CN111522030B - Mountain area missing person search and rescue system based on unmanned aerial vehicle group and Beidou positioning - Google Patents
Mountain area missing person search and rescue system based on unmanned aerial vehicle group and Beidou positioning Download PDFInfo
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- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning, which relates to the technical field of tourism safety and comprises a missing person rescue terminal and a search and rescue communication integrated system, wherein the missing person rescue terminal comprises a positioning module, a sign monitoring module, a control module and a signal transmitting module; the output end of the physical sign monitoring module is bidirectionally connected with the control module, and the output end of the control module is connected with the transmitting module; the physical sign monitoring module comprises a temperature sensor and a pulse sensor, and the temperature sensor and the pulse sensor are respectively connected with the control module; the invention has the advantage that the missing person can be searched in an optimal way under the condition that the missing person cannot send help seeking information autonomously.
Description
Technical Field
The invention relates to the technical field of travel safety, in particular to a mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning.
Background
Mountain scenic spots are areas with more travel safety accidents. As the landscape of the mountain is characterized by high and rugged terrain, rare population, changeable weather, traffic blockage, poor accessibility for sightseeing in the landscape and the like, tourists are easy to fall down or fall down onto a cliff, get lost, lose track or couplet and other tourism safety accidents. As tourists escape tickets or have intentionally explored no open routes, the missing or casualty events of tourists in all mountainous scenic spots in China are rare in nearly 10 years. The complex mountain scenic spot is often extensive, and safety monitoring and field emergency measure can't accomplish full coverage and real-time rescue, and the search and rescue degree of difficulty of missing visitor is nearly 5 times more than general scenic spot. Meanwhile, the visitors in danger often cannot judge the accurate position and the change state of the health of the visitors, and the best time for rescue is delayed. Therefore, emergency rescue aiming at mountain tourism safety is a common technical problem faced by scenic spot managers, tourists and professional mountain rescue teams.
According to the prior art, through an unmanned aerial vehicle set and a navigation positioning system, a signal sent by a positioning mobile terminal held by a missing person is used for searching and rescuing the missing person, but in a complex mountain environment, the missing person is likely to encounter various accidents, so that the positioning mobile terminal is difficult to automatically start under an abnormal physical sign state, and a distress message cannot be sent to a searching device, so that the missing person cannot be monitored when the unmanned aerial vehicle set passes through the area where the missing person is located, even after multiple times of monitoring, the area is probably determined to be free of the missing person, and the missing person turns to other areas to continue to detect, so that the missing person completely misses the opportunity of rescue. Consequently, the location mobile terminal that personnel wore need possess the automatic start function, in the region of unmanned aerial vehicle flying over personnel, can automatic start communicate with unmanned aerial vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning.
The purpose of the invention is realized by the following technical scheme:
a mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning comprises a missing person rescue terminal and a search and rescue communication integrated system;
the missing person rescue terminal comprises an electric quantity monitoring unit, a positioning module, a physical sign monitoring module, a control module, a signal receiving unit, a first WiFi module and a transmitting module; the electric quantity monitoring unit, the positioning module, the physical sign monitoring module, the signal receiving unit, the first WiFi module and the transmitting module are respectively connected with the control module;
the physical sign monitoring module comprises a temperature sensor, a standby temperature sensor, a pulse sensor and a standby pulse sensor, and the temperature sensor, the standby temperature sensor, the pulse sensor and the standby pulse sensor are respectively connected with the control module;
the temperature sensor and the standby temperature sensor are used for acquiring the body temperature and the change rate of the body temperature;
the pulse sensor and the standby pulse sensor are used for acquiring human body pulse and pulse change rate;
a storage module is arranged in the control module, and normal body temperature range data, normal body temperature change rate range data, pulse change range data and pulse change rate range data are stored in the storage module;
the work steps of the missing person rescue terminal for automatically sending the help seeking information are as follows:
s1, the temperature sensor and the pulse sensor monitor the human body, acquire the real-time body temperature and the change rate of the body temperature, the real-time pulse and the change rate of the pulse and transmit the two data to the control module;
s2, if the real-time body temperature signal or the real-time pulse signal acquired by the control module does not fluctuate, executing S3, otherwise executing S4;
s3, if the real-time body temperature signal acquired by the control module does not fluctuate, controlling the standby temperature sensor to monitor the human body, acquiring the real-time body temperature and the body temperature change rate, and executing S4; if the real-time pulse signals acquired by the control module do not fluctuate, controlling the standby pulse sensor to monitor the human body, acquiring real-time pulse and pulse change rate, and executing S4;
s4, the control module compares the received real-time body temperature change rate with the normal body temperature change rate, compares the received real-time pulse change rate with the normal pulse change rate, if the real-time body temperature change rate is not in the normal body temperature change rate range or the real-time pulse change rate is not in the normal pulse change rate, judges the real-time body temperature change rate to be abnormal physical sign, executes the next step, if the real-time body temperature change rate is in the normal body temperature change rate range and the real-time pulse change rate is in the normal pulse change rate, executes the step S1;
