CN112793784B - Can carry on multiple unmanned aerial vehicle platform of equipping combination execution difference duty - Google Patents
Can carry on multiple unmanned aerial vehicle platform of equipping combination execution difference duty Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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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Abstract
The invention belongs to the technical field of public health and epidemic prevention. Aiming at the problem that the existing unmanned aerial vehicle cannot perform epidemic prevention service, security service and search and rescue service, the invention provides an unmanned aerial vehicle platform which can carry various equipment to be combined to perform different services. The unmanned aerial vehicle platform can be carried on an unmanned aerial vehicle to execute a plurality of services such as security service, fire service, police service and the like, and has wide application.
Description
Technical Field
The invention belongs to the technical field of public health and epidemic prevention, and particularly relates to an unmanned aerial vehicle platform capable of carrying various devices to perform different services in a combined manner.
Background
The function of present unmanned aerial vehicle is more single, generally is plant protection, takes photo by plane, express delivery commodity circulation etc.. For the unmanned aerial vehicle of the broadcasting station, a tweeter is used to form a full-directional sound source of spherical waves, so that great noise pollution is caused to the environment, and most people following disciplinary methods are subjected to the infringement of high noise; and the light source for indicating the target can only work at night and can not work in the daytime. The existing unmanned aerial vehicle technology cannot meet the requirements of epidemic prevention service, security service and search and rescue service.
Disclosure of Invention
Aiming at the problems that the existing unmanned aerial vehicle has single function and cannot execute epidemic prevention service, security service and search and rescue service, the invention provides an unmanned aerial vehicle platform which can carry various devices to be combined to execute different services.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle platform capable of carrying various equipment to be combined to execute different services is a combination of at least two of a multispectral camera, a sound warning radar, a throwing machine, a light warning radar, an unmanned aerial vehicle blade airflow duct impedance combined type silencer and a wireless interface high-directivity microphone;
the sod includes: the H-shaped double-line array sound source comprises a line array sound source I, a line array sound source II and a fixing shaft which penetrates through the line array sound source I and the line array sound source II to be connected, and one end of the fixing shaft is fixed on the unmanned aerial vehicle carrying platform through a bearing; the voice band-pass filters are electrically connected with the linear array sound source I and the linear array sound source II; the stepping motor is fixedly connected to the unmanned aerial vehicle carrying platform; the gear revolute pair comprises a driving gear fixedly connected to an output shaft of the stepping motor and a driven gear fixedly connected with the other end of the fixed shaft, and the driving gear is meshed with the driven gear;
the machine is put in to gauze mask includes: the front end of the protection tube is hinged with the circular end cover; a linear driving mechanism and a soft rubber pipe are arranged in the protection pipe, one end of the soft rubber pipe is coaxially arranged with the push rod end of the linear driving mechanism, and the other end of the soft rubber pipe extends to the inner side of the circular end cover; the containing plate is arranged in the soft rubber pipe in sequence and is restrained by the elasticity of the soft rubber pipe;
light warning radar: the device comprises a cross light pipe, wherein one end of the cross light pipe is a main collimator, and the other three ends of the cross light pipe are tail end light source pipes; a first convex lens is arranged on the axis of the front end of the main collimator, a double-sided reflector is arranged at the center of the cross collimator, the double-sided reflector is provided with a rotating shaft perpendicular to the main collimator, and the focus of the first convex lens is positioned at the center of the double-sided reflector; the front ends of the three tail end light source tubes are provided with second convex lenses, the rear ends of the three tail end light source tubes are provided with parabolic reflectors, the middle parts of the three tail end light source tubes are provided with regular triangular prisms, rotating shafts are arranged between two bottom surfaces of the regular triangular prisms, and the rotating shafts are respectively vertical to the axes of the tail end light source tubes and are respectively driven by a motor; a white light source, a near infrared light source and a far infrared light source are arranged in the tail end light source tube opposite to the main collimator tube; three groups of complementary color light sources are respectively arranged in the other two tail end light source tubes vertical to the main parallel light tube, and the light sources are respectively arranged on the side surfaces of the corresponding regular triangular prisms; when one side surface of the regular triangular prism is opposite to the paraboloid reflector, the light source on the side surface is positioned on the focus of the paraboloid reflector; a slit is arranged on the cross light pipe above the double-sided reflector and used for lifting the double-sided reflector out of the parallel light pipe;
the unmanned aerial vehicle blade airflow duct impedance composite muffler comprises two waist drum-shaped shells, a sound absorption cone is arranged on a middle shaft in each shell, a flow guide plate is arranged at the top of each sound absorption cone, a perforated plate is connected below each flow guide plate, and superfine glass wool is filled in each perforated plate;
the wireless interface high-directivity microphone comprises an upper platen and a lower platen, wherein the upper platen is provided with a motor, a gear pair, a sound data collector and two winding motors, an output shaft of the motor is connected with the gear pair, the gear pair is arranged at the center of the platens and connected with an output shaft of the motor, and the winding motors are arranged at two sides of the motor; two fixed pulleys are arranged at the position, corresponding to the winding motor, on the lower bedplate, a rope on a winding drum of the winding motor penetrates through the upper bedplate and then winds on the fixed pulleys below the upper bedplate, and a high-directivity microphone is further arranged at the bottom of the lower bedplate.
