CN110816839A - Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof - Google Patents
Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof Download PDFInfo
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- CN110816839A CN110816839A CN201911299712.7A CN201911299712A CN110816839A CN 110816839 A CN110816839 A CN 110816839A CN 201911299712 A CN201911299712 A CN 201911299712A CN 110816839 A CN110816839 A CN 110816839A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 43
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
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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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The utility model relates to an unmanned air vehicle technical field, especially, relate to an unmanned aerial vehicle of putting in emergency rescue equipment, system and people's input method in the return circuit, flight first visual angle unmanned aerial vehicle and unmanned aerial vehicle autonomous driving based on circuit information combine, the long-range input of emergency rescue equipment has been realized, at whole input in-process, input personnel is not directly control unmanned aerial vehicle, unmanned aerial vehicle is flying independently under the control of flight control in fact always, long-range direct-vision is to near on-the-spot input has been realized, can be quick, the input emergency rescue equipment of full coverage, and reduce the operating condition who corresponds the input of emergency rescue equipment.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for releasing emergency rescue equipment, a system and a person-in-loop releasing method thereof.
Background
In production and life, emergency accidents are likely to happen at any time, and after the emergency accidents happen, if the emergency accidents are not processed quickly, disasters can spread, so that greater economic losses are caused. At present, rescue workers generally transport emergency rescue equipment to a disaster area through ground transportation, but the transportation speed is slow and the emergency rescue equipment is difficult to reach the area with serious disaster; the emergency rescue equipment can be carried by the airplane, namely, the emergency rescue equipment is placed in the cabin of the airplane, and after a pilot flies into a rescue area by flying the airplane, the emergency rescue equipment is thrown out from the cabin of the airplane, so that a professional pilot is required, and the condition requirement is high.
Therefore, how to rapidly and fully release emergency rescue equipment and reduce the operating conditions for releasing the corresponding emergency rescue equipment is a technical problem which needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The application provides an unmanned aerial vehicle for releasing emergency rescue equipment, a system and a person-in-loop releasing method thereof, so that the emergency rescue equipment can be released quickly and in a full-range coverage manner, and the operating conditions of releasing corresponding emergency rescue equipment are reduced.
In order to solve the technical problem, the application provides the following technical scheme:
an unmanned aerial vehicle for delivering emergency rescue equipment, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a cloud deck, an airborne camera and a first aid throwing cabin; the cloud deck is fixedly installed on the unmanned aerial vehicle body, and the airborne camera is installed on the cloud deck and used for shooting pictures or videos; emergency rescue equipment puts in cabin fixed mounting in the below of unmanned aerial vehicle body, its inside a plurality of independent spaces of separating through the baffle to set up corresponding hatch door for every independent space on the lateral wall or the bottom plate in emergency rescue equipment putting in cabin, every hatch door all sets up corresponding driving motor, in order to control the hatch door switching through respective driving motor.
The unmanned aerial vehicle for releasing the emergency rescue equipment is characterized in that the bottom plate of the emergency rescue equipment releasing cabin is provided with a corresponding cabin door.
As above unmanned aerial vehicle of emergency rescue equipment of input, wherein, preferably, throw the mouth for every independent space has been seted up on the bottom plate of emergency rescue equipment input cabin, throws the equal fixedly connected with hatch door slide in the relative both sides of mouth, hatch door relative both sides and two hatch door slides plug-in connection of every throw the mouth.
According to the unmanned aerial vehicle for putting in emergency rescue equipment, preferably, the cabin door slide ways are inwards provided with grooves, the grooves of the two cabin door slide ways of each projection opening are oppositely arranged, and two sides of the cabin door are inserted into the grooves to be connected with the grooves of the cabin door slide ways in an inserting mode.
An unmanned aerial vehicle system for delivering emergency rescue equipment, comprising: the unmanned aerial vehicle of putting in emergency rescue equipment of on-vehicle ground station system and above-mentioned any, on-vehicle ground station system and the unmanned aerial vehicle communication connection who puts in emergency rescue equipment.