s5, the control module controls the signal transmitting module to transmit a distress signal according to the time interval T1;
the distress signal comprises a first position information coordinate point, real-time body temperature and body temperature change rate, and real-time pulse and pulse change rate;
the search and rescue communication integrated system comprises a Beidou communication system, an unmanned aerial vehicle search and rescue system and a ground communication system;
the Beidou communication system comprises a Beidou satellite navigation and positioning system, the ground communication system comprises a ground control station, the unmanned aerial vehicle search and rescue system comprises an unmanned aerial vehicle set, each unmanned aerial vehicle in the unmanned aerial vehicle set comprises a processor, and a Beidou positioning module, a wireless data transmission module, an image transmission module, a plurality of brushless motors, an AHRS module, an air pressure altimeter, a high-definition camera, a power supply and a receiving and transmitting unit which are connected with the processor, the Beidou positioning module is connected with the Beidou satellite navigation and positioning system, the wireless data transmission module and the image transmission module are connected with the ground control station, the high-definition camera is connected with the image transmission module, the brushless motors, the AHRS module and the air pressure altimeter are respectively connected with the processor, the processor is an ARMCortex-M7 embedded processor, the wireless data transmission module is an NRF24L01 remote wireless transmission module, an NRF24L01 long-distance wireless transmission module is externally connected to an SPI interface of the ARMCortex-M7 processor, and forms a data link communication system with another NRF24L01 wireless module on the ground control station, so that data interaction between the ground control station and the unmanned aerial vehicle is realized, navigation positioning information and ground control instructions are transmitted to an unmanned aerial vehicle group system, and meanwhile, the ground control station can also receive feedback information of the unmanned aerial vehicle group in real time;
wherein, unmanned aerial vehicle search and rescue system search and rescue process as follows:
s1, dividing the area to be searched and rescued into a plurality of square areas by the ground control station,
s2, controlling the staying time of the unmanned aerial vehicle set in each square area to be T2, wherein T1 is less than T2;
s3, when the unmanned aerial vehicle set receives a distress signal sent by a transmitting unit of the missing person rescue terminal through a signal receiving unit in the flight process, the distress signal is transmitted to a ground control station through a wireless data transmission module;
s4, after the ground control station receives the distress signal sent by the unmanned aerial vehicle, the ground control station controls the unmanned aerial vehicle to approach to a first position information coordinate point in the distress signal;
s5, after the unmanned aerial vehicle set reaches the first position information coordinate point, shooting an image of the first position information coordinate point through a high-definition camera, and transmitting the image to the ground control station through an image transmission module;
s6, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, the next step is performed, if the missing person is seen, step S11 is performed,
s7, the ground control station controls the unmanned aerial vehicle set to send an activation signal;
s8, a signal receiving unit of the missing person rescue terminal receives an activation signal and sends the activation signal to a control module, the control module controls a first WiFi module to start, the unmanned aerial vehicle set collects Wi-Fi data packets sent by the first WiFi module at a plurality of points through the signal receiving unit, and then through a trilateral positioning algorithm, the latest position coordinate information of the missing person rescue terminal is found and transmitted to a ground control station;
s9, the ground control station controls the unmanned aerial vehicle set to reach the latest position coordinate, controls the unmanned aerial vehicle set to shoot an image of the latest position coordinate through the high-definition camera, and transmits the image to the ground control station through the image transmission module;
s10, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, executing step S7, if the missing person is seen, executing step S11;
s11, the ground control station sends out an instruction to send the search and rescue personnel to rescue;
wherein be provided with second wiFi module, Wi-Fi antenna in the unmanned aerial vehicle, unmanned aerial vehicle passes through second wiFi module, Wi-Fi antenna and confirms that the position of missing personnel still includes following content:
1. the unmanned aerial vehicle provides Wi-Fi connection for the rescue terminal of the missing person through the second WiFi module;
2. the unmanned aerial vehicle collects Wi-Fi data packets sent by a rescue terminal of the missing person by using a carried Wi-Fi antenna;
3. the processor analyzes the Wi-Fi data packets so as to determine the position of the missing person;
to sum up, the process of completing the rescue by coordinating the rescue terminal of the missing person with the unmanned aerial vehicle search and rescue system is as follows:
step 1, a physical sign monitoring module collects human body physical sign data in real time;
step 2, judging whether a sensor in the physical sign monitoring module has a fault, if so, executing the next step, otherwise, executing the step 4;
step 3, starting the standby sensor and executing step 4
Step 4, judging whether the human body is in an abnormal physical sign state or not through the collected real-time human body physical sign data; if yes, executing step 5, otherwise, executing step 1;
step 5, the missing person rescue terminal sends a distress signal according to a time interval T1;
step 6, the unmanned aerial vehicle receives the distress signal, reaches a first position information coordinate point in the distress signal under the control of the ground control station, takes a picture and transmits the picture to the ground control station;
step 7, the ground control station judges whether the missing person can be seen or not through the image, if not, the next step is executed, and if yes, the step 9 is executed;
step 8, the unmanned aerial vehicle finds the latest position information by sending an activation signal and WiFi positioning, reaches the position under the control of the ground control station, takes a picture and transmits the picture to the ground control station, and step 7 is executed;
and 9, dispatching search and rescue personnel to rescue by the ground control station.
