CN111341060A - Forest fire prevention system based on unmanned aerial vehicle discernment location - Google Patents
Forest fire prevention system based on unmanned aerial vehicle discernment location Download PDFInfo
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- CN111341060A CN111341060A CN202010214187.0A CN202010214187A CN111341060A CN 111341060 A CN111341060 A CN 111341060A CN 202010214187 A CN202010214187 A CN 202010214187A CN 111341060 A CN111341060 A CN 111341060A
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- 230000002265 prevention Effects 0.000 title claims abstract description 25
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003331 infrared imaging Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a forest fire prevention system based on unmanned aerial vehicle identification and positioning, which comprises an unmanned aerial vehicle, a server and a remote control transmitter, wherein the unmanned aerial vehicle comprises a remote control receiver, a flight control module, an image acquisition module, an electric speed regulator and a motor, the flight control module is connected with the remote control receiver, the remote control receiver is in communication connection with the remote control transmitter, the image acquisition module captures a forest ignition source picture and transmits ignition source data to a control center through the flight control module, the flight control module is also connected with a GPS and a gyroscope, the flight control module combines the GPS with the gyroscope to transmit the position data of the unmanned aerial vehicle to the server, and the flight control module is connected with the motor through the electric speed regulator.
Description
Technical Field
The invention relates to the field of forest fire prevention, in particular to a forest fire prevention system based on unmanned aerial vehicle identification and positioning.
Background
Traditional unmanned aerial vehicle forest fire prevention equipment is based on open fire. The identification and detection cannot be well finished for some phenomena such as smoldering fire, combustion and the like. Relying on manual work is slow and requires a great deal of experience. The prior art is as follows: the detection is carried out based on infrared imaging, and data often need to be returned, processed and analyzed, and is not timely enough.
CN201310712044.2, a forest fire prevention patrol system, the invention provides a forest fire prevention patrol system, which comprises a high-definition camera forest fire prevention monitoring terminal, an analog camera forest fire prevention monitoring terminal, a sensor terminal, a server side and an unmanned aerial vehicle; the high-definition camera forest fire prevention monitoring terminal is connected with the server end through a wireless network, the analog camera forest fire prevention monitoring terminal is connected with the server end through a wired network, and the sensor terminal is connected with the server end through satellite communication; the server side comprises a master control server, an access server, a navigation server, a log server, a permission management server, a video analysis server and a data analysis server; the system also comprises a remote control unmanned aerial vehicle, wherein a high-definition camera is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle is connected with the server end through the satellite communication module to receive the control of the server end and transmit the received image to the server end, but the system processes the data by feeding the data back to the server end, so that the time consumption is long, and certain requirements are met on the processing and storage capacity of the server.
Therefore, a faster forest fire prevention system is needed, which can directly find the ignition source and feed back the position data of the ignition source to the user side through the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a forest fire prevention system based on unmanned aerial vehicle identification and positioning, a forest fire source is captured by the unmanned aerial vehicle, and position and picture information is sent to a server user side;
in order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a forest fire prevention system based on unmanned aerial vehicle discernment location, the system is including unmanned aerial vehicle, server and remote control transmitter, unmanned aerial vehicle is including remote control receiver, flight control module, image acquisition module, electricity accent and motor, flight control module with remote control receiver connects, remote control receiver with remote control transmitter communication connection, image acquisition module is through catching forest ignition source picture to the ignition source data passes through flight control module send to control center, still be connected with GPS and gyroscope on the flight control module, flight control module passes through GPS combines the gyroscope will unmanned aerial vehicle's position data send to the server, flight control module passes through the electricity accent with the motor is connected.
Preferably, the image acquisition module comprises an infrared imager and an image processing unit, and the infrared imager is connected with the image processing unit.
Preferably, the unmanned aerial vehicle is further provided with a PCB and a holder, the flight control module is arranged on the PCB, and the image acquisition module is arranged on the holder.