As above, the unmanned aerial vehicle system for releasing emergency rescue equipment, wherein preferably, the vehicle-mounted ground station system comprises a ground station, a remote control device, a main display screen for displaying pictures or videos and an auxiliary display screen for displaying paths, and the ground station host, the remote control device, the main display screen and the auxiliary display screen are all vehicle-mounted devices, the ground station host is in communication connection with the unmanned aerial vehicle body, and the remote control device is in communication connection with the ground station host.
The unmanned aerial vehicle system for releasing emergency rescue equipment as described above, wherein preferably, a wireless communication device is installed on the unmanned aerial vehicle body, and the wireless communication device is in communication connection with the vehicle-mounted ground station system to receive information sent by the vehicle-mounted ground station system or send information to the vehicle-mounted ground station system.
The unmanned aerial vehicle system for releasing emergency rescue equipment as described above, wherein preferably, the wireless communication equipment is divided into wireless data transmitting/receiving equipment and wireless image transmitting/receiving equipment, and the wireless data transmitting/receiving equipment receives control information sent by the remote control equipment of the vehicle-mounted ground station system and path information sent by the ground station host of the vehicle-mounted ground station system; the wireless image transmitting/receiving device transmits the picture or video information shot by the onboard camera to the vehicle-mounted ground station system to be displayed on a main display screen of the vehicle-mounted ground station system.
As above put in unmanned aerial vehicle system of emergency rescue equipment, wherein, preferably, the unmanned aerial vehicle body still has the controller, and the controller is connected with wireless communication equipment.
A people-in-loop emergency rescue equipment releasing method is applied to an unmanned aerial vehicle system of any one of the emergency rescue equipment, and comprises the following steps: step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering; step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment; s330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body; step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system; step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video; step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment; and step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
Compared with the background art, the unmanned aerial vehicle, the system and the method for releasing the emergency rescue equipment can rapidly release the emergency rescue equipment in a full-range coverage manner, reduce the operation conditions corresponding to the release of the emergency rescue equipment, and the vehicle-mounted ground station system can correspondingly move along with the unmanned aerial vehicle body, so that the unmanned aerial vehicle for releasing the emergency rescue equipment can be controlled in a short distance, operators are prevented from directly approaching the scene, and the operation safety is improved; still because unmanned aerial vehicle body and ground station host computer communication connection can fly through the air route that the unmanned aerial vehicle body can plan through the ground station host computer to operating personnel's professional requirement has been reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle system for launching emergency rescue equipment provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an emergency rescue device release cabin provided in an embodiment of the present application;
fig. 3 is a flowchart of a person-in-loop release method for applying an unmanned aerial vehicle system for releasing emergency rescue equipment provided in an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
Referring to fig. 1, fig. 1 is a schematic view of an unmanned aerial vehicle system for launching emergency rescue equipment according to an embodiment of the present application;
the application provides an unmanned aerial vehicle of emergency rescue equipment puts in, as shown in fig. 1, include: unmanned aerial vehicle body 100, cloud platform 110, airborne camera 120, emergency rescue equipment throw in cabin 130.
Wherein, cloud platform 110 fixed mounting is on unmanned aerial vehicle body 100, and preferred the installing is in the front below of unmanned aerial vehicle body 100 to cloud platform 110 is preferred constant speed cloud platform, and horizontal rotation angle is 0 ~ 350. Airborne camera 120 installs on cloud platform 110 to thereby carry its flight through unmanned aerial vehicle body 100 and carry out video image's shooting to the position that unmanned aerial vehicle body 100 flight in-process can be surveyed, and can send the video or the picture of shooing to on-vehicle ground station system 200 through wireless transmission's such as 4G network, wifi, preferred, airborne camera 120 installs the high-definition camera of low latitude.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an emergency rescue device release cabin provided in the embodiment of the present application;
emergency rescue equipment input cabin 130 is fixed in the below of unmanned aerial vehicle body 100, can, connecting hole 131 has been seted up at the top of emergency rescue equipment input cabin 130, and the bolt passes connecting hole 131, puts in cabin 130 with emergency rescue equipment and is fixed in the below of unmanned aerial vehicle body 100.