Further, body temperature grade data are stored in the storage module, and the body temperature grade data comprise a lower normal body temperature limit C1, an upper normal body temperature limit C2, a lower dangerous body temperature limit C3 and an upper dangerous body temperature limit C4; wherein C3< C1< C2< C4;
the time interval T1 may change as follows:
step 1, a control module receives a real-time body temperature Ci monitored by a temperature sensor;
step 2, judging whether Ci is more than or equal to C1 and less than or equal to C2, if so, executing step 3, otherwise, executing step 4;
step 3, the control module monitors the residual electric quantity of the missing person rescue terminal in real time through the electric quantity monitoring unit, the more the residual electric quantity is, the shorter the time interval T1 is, the less the residual electric quantity is, and the longer the time interval T1 is;
step 4, judging whether Ci is more than or equal to C3 and less than C1 or C2 and Ci is more than or equal to C4, if so, executing step 5, otherwise, executing step 6;
step 5, the closer Ci is to C3 or the closer Ci is to C4, the shorter the time interval TI;
and 6, the control module controls the transmitting unit to continuously transmit the distress signal.
Furthermore, the Beidou communication system, the unmanned aerial vehicle search and rescue system, the ground communication system and the related information infrastructure select a proper communication system integration mode according to the topographic features of the mountainous scenic region, and the communication system established on the ground of the scenic region is used as a search and rescue communication transmission link of the public network coverage area.
Preferably, the AHRS module includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer.
Preferably, the high-definition camera is a CCD camera.
Preferably, the number of unmanned aerial vehicles in the unmanned aerial vehicle group is not less than three.
The invention has the beneficial effects that:
1. the invention has the innovation points that in the process of monitoring the human body by the temperature sensor and the pulse sensor, a process of fault judgment is carried out on the temperature sensor and the pulse sensor, if the temperature sensor or the pulse sensor has faults, the corresponding standby temperature sensor or the standby pulse sensor is started for monitoring, if the condition that the missing person is in an abnormal physical sign state is monitored, the control module controls the transmitting unit to transmit a distress signal according to a time interval T1, and the electric quantity is also saved as much as possible.
2. Another innovation point of the invention is that the area to be searched and rescued is divided into a plurality of square areas, the time for searching and rescuing by the unmanned aerial vehicle in each square area is T2, T2 is greater than T1, the unmanned aerial vehicle can receive the distress signal, the cooperation between the unmanned aerial vehicle search and rescue system and the rescue terminal of the missing person is embodied, meanwhile, the error of the positioning of the first position information coordinate point of the rescue terminal of the missing person is considered, when the unmanned aerial vehicle flies to the first position information coordinate point, the first position information coordinate point is photographed and transmitted to the ground control station, if the ground control station does not see the missing person in the picture, the first position information coordinate point is proved to be true wrong, if the rescue terminal of the missing person is just in the time period of not sending the distress signal at the moment, the waiting is needed, the optimal rescue time is missed, so the unmanned aerial vehicle sends the activation signal, the signal receiving unit of the missing person rescue terminal receives an activation signal and sends the activation signal to the control module, the control module controls the first WiFi module to be started, the unmanned aerial vehicle set collects Wi-Fi data packets sent by the first WiFi module at a plurality of points through the signal receiving unit, then through a trilateral positioning algorithm, the latest position coordinate information of the missing person rescue terminal is found and transmitted to the ground control station, the ground control station controls the unmanned aerial vehicle set to reach the latest position coordinate, the unmanned aerial vehicle set is controlled to shoot images of the latest position coordinate through the high-definition camera, the images are transmitted to the ground control station through the image transmission module, if the rescuing person cannot be seen, the positioning, the moving and the photographing are continued until the missing person is found, and the synergistic effect of the unmanned aerial vehicle search and rescue system and the missing person rescue terminal is also reflected.
3. One innovation point of the invention is that if the temperature of the human body is lower than a certain limit value or higher than a certain limit value, the human body is probably in a dangerous state at the moment, if the distress signal is sent according to the original time interval T1, the missing person is probably to miss the best chance of searching for help when the unmanned aerial vehicle obtains the distress signal, and the relation between the electric quantity and the time interval T1 is not considered, so that the body temperature grade data is stored in the storage module to judge which interval the real-time body temperature of the human body is located, and if the body temperature of the human body is in a normal interval, the length of the time interval T1 is determined according to the electric quantity; if the body temperature of the human body is already in an abnormal or obviously dangerous state needing treatment, the sending frequency of the time interval T1 is determined according to the danger degree without considering the electric quantity.