Further, set up the baffle in the protection tube and cut apart into cavity I and cavity II with the protection tube, sharp actuating mechanism is located cavity I, the flexible glue pipe is located cavity II, be equipped with the ultraviolet germicidal lamp in the cavity II.
Further, the H-shaped double-line array sound source carries out voice signal filtering through a voice band-pass filter to obtain voice octave high-frequency components, wherein the center frequency of the voice octave high-frequency components is 1kHz, 2kHz and 3kHz, and the coherence conditions are met in respective frequency bands.
Further, the three sets of complementary color light sources are: red and green, blue and orange, yellow and purple, red, blue and yellow light sources are arranged in the same tail end light source tube, and the other three light sources are arranged in the other tail end light source tube.
Furthermore, the high-speed airflow duct composed of the two waist drum-shaped shells and the sound absorption cone has two times of section mutation, and the acoustic impedances at the mutation parts are not matched to generate reflection.
Furthermore, the high-directivity microphone and the sound data collector complete the communication and storage of the collected data through the Bluetooth interface.
The invention has the following beneficial effects:
the unmanned aerial vehicle platform capable of carrying multiple devices to perform different services can be carried on an unmanned aerial vehicle to perform multiple services such as security service, fire service, police service and the like, and is wide in application. The throwing machine used by the invention can throw different kinds of materials in various services. The invention adopts the unmanned aerial vehicle blade airflow duct impedance combined muffler to ensure that a quiet background exists when a wounded person searches for and rescues for earthquake disaster relief with the strictest real-time requirement, and adopts the sound column interference principle to use the sound column type strong directivity search and rescue microphone to fully solve the problem of quickly finding a target pointing to the wounded person in earthquake search and rescue.
Drawings
FIG. 1 is a schematic structural diagram of a sounding radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mask dispenser according to an embodiment;
FIG. 3 is a schematic structural diagram of a light warning radar according to an embodiment;
FIG. 4 is a schematic structural view of an unmanned aerial vehicle blade airflow duct impedance composite muffler;
FIG. 5 is a schematic diagram of a wireless interface high directivity microphone according to an embodiment;
FIG. 6 is an embodiment of a drone for fire protection and security;
FIG. 7 shows a muffling unmanned aerial vehicle platform for earthquake search and rescue according to an embodiment;
figure 8 thermal imaging of the human body (perspective);
figure 9 human thermal imaging (close-up).
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
Examples
The utility model provides a can carry on multiple unmanned aerial vehicle platform of equipping the combination and carrying out different duties for carry on unmanned aerial vehicle, this platform includes multispectral camera, sound warning radar, puts in quick-witted, light warning radar, in the high directive property microphone equipment of wireless interface two at least in unmanned aerial vehicle paddle air current duct impedance combined type silencer and wireless interface, can carry out the equipment combination according to the nature of being on duty.
As shown in fig. 1, the acoustic warning radar 3 includes: the H-shaped double-line array sound source comprises a line array sound source I3-4, a line array sound source II 3-5 and a fixed shaft 3-7 which penetrates through the line array sound source I3-4 and the line array sound source II 3-5 to be connected, wherein the line array sound source I3-4 and the line array sound source II 3-5 are identical in structure;
the fixed shaft 3-7 is fixedly connected with the linear array sound source I3-4 and the linear array sound source II 3-5 in penetrating positions, the fixed shaft 3-7 penetrates through the linear array sound source I3-4 and the linear array sound source II 3-5 and then is arranged in a section in an extending mode, and one extending end of the fixed shaft 3-7 is fixed on an unmanned aerial vehicle carrying platform through a bearing 3-6;
the voice band-pass filters are electrically connected with the linear array sound source I3-4 and the linear array sound source II 3-5;
the stepping motor 3-1 is fixedly connected to the unmanned aerial vehicle carrying platform; in the embodiment, the stepping motor 3-1 is a precision torque stepping motor;
the gear rotating pair comprises a driving gear 3-2 fixedly connected to an output shaft of the stepping motor 3-1 and a driven gear 3-3 fixedly connected with the other extending end of the fixed shaft 3-7, and the driving gear 3-2 and the driven gear 3-3 are meshed with each other.