Specifically, the interior of the emergency rescue equipment release cabin 130 is partitioned into a plurality of independent spaces by partitions 132, so that different rescue equipment or materials are respectively placed in each space of the emergency rescue equipment release cabin 130. And, a corresponding hatch door is opened for each independent space on the side wall or the bottom plate of the emergency rescue device throwing compartment 130, preferably, a corresponding hatch door is opened for each independent space on the bottom plate of the emergency rescue device throwing compartment 130, and a corresponding driving motor 135 is provided for each hatch door to control the hatch door to open and close by the respective driving motor 135, preferably, the hatch door opening and closing control motor 140 is a dc motor.
A projection opening is formed in each independent space on the bottom plate of the emergency rescue device throwing cabin 130, cabin door slide rails 133 are fixedly connected to two opposite sides of each projection opening, and two opposite sides of each cabin door 134 are connected with the two cabin door slide rails 133 of each projection opening in an inserted manner. Specifically, the hatch slides 133 are recessed inward, the two hatchway slides 133 of each projection opening are disposed opposite to each other, and two sides of the hatch 134 are inserted into the recesses to be connected with the recesses of the hatch slides 133 in an inserting manner. The driving motor 135 is connected with the hatch door 134 to drive the hatch door 134 to slide relative to the hatch door slideway 133, so as to control the hatch door 134 to open and close, the driving motor 135 rotates forward the hatch door 134 to be gradually opened, and the driving motor 135 rotates backward the hatch door 135 to be gradually closed. During operation, with categorised emergency rescue equipment of carrying put in cabin 130 hang on unmanned aerial vehicle body 100, open hatch door 134 and put in emergency rescue equipment. Because the unmanned aerial vehicle of putting in emergency rescue equipment that this application embodiment provided has the emergency rescue equipment of placing different types and puts in the cabin to emergency rescue equipment puts in the cabin and can outwards put in emergency rescue equipment, and so can make unmanned aerial vehicle carry emergency rescue equipment and fly to the regional sky that needs put in, and then guaranteed emergency rescue equipment and put in personnel's personal safety, and can also be quick, the putting in emergency rescue equipment that the full scale covered, and reduce the operating condition who corresponds the putting in of emergency rescue equipment.
Preferably, the space between every two adjacent partition plates inside the emergency rescue device throwing cabin 130 is different from the space between every two adjacent partition plates so as to divide the spaces with different sizes, and the spaces with different sizes can be respectively placed in the spaces with different sizes according to the sizes of the emergency rescue devices and materials.
With continued reference to fig. 1, the present application further provides an unmanned aerial vehicle system for delivering emergency rescue equipment, which includes a vehicle-mounted ground station system 200 and the above unmanned aerial vehicle for delivering emergency rescue equipment, wherein the vehicle-mounted ground station system 200 includes a ground station host 210, a remote control device 220, a main display screen 230 for displaying pictures or videos, and a sub-display screen 240 for displaying paths. The ground station host 210, the remote control device 220, the main display screen 230 and the auxiliary display screen 240 are all vehicle-mounted devices and can move along with the automobile; and ground station host computer 210 and unmanned aerial vehicle body 100 communication connection, remote control equipment 220 and ground station host computer 210 communication connection. In addition, the main display 230 and the sub display 240 are disposed side by side so as to simultaneously observe the real-time environment of the flight and the planned path, and to timely adjust the planned path according to the actual flight environment. In addition, the main display 230 and the sub-display 240 are high-definition displays, and the remote control device 220 is an airplane model remote controller.
