected respectively with flight control system (3)；
Using thermal infrared imager as visual sensor, infrared chart likes aobvious with different colors vision navigation system (1)
Show temperature value different in picture, there is cross cursor to capture the highest object of temperature and displays temperature number in picture automatically always
According to when the soon starting sound-light alarm for having more than set temperature in picture, the warning sensitivity that can be set in advance is able to achieve and appoints
The accurate alarm for set temperature section exception of anticipating, is suitable as unmanned aerial vehicle onboard sensor.
3. according to claim 2 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the realtime graphic
Transmission system is made of micro treatment module, power module and network module.
4. according to claim 2 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the realtime graphic
Transmission system further includes the pitch angle regulating mechanism for adjusting the airborne ir imaging instrument pitch angle, which adjusts machine
Structure is connected with the flight control system (3), and is mutually sequentially connected with the airborne ir imaging instrument, and the present invention is before take-off
Or in take-off process, staff sends instruction to the present invention, adjusts airborne ir imaging instrument by pitch angle regulating mechanism
Monitor angle.
5. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that described image processing
Module (2) includes image input part, image processing and analyzing part, image output portion.
6. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the unmanned plane is adopted
With onboard flight control system (3) and vision navigation system (1), the scheme of image processing module (2) cooperated computing, the flight
Iteration in control system (3) is analyzed with regard near point element by the information exported to image processing module (2), for unmanned plane
Control system carries out position and TRAJECTORY CONTROL.
7. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the processor list
First (5) are IC array processor, are accelerated using display core, using the optimal estimation under Gaussian noise model come
Handle data collected by vision navigation system (1).
8. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the processor list
First (5) match the point cloud data that different location is observed with regard to close-point search method with regard to proximal point algorithm using iteration, then are aided with it and take
The airborne sensor of load does not realize positioning to realize by external devices such as GPS, and the unmanned plane is airborne in flight course
The variation of infrared thermoviewer real-time detection ambient temperature.
9. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that the unmanned plane is adopted
The mobile data collected includes Zt: Ω → R of picture that camera t frame is reconnoitred+, Ω is pixel set, current prospecting point cloud
Vt, in which: the built-in matrix of known cameraCurrent observation point cloud v can be calculatedt(s)=H-1[sx,
sy, 1]Tzt(s),
S=[sx, sy]T∈ Ω,
The pose T of t moment camera can be expressed as with homogeneous coordinate transformation
Wherein Rt∈R3；
It is world coordinate system that the pose, which converts the corresponding frame of reference, is indicated with symbol g, puts cloud coordinate also with homogeneous coordinates table
Show；
The point cloud that a moment is observed is projected to world coordinate system are as follows:
10. according to claim 1 a kind of for detecting the unmanned plane of mine fire, which is characterized in that at the signal
Managing module (7) includes programmable data amplifier, high cmrr isolated amplifier module, integrated modem, simulation
Switch, sampling holder, switch capacitor filter.
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Cited By (5)
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| CN111076823A (en) * | 2019-12-13 | 2020-04-28 | 广州科易光电技术有限公司 | Positioning method and system of airborne thermal infrared imager |
| CN112373683A (en) * | 2020-11-18 | 2021-02-19 | 国网安徽省电力有限公司检修分公司 | Vision-assisted cleaning unmanned aerial vehicle system |
| CN113701820A (en) * | 2021-08-31 | 2021-11-26 | 石家庄铁道大学 | Device suitable for carry out image investigation and infrared spy water fire detection to tunnel structure in operation |
| CN114135336A (en) * | 2020-09-03 | 2022-03-04 | 山西联安矿用设备有限公司 | Coal mine is system of patrolling and examining for well based on 5G technique |
| CN116914777A (en) * | 2023-06-25 | 2023-10-20 | 国网湖北省电力有限公司电力科学研究院 | Small signal stability analysis method, device and system for wind power system and storage medium |
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| CN113701820A (en) * | 2021-08-31 | 2021-11-26 | 石家庄铁道大学 | Device suitable for carry out image investigation and infrared spy water fire detection to tunnel structure in operation |
| CN113701820B (en) * | 2021-08-31 | 2024-04-09 | 石家庄铁道大学 | Device suitable for carrying out image investigation and infrared water exploration fire exploration on tunnel structure in operation |
| CN116914777A (en) * | 2023-06-25 | 2023-10-20 | 国网湖北省电力有限公司电力科学研究院 | Small signal stability analysis method, device and system for wind power system and storage medium |
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