Drawings
FIG. 1 is a flow chart of a method of the present invention for a missing person to rescue a terminal;
fig. 2 is a flowchart of a method of the unmanned aerial vehicle search and rescue system of the present invention;
FIG. 3 is a flow chart of a method of varying the time interval T1 of the present invention;
FIG. 4 is a schematic diagram of the trilateration algorithm of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
According to the prior art, through an unmanned aerial vehicle set and a navigation positioning system, a signal sent by a positioning mobile terminal held by a missing person is used for searching and rescuing the missing person, but in a complex mountain environment, the missing person possibly encounters various accidents to cause abnormal physical signs or is injured and difficult to autonomously start the positioning mobile terminal, and cannot send distress information to a searching device, so that the missing person cannot be monitored when the unmanned aerial vehicle set passes through an area where the missing person is located, even after multiple times of monitoring, the area is possibly determined to be free of the missing person, and other areas are turned to continue to detect, so that the missing person completely misses the opportunity of rescue, therefore, the following technical scheme is provided:
a mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning comprises a missing person rescue terminal and a search and rescue communication integrated system;
the missing person rescue terminal comprises an electric quantity monitoring unit, a positioning module, a sign monitoring module, a control module, a signal receiving unit, a first WiFi module and a transmitting module; the electric quantity monitoring unit, the positioning module, the physical sign monitoring module, the signal receiving unit, the first WiFi module and the transmitting module are respectively connected with the control module;
the physical sign monitoring module comprises a temperature sensor, a standby temperature sensor, a pulse sensor and a standby pulse sensor, and the temperature sensor, the standby temperature sensor, the pulse sensor and the standby pulse sensor are respectively connected with the control module;
the temperature sensor and the standby temperature sensor are used for acquiring the body temperature and the change rate of the body temperature;
the pulse sensor and the standby pulse sensor are used for acquiring human body pulse and pulse change rate;
a storage module is arranged in the control module, and normal body temperature range data, normal body temperature change rate range data, pulse change range data and pulse change rate range data are stored in the storage module;
the work steps of the missing person rescue terminal for automatically sending the help seeking information are as follows: as shown in fig. 1.
S1, the temperature sensor and the pulse sensor monitor the human body, acquire the real-time body temperature and the change rate of the body temperature, the real-time pulse and the change rate of the pulse and transmit the two data to the control module;
s2, if the real-time body temperature signal or the real-time pulse signal acquired by the control module does not fluctuate, executing S3, otherwise executing S4;
s3, if the real-time body temperature signal acquired by the control module does not fluctuate, controlling the standby temperature sensor to monitor the human body, and acquiring the real-time body temperature and the body temperature change rate; executing S4, if the real-time pulse signal acquired by the control module does not fluctuate, controlling the standby pulse sensor to monitor the human body, and acquiring real-time pulse and pulse change rate; execution of S4;
s4, the control module compares the received real-time body temperature change rate with the normal body temperature change rate, compares the received real-time pulse change rate with the normal pulse change rate, if the real-time body temperature change rate is not in the normal body temperature change rate range or the real-time pulse change rate is not in the normal pulse change rate, judges the real-time body temperature change rate to be abnormal physical sign, executes the next step, if the real-time body temperature change rate is in the normal body temperature change rate range and the real-time pulse change rate is in the normal pulse change rate, executes the step S1;
s5, the control module controls the transmitting unit to transmit a distress signal according to the time interval T1;
the distress signal comprises a first position information coordinate point, real-time body temperature and body temperature change rate, and real-time pulse and pulse change rate;
the search and rescue communication integrated system comprises a Beidou communication system, an unmanned aerial vehicle search and rescue system and a ground communication system;
the Beidou communication system comprises a Beidou satellite navigation and positioning system, the ground communication system comprises a ground control station, the unmanned aerial vehicle search and rescue system comprises an unmanned aerial vehicle set, each unmanned aerial vehicle in the unmanned aerial vehicle set comprises a processor, and a Beidou positioning module, a wireless data transmission module, an image transmission module, a plurality of brushless motors, an AHRS module, an air pressure altimeter, a high-definition camera, a power supply and a receiving and transmitting unit which are connected with the processor, the Beidou positioning module is connected with the Beidou satellite navigation and positioning system, the wireless data transmission module and the image transmission module are connected with the ground control station, the high-definition camera is connected with the image transmission module, the brushless motors, the AHRS module and the air pressure altimeter are respectively connected with the processor, the processor is an ARMCortex-M7 embedded processor, the wireless data transmission module is an NRF24L01 remote wireless transmission module, an NRF24L01 long-distance wireless transmission module is externally connected to an SPI interface of the ARMCortex-M7 processor, and forms a data link communication system with another NRF24L01 wireless module on the ground control station, so that data interaction between the ground control station and the unmanned aerial vehicle is realized, navigation positioning information and ground control instructions are transmitted to an unmanned aerial vehicle group system, and meanwhile, the ground control station can also receive feedback information of the unmanned aerial vehicle group in real time;