Specifically, the ground station host 210 is the core of the on-vehicle ground station system 200, and has a main function of generating a path plan according to the motion of the remote control device 220 and displaying the path plan on the secondary display screen 240. Ground station host computer 210 is unmanned aerial vehicle body 100 communication connection, provides path information for unmanned aerial vehicle body 100 to make unmanned aerial vehicle body 100 fly according to the path information that ground station host computer 210 provided. The remote control device 220 is in communication connection with the ground station host 210; on one hand, according to an operation command (an addition command, a modification command, a deletion command and the like) sent by the remote control device 220, the ground station host 210 modifies the path information and sends the modified path information to the unmanned aerial vehicle body 100, and the modified path information is displayed on the secondary display screen 240, wherein the operation command sent by the remote control device 220 is sent according to the picture and the video displayed by the primary display screen 230 and the path information displayed by the secondary display screen 240; on the other hand, according to the releasing command sent by the remote control device 220, the ground station host 210 sends the releasing command to the drone body 100, and the drone body 100 controls the driving motor 135 to rotate according to the releasing command, so as to open or close the hatch door. The main display 230 and the sub display 240 are both fixed in the car, wherein the main display 230 is used for displaying pictures or videos taken by the onboard camera 120, and the sub display 240 is used for displaying the path information planned by the ground station host 210.
In addition, the ground station host 210 system further has an RTK-GPS reference station, the main body 100 of the drone further has an RTK-GPS rover, and during flight of the main body 100 of the drone, the RTK-GPS rover of the main body 100 of the drone and the RTK-GPS reference station of the ground station system 200 synchronously observe GPS satellites, so that the azimuth information, the position information and the course angle of the main body 100 of the drone are resolved in real time and differentially, and the main body 100 of the drone is used for adjusting the path.
The ground station system of the unmanned aerial vehicle system for releasing the emergency rescue equipment is the vehicle-mounted equipment, so that the ground station system can correspondingly move along with the unmanned aerial vehicle body, the unmanned aerial vehicle for releasing the emergency rescue equipment can be controlled in a short distance, direct approach of operators to the site is avoided, and the operation safety is improved; the unmanned aerial vehicle body is in communication connection with the ground station host, so that the unmanned aerial vehicle body can fly by the air route planned by the ground station host, and the professional requirements of operators are reduced; in addition, still because the picture or the video of shooing are shown to the main display screen, vice display screen is used for showing the good route of ground station host computer planning, consequently operating personnel can more audio-visual contrast route and actual flight environment, is favorable to operating personnel to in time carry out the route adjustment according to actual flight environment, for example: adding, modifying and deleting path information.
On the basis, the unmanned aerial vehicle local machine 100 is provided with wireless communication equipment, the wireless communication equipment is in communication connection with the vehicle-mounted ground station system 200 to receive information sent by the vehicle-mounted ground station system 200 or send information to the vehicle-mounted ground station system 200, and the communication distances of the preferred wireless communication equipment, the remote control equipment 220 and the ground station host 210 are all 0-3000 m. For example: the communication can be carried out by using wireless communication modes such as a 4G network, a 5G network, a Wireless Local Area Network (WLAN), wifi, a broadband satellite system and the like. Specifically, the wireless communication devices may be classified into a wireless data transmission/reception device 150 and a wireless image transmission/reception device 160. Wherein, the wireless data transmitting/receiving device 150 receives the control information transmitted by the remote control device 220 of the on-vehicle ground station system 200 and the path information transmitted by the ground station host 210 of the on-vehicle ground station system 200; the wireless image transmitting/receiving device 160 transmits the picture or video information photographed by the on-board camera 120 to the on-board ground station system 200 to be displayed on the main display 230 of the on-board ground station system 200.
Unmanned aerial vehicle body 100 still has the controller, and the controller is connected with wireless communication equipment to fly along planned air route through path information control unmanned aerial vehicle body 100, and it is the prior art in unmanned aerial vehicle field that controller control unmanned aerial vehicle body 100 flies according to planned air route. The controller is also coupled to the onboard camera 120 to send pictures or video taken by the onboard camera 120 to the ground station system 200 and displayed on the primary display 230. The controller is also connected to the driving motor 135 to control the driving motor 135 to rotate forward or backward according to the control information.