Preferably, the model of the singlechip in the flight control module is STM32, and the model of the singlechip in the image processing unit is rk 3399.
Preferably, the frame of the unmanned aerial vehicle is a carbon fiber frame.
Preferably, the unmanned aerial vehicle is further provided with a power supply unit, and the power supply unit selects a lithium battery.
Preferably, the gyroscope is a three-axis gyroscope, wherein the unmanned aerial vehicle is further provided with a three-axis accelerometer and a three-axis magnetometer.
Preferably, the server is further provided with an alarm unit, and the alarm unit is triggered to respond after the server receives the forest ignition source data sent by the flight control module.
Compared with the prior art, the invention has the beneficial effects that:
1. the method comprises the steps that after data are collected through infrared imaging carried by an unmanned aerial vehicle, identification is completed in unmanned aerial vehicle flight control;
2. the alarm unit triggers rapidly, can let the staff in time handle to the ignition source.
Drawings
FIG. 1 is a block diagram of a forest fire prevention system based on unmanned aerial vehicle identification and positioning;
FIG. 2 is a diagram of a model building network in a rk3399 microprocessor according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 2 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other implementations made by those of ordinary skill in the art based on the embodiments of the present invention are obtained without inventive efforts.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
The utility model provides a forest fire prevention system based on unmanned aerial vehicle discernment location, the system is including unmanned aerial vehicle, server and remote control transmitter, unmanned aerial vehicle is including remote control receiver, flight control module, image acquisition module, electricity accent and motor, flight control module with remote control receiver connects, remote control receiver with remote control transmitter communication connection, image acquisition module is through catching forest ignition source picture to the ignition source data passes through flight control module send to control center, still be connected with GPS and gyroscope on the flight control module, flight control module passes through GPS combines the gyroscope will unmanned aerial vehicle's position data send to the server, flight control module passes through the electricity accent with the motor is connected.
It is worth to say that, the image acquisition module comprises an infrared imager and an image processing unit, and the infrared imager is connected with the image processing unit; the unmanned aerial vehicle also comprises a PCB circuit board and a holder, the flight control module is arranged on the PCB circuit board, and the image acquisition module is arranged on the holder; the model of the single chip microcomputer in the flight control module is STM32, and the model of the single chip microcomputer in the image processing unit is rk 3399; the frame of the unmanned aerial vehicle is a carbon fiber frame; the unmanned aerial vehicle is also provided with a power supply unit, the power supply unit is a lithium battery, and a power supply module is designed by adopting a power supply management chip ti; the gyroscope is a three-axis gyroscope, wherein a three-axis accelerometer and a three-axis magnetometer are further arranged on the unmanned aerial vehicle; the server is also provided with an alarm unit, when receiving forest ignition source data sent by the flight control module, the server triggers the alarm unit to respond, 2.4G is adopted for remote control, and a method for properly increasing the transmitting power can be adopted for realizing remote transmission.
It is worth to be noted that the flight control algorithm process is a 16-bit AD value obtained by combining a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer, and the motor is controlled by PWM (pulse width modulation) output by PID control after the Mahony algorithm is adopted. Remote control signal data is accessed at the PID. And acquiring the geographic information through an STM32+ GPS module. The infrared imager delivers the acquired image to rk3399 for processing. The Rk3399 judges the transmitted data through a pre-trained model, if the judgment result is that there is a smoldering fire or the possibility of reburning, 3399 communicates with stm32 through uart and requests stm32 to transmit the read geographical position to the staff side through data.
It is worth to be noted that the neural network adopted by the training model pre-stored in rk3399 is obtained by training 50 ten thousand data in total, wherein the training set is 40 ten thousand, the verification set is 10 ten thousand, and the test set is 10 ten thousand, and the optimization algorithm of the loss function in tensoflow is used.