The gear revolute pair is controlled to move by the stepping motor 3-1, so that the pitching motion of the H-shaped double-line array sound source in a vertical plane can be completed.
It should be noted that, considering that the warning language is not a music signal, it can contain more high frequency components, and because the high frequency is rich and determines the definition of the language to be high, we filter the low frequency voice signal part of 300 Hz-500 Hz by setting the voice band-pass filter, so that the subjective feeling of voice is sharp, and the requirement of warning voice is met.
Preferably, the H-shaped double-line array sound source performs voice signal filtering through a voice band-pass filter to obtain voice octave high-frequency components, wherein the center frequency of the voice octave high-frequency components is 1kHz, 2kHz and 3 kHz.
Preferably, the voice signals with the signal frequencies of 1kHz, 2kHz and 3kHz satisfy the coherence condition in the respective frequency bands, namely: the frequency is the same, the vibration direction is the same and the phase difference is constant.
Preferably, when the octave center frequency of the voice frequency spectrum is 1kHz, the lengths of the line array sound source I3-4 and the line array sound source II 3-5 are both 3 times of the wavelength, and the main lobe angular width is 30 degrees.
Preferably, when the octave center frequency of the voice frequency spectrum is 2kHz, the lengths of the line array sound source I3-4 and the line array sound source II 3-5 are 6 times of the wavelength, and the main lobe angular width is 15 degrees.
Preferably, when the center frequency of the voice frequency spectrum octave is 3kHz, the main lobe width angle is less than 15 °.
Preferably, the device also comprises a controller, wherein the controller is electrically connected with the control stepping motor 3-1; the controller is preferably a single chip microcomputer.
As shown in fig. 2, the dispensing machine 4 includes: the tail part of the protection tube 4-8 is provided with a fixed chassis which can be fixedly connected with an unmanned aerial vehicle carrying platform, the front end of the protection tube 4-8 is hinged with a circular end cover 4-3, and the circular end cover 4-3 can be opened or closed at the front end of the protection tube 4-8; in the embodiment, the protection tube 4-8 is a tubular structure;
the linear driving mechanism 4-1 is arranged in the protective tube 4-8 and is positioned at the tail part of the protective tube 4-8; the push rod end of the linear driving mechanism 4-1 is arranged towards the front end of the protection tube 4-8;
the flexible rubber hose 4-5 is arranged in the protection tube 4-8, one end of the flexible rubber hose 4-5 is coaxially arranged with the push rod end of the linear driving mechanism 4-1, and the other end of the flexible rubber hose extends to the inner side of the circular end cover 4-3; the push rod end of the linear driving mechanism 4-1 can move back and forth in the soft rubber pipe 4-5;
the accommodating discs 4-6 are sequentially arranged in the soft rubber tubes 4-5.
In this embodiment, the receiving tray receives a mask. The mask needs to be folded and stored according to the following modes: firstly, folding the mask into a strip, rolling the strip into a disc shape, then sleeving the disc-shaped mask into a transparent glass paper tape, and sleeving N mask into a soft rubber tube 4-5 to form a containing disc 4-6 according to the putting requirement of the mask.
Preferably, the soft rubber tube 4-5 is arranged in a simulated rectum structure and is of a continuously bent tubular structure; the soft rubber tube 4-5 has high elasticity.
The flexible rubber tube 4-5 is arranged by imitating the rectum structure of a mammal, the bionic principle is mainly utilized, the cooperation effect of the high-elasticity flexible rubber tube 4-5 and the linear driving mechanism 4-1 is combined, and the wriggling of the intestinal tract is imitated to carry out the one-by-one putting of the spherical containing disc 4-6.