In addition, the unmanned aerial vehicle system for releasing the emergency rescue equipment further comprises a battery pack, wherein the part of the battery pack, which is arranged on the unmanned aerial vehicle body 100, is electrically connected with the airborne camera 120, the wireless communication equipment, the controller and the driving motor 135 so as to provide electric energy for each electric appliance arranged on the unmanned aerial vehicle body 110; some of the batteries mounted on the vehicle-mounted ground station system 200 in the battery pack are electrically connected to the ground station host 210, the remote control device 220, the main display screen 230, and the sub display screen 240 to provide electric power to the electrical appliances of the vehicle-mounted ground station system 200.
Fig. 3 is a flowchart of a person-in-loop release method for applying an unmanned aerial vehicle system for releasing emergency rescue equipment provided in an embodiment of the present application;
the application also provides a method for releasing the emergency rescue equipment in the human-in-circuit, and an unmanned aerial vehicle system for releasing the emergency rescue equipment comprises the following steps:
step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering;
hovering means that the unmanned aerial vehicle body keeps the flight state of the space position basically unchanged at a certain height, at the moment, no path information exists, and the controller of the unmanned aerial vehicle body automatically controls the unmanned aerial vehicle body to ascend and keep hovering to wait for receiving the path information.
And the operator uses the remote control equipment to plan an initial path on the ground station host according to the destination of the task, and then the ground station host sends the initial path information to the controller of the unmanned aerial vehicle body. Step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment;
the controller of unmanned aerial vehicle body is according to the path information that wireless communication equipment received, and the unmanned aerial vehicle body begins to carry out autonomic flight from the state of hovering.
The path information refers to path planning information and includes a whole flight path formed by a series of coordinate points. The ground station host of the vehicle-mounted ground station system sends the information to the controller of the unmanned aerial vehicle body through the wireless communication equipment, and in the autonomous flight process, the controller receives the path information to control the unmanned aerial vehicle body to track planned flight path running through comparing the position, the course angle and the distance and the direction of a coordinate point on the flight path according to an algorithm written in advance in the unmanned aerial vehicle body controller. In addition, still show this route information at the vice display screen of on-vehicle ground station system to the audio-visual route that the unmanned aerial vehicle body will fly of demonstration of operating personnel.
S330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body;
because the unmanned aerial vehicle body carries the flight of airborne camera, consequently the airborne camera can carry out picture or video shooting to the position that unmanned aerial vehicle body flight in-process can be surveyed.
Step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system;
the received picture or video of main display screen display show to show in real time, so that operating personnel observes the environment that unmanned aerial vehicle body flies in real time, can in time adjust the flight path who plans according to real-time flight environment, and continue to show the path information who has adjusted on the vice display screen of ground station system.
Step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video;
the ground station host changes the current path information according to the operation command of the remote control device, displays the changed path information on the auxiliary display screen, and sends the changed path information to the controller of the unmanned aerial vehicle body. The controller of unmanned aerial vehicle body is according to the route information, and control unmanned aerial vehicle body flies along the route that plans.
Step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment;
in the route information flight in-process after according to the adjustment, after the unmanned aerial vehicle body waited to reach the target location, operating personnel used remote control equipment to send the input command, ground station host computer sent the input command for the controller of unmanned aerial vehicle body, controller control driving machine corotation or reversal, opened the hatch door that emergency rescue equipment put in the cabin to put in the emergency rescue equipment put in the cabin emergency rescue equipment.