wherein, as shown in fig. 2, the search and rescue process of the unmanned aerial vehicle search and rescue system is as follows:
s1, dividing the area to be searched and rescued into a plurality of square areas by the ground control station,
s2, controlling the staying time of the unmanned aerial vehicle set in each square area to be T2, wherein T1 is less than T2;
s3, when the unmanned aerial vehicle set receives a distress signal sent by a transmitting unit of the missing person rescue terminal through a signal receiving unit in the flight process, the distress signal is transmitted to a ground control station through a wireless data transmission module;
s4, after the ground control station receives the distress signal sent by the unmanned aerial vehicle, the ground control station controls the unmanned aerial vehicle to approach to a first position information coordinate point in the distress signal;
s5, after the unmanned aerial vehicle set reaches the first position information coordinate point, shooting an image of the first position information coordinate point through a high-definition camera, and transmitting the image to the ground control station through an image transmission module;
s6, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, executing the next step, and if the missing person is seen, executing step S11;
s7, the ground control station controls the unmanned aerial vehicle set to send an activation signal;
s8, a signal receiving unit of the missing person rescue terminal receives an activation signal and sends the activation signal to a control module, the control module controls a first WiFi module to start, the unmanned aerial vehicle set collects Wi-Fi data packets sent by the first WiFi module at a plurality of points through the signal receiving unit, and then through a trilateral positioning algorithm, the latest position coordinate information of the missing person rescue terminal is found and transmitted to a ground control station;
s9, the ground control station controls the unmanned aerial vehicle set to reach the latest position coordinate, controls the unmanned aerial vehicle set to shoot an image of the latest position coordinate through the high-definition camera, and transmits the image to the ground control station through the image transmission module;
s10, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, executing step S7, if the missing person is seen, executing step S11;
and S11, sending an instruction by the ground control station to send the search and rescue personnel to rescue.
Wherein be provided with second wiFi module, Wi-Fi antenna in the unmanned aerial vehicle, unmanned aerial vehicle passes through second wiFi module, Wi-Fi antenna and confirms that the position of missing personnel still includes following content:
1. the unmanned aerial vehicle provides Wi-Fi connection for the rescue terminal of the missing person through the second WiFi module;
2. the unmanned aerial vehicle collects Wi-Fi data packets sent by a rescue terminal of the missing person by using a carried Wi-Fi antenna;
3. the processor analyzes these Wi-Fi packets to determine the location of the missing person.
The trilateration algorithm comprises the following contents:
the AP of 3 unmanned aerial vehicles in known position is used as the centre of a circle respectively, and the nearest distance from each unmanned aerial vehicle to the AP of the missing person rescue terminal to be measured is used as the radius to make a circle, and the intersection point of the obtained 3 circles is D. The schematic diagram is shown in fig. 4, and assuming that the position node D (x, y), the coordinates of the known A, B, C three points are (x 1, y 1), (x 2, y 2), (x 3, y 3), and their distances to D are D1, D2, and d3. respectively, and then the position of D can be solved by any two of the following equations;
to sum up, the process of completing the rescue by coordinating the rescue terminal of the missing person with the unmanned aerial vehicle search and rescue system is as follows:
step 1, a physical sign monitoring module collects human body physical sign data in real time;
step 2, judging whether a sensor in the physical sign monitoring module has a fault, if so, executing the next step, otherwise, executing the step 4;
step 3, starting the standby sensor and executing step 4
Step 4, judging whether the human body is in an abnormal physical sign state or not through the collected real-time human body physical sign data; if yes, executing step 5, otherwise, executing step 1;
step 5, the missing person rescue terminal sends a distress signal according to a time interval T1;
step 6, the unmanned aerial vehicle receives the distress signal, reaches a first position information coordinate point in the distress signal under the control of the ground control station, takes a picture and transmits the picture to the ground control station;
step 7, the ground control station judges whether the missing person can be seen or not through the image, if not, the next step is executed, and if yes, the step 9 is executed;
step 8, the unmanned aerial vehicle finds the latest position information by sending an activation signal and WiFi positioning, reaches the position under the control of the ground control station, takes a picture and transmits the picture to the ground control station, and step 7 is executed;
and 9, dispatching search and rescue personnel to rescue by the ground control station.
Meanwhile, the closer the unmanned aerial vehicle is to the missing person, the stronger the Wi-Fi connection is.
Note that the missing person rescue terminal generates a unique MAC address.
It should be noted that the Beidou communication system, the unmanned aerial vehicle search and rescue system, the ground communication system and the related information infrastructure select a proper communication system integration mode according to the topographic features of the mountainous scenic region, and the communication system established on the ground of the scenic region is used as a search and rescue communication transmission link of the public network coverage area.
The AHRS module comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.
It should be noted that the high-definition camera is a CCD camera.
Wherein, unmanned aerial vehicle's quantity in the unmanned aerial vehicle group is no less than three.