Preferably, the diameter of the soft rubber pipe 4-5 is smaller than that of the accommodating disc 4-6, the accommodating disc 4-6 is restrained by a tightening force or an elastic force, when the circular end cover 4-3 is opened to throw in the accommodating disc 4-5, the accommodating disc 4-6 without a throwing task can be firmly fixed and restrained in the soft rubber pipe 4-5 according to a throwing requirement under the condition that the accommodating disc 4-6 does not have the throwing task, and the cover disc 4-5 without a throwing plan is prevented from sliding out of the soft rubber pipe 4-5.
Preferably, an elastic part 4-7 is connected between the protection tube 4-8 and the circular end cover 4-3; the elastic piece 4-7 can be a spring for connecting the protection tube 4-8 and the circular end cover 4-3, and can also be an elastic piece and the like; in this embodiment, it is preferable that the elastic member 4-7 is a torsion spring installed at a hinge of the circular end cap.
By connecting the elastic part 4-7 between the protective tube 4-8 and the circular end cover 4-3, when the throwing plan of the accommodating disc 4-5 is finished, the circular end cover 4-3 is reset by the rebound tension of the elastic part 4-7, and the throwing process is finished once.
It should be noted that the contact position of the circular end cover 4-3 and the protection pipe 4-8 is sealed, and a sealing strip is arranged on the inner side edge of the circular end cover 4-3.
Preferably, the front end of the protection tube 4-8 is bent; the front ends of the protection tubes 4-8 are bent by 30 degrees.
Preferably, the push rod end of the linear driving mechanism 4-1 is connected with the spherical piston 1-4 through a universal joint ball head; the diameter of the spherical piston 1-4 is smaller than that of the soft rubber tube 4-5, and when the push rod end of the linear driving mechanism 4-1 is pushed forwards, the accommodating disc 4-6 can be pushed out of the soft rubber tube 4-5 through the spherical piston 1-4.
Preferably, the protection tube 4-8 is divided into a chamber I4-9 and a chamber II 4-10 by a partition plate 4-11, the linear driving mechanism 4-1 is positioned in the chamber I4-9, and the flexible glue tube 4-5 is positioned in the chamber II 4-10. It should be noted that the partition plate 4-11 is provided with a channel for accommodating the rod end of the linear driving mechanism 4-1 and the spherical piston 1-4 to pass through.
Preferably, an ultraviolet germicidal lamp 4-2 is arranged in the chamber II 4-10; by arranging the ultraviolet germicidal lamp 4-2, the invention can also reach the protection level of IP65 and the sanitary requirement of high cleanliness even if the mask is put in a severe environment.
Preferably, the ultraviolet germicidal lamp 4-2 is a 275nm high-energy ultraviolet LED lamp, which is mainly used for disinfecting the accommodating disc 4-6 in the soft rubber tube 4-5 and the inner wall of the soft rubber tube 4-5 at any time,
preferably, the protection tube 4-8 is made of nylon; the linear driving mechanism 4-1 is a push rod motor, and it should be noted that the linear driving mechanism 4-1 may also be any other device capable of realizing reciprocating linear motion, such as an air cylinder.
Preferably, two ends of the linear driving mechanism 4-1 are provided with protecting sleeves, and the protecting sleeves are in sliding fit with the push rod end of the linear driving mechanism 4-1, so that the push rod is always positioned at the central shaft position of the protecting sleeves during movement
As shown in fig. 3, the light warning radar 5: comprises a cross light pipe, one end of the cross light pipe is a main parallel light pipe 5-1, and the other three ends are tail end light source pipes. The first convex lens 5-2 is arranged on the axis of the front end of the main collimator 5-1, the double-sided reflector 5-3 is arranged at the center of the cross collimator, the double-sided reflector 5-3 is provided with a rotating shaft perpendicular to the main collimator and driven by a stepping motor, and the focus of the first convex lens 5-2 falls on the center of the double-sided reflector 5-3.
The front ends of the three tail end light source tubes are provided with second convex lenses 5-4, the rear ends of the three tail end light source tubes are provided with parabolic reflectors 5-5, the middle parts of the three tail end light source tubes are provided with regular triangular prisms 5-6, rotating shafts are arranged between two bottom surfaces of the regular triangular prisms 5-6, and the rotating shafts are respectively vertical to the axes of the tail end light source tubes and are respectively driven by stepping motors. A gear pair is arranged between the rotating shaft of the regular triangular prism 5-6 and the stepping motor, the driving wheel of the gear pair is a large wheel, and the driven wheel of the gear pair is a small wheel, so that the triangular prism is guaranteed to have higher rotating speed.