And step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
In the application, when an unmanned aerial vehicle system for putting emergency rescue equipment is in a working state, the unmanned aerial vehicle body is prevented from being directly controlled, and an operator can change the path planning of the unmanned aerial vehicle body according to a displayed picture or video to control the unmanned aerial vehicle body to fly autonomously; in addition, an operator can control the unmanned aerial vehicle body to release emergency rescue equipment according to the environment information received by the remote control equipment, so that the release of the rescue equipment is realized at a long distance, the manpower, the financial resources and the material resources are saved to a greater extent, and the rescue cost is reduced; meanwhile, the response speed is high, the requirement on professional operators is low, the operation is fast, and the rescue efficiency is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An unmanned aerial vehicle for putting in emergency rescue equipment is characterized by comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a cloud deck, an airborne camera and a first aid throwing cabin;
the cloud deck is fixedly installed on the unmanned aerial vehicle body, and the airborne camera is installed on the cloud deck and used for shooting pictures or videos;
emergency rescue equipment puts in cabin fixed mounting in the below of unmanned aerial vehicle body, its inside a plurality of independent spaces of separating through the baffle to set up corresponding hatch door for every independent space on the lateral wall or the bottom plate in emergency rescue equipment putting in cabin, every hatch door all sets up corresponding driving motor, in order to control the hatch door switching through respective driving motor.
2. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 1, wherein a corresponding hatch is provided in each of the separate spaces on the floor of the cabin for launching emergency rescue equipment.
3. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 2, wherein a launch opening is provided for each independent space on a bottom plate of the launch cabin for the emergency rescue equipment, cabin door slides are fixedly connected to two opposite sides of the launch opening, and two opposite sides of the cabin door are in plug-in connection with the two cabin door slides of each launch opening.
4. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 3, wherein the cabin door slides are recessed inward, the grooves of the two cabin door slides of each launch opening are arranged opposite to each other, and both sides of the cabin door are inserted into the grooves to be connected with the grooves of the cabin door slides in an inserting manner.
5. An unmanned aerial vehicle system for releasing emergency rescue equipment, comprising: the unmanned aerial vehicle for putting in emergency rescue equipment comprises a vehicle-mounted ground station system and the unmanned aerial vehicle for putting in emergency rescue equipment, wherein the vehicle-mounted ground station system is in communication connection with the unmanned aerial vehicle for putting in emergency rescue equipment.
6. An unmanned aerial vehicle system for delivering emergency rescue equipment as claimed in claim 5, wherein the vehicle-mounted ground station system comprises a ground station, a remote control device, a main display screen for displaying pictures or videos, and a secondary display screen for displaying paths, the ground station host, the remote control device, the main display screen and the secondary display screen are all vehicle-mounted devices, the ground station host is in communication connection with the unmanned aerial vehicle body, and the remote control device is in communication connection with the ground station host.
7. An unmanned aerial vehicle system for releasing emergency rescue equipment as claimed in claim 6, wherein the unmanned aerial vehicle is provided with a wireless communication device, and the wireless communication device is in communication connection with the vehicle-mounted ground station system to receive information sent by the vehicle-mounted ground station system or send information to the vehicle-mounted ground station system.
8. The unmanned aerial vehicle system for releasing emergency rescue equipment as claimed in claim 7, wherein the wireless communication equipment is divided into wireless data transmitting/receiving equipment and wireless image transmitting/receiving equipment, and the wireless data transmitting/receiving equipment receives control information transmitted by remote control equipment of the vehicle-mounted ground station system and path information transmitted by a ground station host of the vehicle-mounted ground station system; the wireless image transmitting/receiving device transmits the picture or video information shot by the onboard camera to the vehicle-mounted ground station system to be displayed on a main display screen of the vehicle-mounted ground station system.
9. An unmanned aerial vehicle system for delivering emergency rescue equipment as claimed in claim 7, wherein the unmanned aerial vehicle body further comprises a controller, and the controller is connected with the wireless communication device.
10. An emergency rescue device putting method for people in a loop, which is applied to an unmanned aerial vehicle system of the emergency rescue device as claimed in any one of claims 5 to 9, and comprises the following steps:
step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering;
step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment;
s330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body;
step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system;
step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video;
step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment;
and step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
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| CN201911299712.7A CN110816839A (en) | 2019-12-17 | 2019-12-17 | Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof |
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| CN201911299712.7A CN110816839A (en) | 2019-12-17 | 2019-12-17 | Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof |
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