Under the large environment, although fault monitoring of a temperature sensor and a pulse sensor of a rescue terminal of a missing person is considered, and a standby temperature sensor and a standby pulse sensor can be started in time, so that even if physical sign states of the missing person are monitored and distress signals are sent according to a time interval T1, the fact that the time T2 for the unmanned aerial vehicle to stay in each rescue square area is longer than T1 is considered, the unmanned aerial vehicle can be ensured to receive the distress signals, if the temperature of a human body is lower than a certain limit value or higher than the certain limit value, the human body is likely to be in a state with dangerous vital signs at the moment, if the distress signals are sent according to the original time interval T1, the missing person possibly misses the optimal rescue opportunity when the unmanned aerial vehicle obtains the distress signals, and the relation between the electric quantity and the time interval T1 is not considered, therefore, on the basis of the above, the following solutions are proposed:
the storage module is also internally stored with body temperature grade data, and the body temperature grade data comprise a normal body temperature lower limit temperature C1, a normal body temperature upper limit temperature C2, a dangerous body temperature lower limit temperature C3 and a dangerous body temperature upper limit temperature C4; wherein C3< C1< C2< C4,
the time interval T1 may change as follows; as shown in fig. 3.
Step 1, a control module receives a real-time body temperature Ci monitored by a temperature sensor;
step 2, judging whether Ci is more than or equal to C1 and less than or equal to C2, if so, executing step 3, otherwise, executing step 4;
step 3, the control module monitors the residual electric quantity of the missing person rescue terminal in real time through the electric quantity monitoring unit, the more the residual electric quantity is, the shorter the time interval T1 is, the less the residual electric quantity is, and the longer the time interval T1 is;
step 4, judging whether Ci is more than or equal to C3 and less than C1 or C2 and Ci is more than or equal to C4, if so, executing step 5, otherwise, executing step 6;
step 5, the closer Ci is to C3 or the closer Ci is to C4, the shorter the time interval TI;
and 6, the control module controls the transmitting unit to continuously transmit the distress signal.
It should be noted that the power amount may be in the form of a percentage corresponding to the time interval T1, for example, the time interval T1 may be increased by one half for every ten percent decrease in power amount.
To sum up, the process that missing personnel rescue terminal launches distress signal does:
s1, the temperature sensor and the pulse sensor monitor the human body, acquire the real-time body temperature and the change rate of the body temperature, the real-time pulse and the change rate of the pulse and transmit the two data to the control module;
s2, if the real-time body temperature signal or the real-time pulse signal acquired by the control module does not fluctuate, executing S3, otherwise executing S4;
s3, if the real-time body temperature signal acquired by the control module does not fluctuate, controlling the standby temperature sensor to monitor the human body, acquiring the real-time body temperature and the body temperature change rate, and executing S4; if the real-time pulse signals acquired by the control module do not fluctuate, controlling the standby pulse sensor to monitor the human body, acquiring real-time pulse and pulse change rate, and executing S4;
s4, the control module compares the received real-time body temperature change rate with the normal body temperature change rate, compares the received real-time pulse change rate with the normal pulse change rate, if the real-time body temperature change rate is not in the normal body temperature change rate range or the real-time pulse change rate is not in the normal pulse change rate, judges the real-time body temperature change rate to be abnormal physical sign, executes the next step, if the real-time body temperature change rate is in the normal body temperature change rate range and the real-time pulse change rate is in the normal pulse change rate, executes the step S1;
s5, the control module receives the real-time body temperature Ci monitored by the temperature sensor;
s6, judging whether Ci is more than or equal to C1 and less than or equal to C2, if so, executing the step 3, otherwise, executing the step 4;
s7, the control module monitors the residual electric quantity of the missing person rescue terminal in real time through the electric quantity monitoring unit, the more the residual electric quantity is, the shorter the time interval T1 is, the less the residual electric quantity is, and the longer the time interval T1 is;
s8, judging whether Ci is more than or equal to C3 and less than C1 or C2 and Ci is more than or equal to C4, if so, executing the step 5, otherwise, executing the step 6;
s9, the closer Ci is to C3 or the closer Ci is to C4, the shorter the time interval TI is;
s10, the control module controls the transmitting unit to transmit the distress signal without interruption, and the control module controls the transmitting unit to transmit the distress signal according to the time interval T1.
Because the normal body temperature of a human body is 36-37 ℃, if the body temperature is higher than 41 ℃ or lower than 35 ℃, the functional activities of each system (particularly nervous system) are seriously influenced, and even the life is damaged, so that the section of the body temperature of the human body needs to be judged, when the body temperature is lower than the lower limit temperature of the dangerous body temperature or higher than the upper limit temperature of the dangerous body temperature, the electric quantity does not need to be considered at all, and a distress signal needs to be sent continuously to obtain an emergency rescue opportunity.