It is worth mentioning that the input data: defining the input to a two-dimensional array (x1, x2), the data is randomly generated by numpy, defining the output as 0 or 1, if x1+ x2<1, then y is 1, otherwise y is 0. Hiding the layer: two hidden layers are defined, parameters of the hidden layers are (2,3), in this embodiment, 3 hidden layers and two rows and three columns of matrixes are selected, after input data passes through the hidden layers, output data is (1,3), t output data can be obtained through multiplication operation between the matrixes, and a loss function is: cross entropy is used as a loss function of the neural network, and a commonly used loss function is also a squared error, an optimization function: the 0-function is minimized by optimizing a function, wherein Adadelta algorithm is adopted for optimization, and a gradient descent algorithm is also commonly used, and data are output: and (3) passing the output data of the hidden layer through the parameters of (3,1) to output a one-dimensional vector with the value of 0 or 1.
It should be noted that, in this embodiment, an alarm lamp and a buzzer are provided for the alarm unit, and when the flight control module triggers the alarm lamp and the buzzer on the server to respond, the alarm lamp and the buzzer must be manually turned off by a worker, and the alarm lamp and the buzzer stop working until the next alarm is triggered.
In summary, the implementation principle of the invention is as follows: the unmanned aerial vehicle is added with an infrared detection function, forest smoldering fire detection efficiency is improved, transmitted data are judged on Rk3399 through a pre-trained model, if the judgment result is that smoldering fire exists or reburning is possible, 3399 communicates with stm32 through uart and stm32 and requests the stm32 to transmit the read geographic position to a worker through data.
Claims (8)
1. The utility model provides a forest fire prevention system based on unmanned aerial vehicle discernment location, its characterized in that, the system is including unmanned aerial vehicle, server and remote control transmitter, unmanned aerial vehicle is including remote control receiver, flight control module, image acquisition module, electricity accent and motor, flight control module with remote control receiver connects, remote control receiver with remote control transmitter communication connection, image acquisition module is through catching forest ignition source picture to pass through ignition source data flight control module send to control center, still be connected with GPS and gyroscope on the flight control module, flight control module passes through GPS combines the gyroscope will unmanned aerial vehicle's position data send to the server, flight control module passes through the electricity accent with the motor is connected.
2. The forest fire prevention system based on unmanned aerial vehicle identification and positioning as claimed in claim 1, wherein the image acquisition module comprises an infrared imager and an image processing unit, and the infrared imager is connected with the image processing unit.
3. The forest fire prevention system based on unmanned aerial vehicle identification and positioning as claimed in claim 2, wherein the unmanned aerial vehicle further comprises a PCB circuit board and a cradle head, the flight control module is disposed on the PCB circuit board, and the image acquisition module is disposed on the cradle head.
4. A forest fire prevention system based on unmanned aerial vehicle discernment location according to claim 3, characterized in that the model of the processor of flight control module is STM32, and the model of the processor of image processing unit is rk 3399.
5. A forest fire prevention system based on unmanned aerial vehicle discernment location according to claim 1, characterized in that, the frame of unmanned aerial vehicle chooses the carbon fiber frame.
6. The forest fire prevention system based on unmanned aerial vehicle discernment location of claim 1, characterized in that, still be provided with power supply unit on the unmanned aerial vehicle, power supply unit chooses for use the lithium cell.
7. A forest fire prevention system based on unmanned aerial vehicle discernment location according to claim 1, characterized in that, the gyroscope chooses for use three-axis gyroscope, wherein, still be provided with three-axis accelerometer and three-axis magnetometer on the unmanned aerial vehicle.
8. The forest fire prevention system based on unmanned aerial vehicle identification and positioning as claimed in claim 1, wherein an alarm unit is further arranged on the server, and the alarm unit is triggered to respond after the server receives forest fire source data sent by the flight control module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010214187.0A CN111341060A (en) | 2020-03-24 | 2020-03-24 | Forest fire prevention system based on unmanned aerial vehicle discernment location |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010214187.0A CN111341060A (en) | 2020-03-24 | 2020-03-24 | Forest fire prevention system based on unmanned aerial vehicle discernment location |
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Application publication date: 20200626 |