A white light source, a near infrared light source and a far infrared light source are arranged in the tail end light source tube 5-7 opposite to the main parallel light tube; three groups of complementary color light sources are respectively arranged in tail end light source tubes 5-8 which are vertical to the main parallel light tube, wherein one of the complementary color light sources is provided with a red light source, a blue light source and a yellow light source, the other complementary color light source is provided with a green light source, an orange light source and a purple light source, the light sources are respectively arranged on the side surfaces of the corresponding regular triangular prisms, and each side wall is provided with a light source.
The regular triangular prism can be a regular triangular prism frame, and the light source is an LED disc and is fixedly arranged on the side wall of the frame. The regular triangular prism can also be a hollow regular triangular prism-shaped component, and the LED disc is embedded on the side wall of the hollow regular triangular prism-shaped component.
The cross light pipe above the double-sided reflector is provided with a slit which is used for lifting the double-sided reflector out of the parallel light pipe and fixing the double-sided reflector.
The cross light tube has the following two light path modes:
in the first mode, the double-faced reflector is arranged at the center of the cross light pipe, the tail end light source pipe is vertical to the main collimator, when one side surface of the regular triangular prism is opposite to the parabolic reflector, a light source on the side surface is positioned at the focus of the parabolic reflector, emitted light rays are reflected by the parabolic surface to form parallel light, the parallel light rays are focused at the center of the double-faced reflector through the second convex lens, and are refracted through the double-faced reflector and then enter the first convex lens to form parallel light which is emitted out of the main collimator; after the vision persistence time, the double-sided reflector makes 90-degree steering, and the contrast color of the other tail end light source tube is emitted from the main parallel light tube immediately.
And in the second mode, the double-sided reflector is arranged outside the collimator, the tail end light source tube is opposite to the main collimator, when one side surface of the regular triangular prism is opposite to the parabolic reflector, the light source on the side surface is positioned at the focus of the parabolic reflector, the emitted light is reflected by the parabolic reflector to form parallel light, the parallel light is focused by the second convex lens and then continuously transmitted to the first convex lens, and the parallel light is emitted from the main collimator.
Mode one is suitable for daytime use. For example, when the light beam emitted from the main collimator is red, after the persistence time of vision is 0.2S, the double-sided reflector makes 90-degree steering, the contrasting color-green of the tail light source tube of the other contrasting color is immediately reflected to the outlet of the main collimator, and the light beam is formed by the first convex lens at the outlet of the main collimator, so that the light beams of the complementary colors are formed alternately at the projection position. Similarly, it can be verified that the other two pairs of complementary colors are completed with the same procedure.
Mode two is suitable for use at night. The white light, the near infrared light and the far infrared light in the tail end light source tube opposite to the main parallel light tube are emitted out from the outlet of the main parallel light tube alternately.
As shown in fig. 4, the unmanned aerial vehicle blade airflow duct impedance composite muffler 6 comprises two waist drum-shaped shells 6-1, a sound absorption cone 6-2 is arranged on a middle shaft in each shell, a guide plate 6-3 is arranged at the top of each sound absorption cone 6-2, a perforated plate 6-4 is connected below each guide plate, superfine glass wool 6-5 is filled in each perforated plate, and blades 1-1 of the unmanned aerial vehicle 1 are arranged above the sound absorption cones 6-2 in the shells 6-1. The muffler is a high-speed airflow duct composed of two waist drum-shaped shells and a sound absorption cone, the duct has two times of section mutation, and acoustic impedances at the mutation positions are not matched to generate reflection. At the moment, the space sound absorption cone on the middle shaft is provided with high-density superfine glass wool in the perforated plate, and the noise of the space below the propeller of the unmanned aerial vehicle is reduced by 20dB by the impedance composite silencer, so that the noise pollution of the airflow noise of the blades to the environment of the space below the unmanned aerial vehicle in the flying process is eliminated. The target identification efficiency of the sound column type high-directivity microphone is improved.
As shown in fig. 5, the wireless interface high-directivity microphone 7 comprises an upper platen and a lower platen, wherein the upper platen 7-1 is provided with a motor 7-2, a gear pair 7-3, a sound data collector 7-4 and two winding motors 7-5, an output shaft of the motor 7-2 is connected with the gear pair 7-3, the gear pair 7-3 is arranged in the center of the upper platen 7-1 and connected with an output shaft of the motor 7-2, and the winding motors 7-5 are arranged on two sides of the motor 7-2; two fixed pulleys 7-7 are arranged on the lower bedplate 7-6 corresponding to the winding motor, a rope on a winding drum of the winding motor 7-5 passes through the upper bedplate 7-1 and then is wound on the fixed pulley 7-7 below, and a high-directivity microphone 7-8 is arranged at the bottom of the lower bedplate 7-6. The high-directivity microphone 7-8 and the sound data collector 7-4 complete the communication and storage of the collected data through the Bluetooth interface.