The foregoing is merely a preferred embodiment of the invention, it being understood that the embodiments described are part of the invention, and not all of it. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The invention is not intended to be limited to the forms disclosed herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning is characterized by comprising a missing person rescue terminal and a search and rescue communication integrated system;
the missing person rescue terminal comprises an electric quantity monitoring unit, a positioning module, a physical sign monitoring module, a control module, a signal receiving unit, a first WiFi module and a signal transmitting module; the electric quantity monitoring unit, the positioning module, the physical sign monitoring module, the signal receiving unit, the first WiFi module and the signal transmitting module are respectively connected with the control module;
the physical sign monitoring module comprises a temperature sensor, a standby temperature sensor, a pulse sensor and a standby pulse sensor, and the temperature sensor, the standby temperature sensor, the pulse sensor and the standby pulse sensor are respectively connected with the control module;
the temperature sensor and the standby temperature sensor are used for acquiring the body temperature and the change rate of the body temperature;
the pulse sensor and the standby pulse sensor are used for acquiring human body pulse and pulse change rate;
a storage module is arranged in the control module, and normal body temperature range data, normal body temperature change rate range data, pulse change range data and pulse change rate range data are stored in the storage module;
the work steps of the missing person rescue terminal for automatically sending the help seeking information are as follows:
s1, the temperature sensor and the pulse sensor monitor key physical sign indexes of the human body, acquire real-time body temperature and body temperature change rate, real-time pulse and pulse change rate and transmit the two data to the control module;
s2, if the real-time body temperature signal or the real-time pulse signal acquired by the control module does not fluctuate, executing S3, otherwise executing S4;
s3, if the real-time body temperature signal acquired by the control module does not fluctuate, controlling the standby temperature sensor to monitor the human body, acquiring the real-time body temperature and the body temperature change rate, and executing S4; if the real-time pulse signals acquired by the control module do not fluctuate, controlling the standby pulse sensor to monitor the human body, acquiring real-time pulse and pulse change rate, and executing S4;
s4, the control module compares the received real-time body temperature change rate with the normal body temperature change rate, compares the received real-time pulse change rate with the normal pulse change rate, if the real-time body temperature change rate is not in the range of the normal body temperature change rate or the real-time pulse change rate is not in the range of the normal pulse change rate, judges the real-time body temperature change rate as an abnormal physical sign, executes the next step, and if the real-time body temperature change rate is in the range of the normal body temperature change rate and the real-time pulse change rate is in the range of the normal pulse change rate, executes the step S1;
s5, the control module controls the signal transmitting module to transmit a distress signal according to the time interval T1;
the distress signal comprises a first position information coordinate point, real-time body temperature and body temperature change rate, and real-time pulse and pulse change rate;
the search and rescue communication integrated system comprises a Beidou communication system, an unmanned aerial vehicle search and rescue system and a ground communication system;
the Beidou communication system comprises a Beidou satellite navigation and positioning system, the ground communication system comprises a ground control station, the unmanned aerial vehicle search and rescue system comprises an unmanned aerial vehicle set, each unmanned aerial vehicle in the unmanned aerial vehicle set comprises a processor, and a Beidou positioning module, a wireless data transmission module, an image transmission module, a plurality of brushless motors, an AHRS module, an air pressure altimeter, a high-definition camera, a power supply and a receiving and transmitting unit which are connected with the processor, the Beidou positioning module is connected with the Beidou satellite navigation and positioning system, the wireless data transmission module and the image transmission module are connected with the ground control station, the high-definition camera is connected with the image transmission module, the brushless motors, the AHRS module and the air pressure altimeter are respectively connected with the processor, the processor is an ARMCortex-M7 embedded processor, the wireless data transmission module is an NRF24L01 remote wireless transmission module, an NRF24L01 long-distance wireless transmission module is externally connected to an SPI interface of the ARMCortex-M7 processor, and the module and another NRF24L01 wireless module on the ground control station form a data link communication system, so that data interaction between the ground control station and the unmanned aerial vehicle is realized, navigation positioning information and ground control instructions are transmitted to the unmanned aerial vehicle, and meanwhile, the ground control station can also receive feedback information of the unmanned aerial vehicle in real time;
the unmanned aerial vehicle search and rescue system comprises an unmanned aerial vehicle search and rescue system, a control system and a control system, wherein the search and rescue process of the unmanned aerial vehicle search and rescue system is as follows;
s1, dividing the area to be searched and rescued into a plurality of square areas by the ground control station;
s2, controlling the staying time of the unmanned aerial vehicle set in each square area to be T2, wherein T1 is less than T2;
s3, when the unmanned aerial vehicle set receives a distress signal sent by a transmitting unit of the missing person rescue terminal through a signal receiving unit in the flight process, the distress signal is transmitted to a ground control station through a wireless data transmission module;
s4, after the ground control station receives the distress signal sent by the unmanned aerial vehicle, the ground control station controls the unmanned aerial vehicle to approach to a first position information coordinate point in the distress signal;
s5, after the unmanned aerial vehicle set reaches the first position information coordinate point, shooting an image of the first position information coordinate point through a high-definition camera, and transmitting the image to the ground control station through an image transmission module;
s6, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, executing the next step, and if the missing person is seen, executing step S11;
s7, the ground control station controls the unmanned aerial vehicle set to send an activation signal;
s8, a signal receiving unit of the missing person rescue terminal receives an activation signal and sends the activation signal to a control module, the control module controls a first WiFi module to start, the unmanned aerial vehicle set collects Wi-Fi data packets sent by the first WiFi module at a plurality of points through the signal receiving unit, and then through a trilateral positioning algorithm, the latest position coordinate information of the missing person rescue terminal is found and transmitted to a ground control station;
s9, the ground control station controls the unmanned aerial vehicle set to reach the latest position coordinate, controls the unmanned aerial vehicle set to shoot an image of the latest position coordinate through the high-definition camera, and transmits the image to the ground control station through the image transmission module;
s10, the ground control station judges whether the missing person can be seen or not according to the received image; if the missing person is not seen, executing step S7, if the missing person is seen, executing step S11;
s11, the ground control station sends out an instruction to send the search and rescue personnel to rescue;
wherein the unmanned aerial vehicle is internally provided with a second WiFi module and a Wi-Fi antenna, the unmanned aerial vehicle determines the position of the missing person through the second WiFi module and the Wi-Fi antenna and also comprises the following contents,
1. the unmanned aerial vehicle provides Wi-Fi connection for the rescue terminal of the missing person through the second WiFi module;
2. the unmanned aerial vehicle collects Wi-Fi data packets sent by a rescue terminal of the missing person by using a carried Wi-Fi antenna;
3. the processor analyzes the Wi-Fi data packets so as to determine the position of the missing person;
to sum up, the process of completing the rescue by coordinating the rescue terminal of the missing person with the unmanned aerial vehicle search and rescue system is as follows:
step 1, a physical sign monitoring module collects human body physical sign data in real time;
step 2, judging whether a sensor in the physical sign monitoring module has a fault, if so, executing the next step, otherwise, executing the step 4;
step 3, starting a standby sensor, and executing step 4;
step 4, judging whether the human body is in an abnormal physical sign state or not through the collected real-time human body physical sign data; if yes, executing step 5, otherwise executing step 1;
step 5, the missing person rescue terminal sends a distress signal according to a time interval T1;
step 6, the unmanned aerial vehicle receives the distress signal, reaches a first position information coordinate point in the distress signal under the control of the ground control station, takes a picture and transmits the picture to the ground control station;
step 7, the ground control station judges whether the missing person can be seen or not through the image, if not, the next step is executed, and if yes, the step 9 is executed;
step 8, the unmanned aerial vehicle finds the latest position information by sending an activation signal and WiFi positioning, reaches the position under the control of the ground control station, takes a picture and transmits the picture to the ground control station, and step 7 is executed;
and 9, dispatching search and rescue personnel to rescue by the ground control station.
2. The mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning is characterized in that body temperature grade data are stored in the storage module, and comprise a lower normal body temperature limit C1, an upper normal body temperature limit C2, a lower dangerous body temperature limit C3 and an upper dangerous body temperature limit C4; wherein C3< C1< C2< C4,
the time interval T1 may change as follows:
step 1, a control module receives a real-time body temperature Ci monitored by a temperature sensor;
step 2, judging whether Ci is more than or equal to C1 and less than or equal to C2, if so, executing step 3, otherwise, executing step 4;
step 3, the control module monitors the residual electric quantity of the missing person rescue terminal in real time through the electric quantity monitoring unit, the more the residual electric quantity is, the shorter the time interval T1 is, the less the residual electric quantity is, and the longer the time interval T1 is;
step 4, judging whether Ci is more than or equal to C3 and less than C1 or C2 and Ci is more than or equal to C4, if so, executing step 5, otherwise, executing step 6;
step 5, the closer Ci is to C3 or the closer Ci is to C4, the shorter the time interval TI;
and 6, the control module controls the signal transmitting module to continuously transmit the distress signal.
3. The mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning as claimed in claim 1, is characterized in that the Beidou communication system, the unmanned aerial vehicle search and rescue system, the ground communication system and the related information infrastructure select a proper communication system integration mode according to the topographic features of mountain scenic areas, and the communication system built on the scenic area ground is used as a search and rescue communication transmission link of a public network coverage area.
4. The mountain area missing person search and rescue system based on unmanned aerial vehicle set and Beidou positioning as claimed in claim 1, wherein the AHRS module comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer.
5. The mountain area missing person search and rescue system based on unmanned aerial vehicle group and Beidou positioning as claimed in claim 1, wherein the high-definition camera is a CCD camera.
6. The mountain area missing person search and rescue system based on unmanned aerial vehicle group and Beidou positioning as claimed in claim 1, wherein the number of unmanned aerial vehicles in the unmanned aerial vehicle group is not less than three.
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