Application example:
1. epidemic prevention work in order
In large-scale public activities, in order to enable an unmanned aerial vehicle carrying multifunctional equipment to complete the task of epidemic-resistant service, the main carrying equipment comprises the following components: multispectral camera 2, acoustic warning radar 3, mask projection machine 4 and light warning radar 5, as shown in fig. 6. The material in the containing disc of the mask putting machine is the mask.
The tactical combined application method of the equipment comprises the following steps: accomplish gauze mask discernment and the anthropomorphic gathering discernment of spectator by multispectral camera, to not wearing gauze mask person and the gathering crowd that the interval is less than a meter, fly to this department by unmanned aerial vehicle with behind the sound post alignment target of audible warning radar, the broadcast warns the term, after this warning does not have the effect many, unmanned aerial vehicle hovers over the target, starts the gauze mask and throws the machine, throws the gauze mask to the target.
The cross cursor is marked at the center of the crowd gathering on the display screen on the ground, the unmanned aerial vehicle aims the sodar at the cross cursor to play warning words, and meanwhile, the light radar projects contrast color light spots with the diameter of 1m to the cross cursor to disperse the crowd outside the light spots.
The following are methods of mask recognition and human shape recognition:
identifying the mask: and (3) sampling an image taking a forward 45 depression angle as a central axis by a high-resolution camera arranged on a pan-tilt head below the unmanned aerial vehicle, finishing digital image processing after sampling, and finishing mask identification by adopting an ImageAI python library and a method of custom model prediction (the item is from an open source community Github). Firstly, a character detection model is carried out to complete the figureLike semantic cutting, i.e. cutting out a rectangular frame where people in a picture are located. The mask object detection model is established by 1000+ various mask pictures, and then the face object detection model is established by 1000+ various ethnicities, face at various age stages and face pictures of different genders. Namely, object detection is performed in a rectangular frame where each person is located. If the rectangular frame where the face is located does not have the mask, the person is determined not to wear the mask. Performing face mask recognition, finding out the person who is not wearing the mask, namely, the locking target, and recording the accurate position coordinate (X) of the person on the X, Y plane0、 Y0) As target coordinates for the sodar.
Human shape recognition: mask recognition was done using the ImageAI python library with custom model prediction (this project is from open source community Github).
Firstly, a character detection model is carried out, and image semantic cutting is completed, namely a rectangular frame where a person in a picture is located is cut. The mask object detection model is established by 1000+ various mask pictures, and then the face object detection model is established by 1000+ various ethnicities, face pictures of various age stages and face (eye) pictures of different sexes. Namely, object detection is performed in a rectangular frame where each person is located. If the rectangular frame where the face is located does not have the mask, the person is determined not to wear the mask.
Image range finding is markd, when unmanned aerial vehicle apart from ground 5m, is on a parallel with ground with the camera, takes out the long calibration plate level of 1m and arranges ground in, calculates the 1m calibration plate when highly five meters shared pixel number in the present field of vision. And then, calculating the distance between the center points of the rectangular frames where the persons are located by the camera angle relative to the ground, the distance between the camera returned by the ultrasonic range finder and the target and formulas such as a triangular relation and the like.
The sound warning radar: the system is an H-shaped linear array consisting of two sound columns with the length of 1m, a main lobe is projected in a voice frequency band with the octave center frequency of 1kHz, 2kHz and 3kHz, and the main lobes of the two-line array are superposed in the same phase at a target to form constructive interference, so that warning words are highlighted by extremely high sound pressure level; the surrounding mask wearers hear very low sound pressure level outside the main lobe, so that the law enforcement is accurate and purposeful.
Light warning radar: the contrast color spots are projected alternately, and the interval time is the visual persistence time of the human eyes. Therefore, the method can be applied in all weather in the day and at night.
A mask putting machine: the coiled mask reels wrapped with smooth glass paper are placed in the soft rubber pipe, and the thrust is transmitted to each mask reel by the spherical piston of the push rod motor at the tail of the rubber pipe when the motor telescopic rod pushes forwards. After the end cover is pushed open by the head disc at the front end, the mask falls freely under the action of the gravity of the earth, and the target mask is put in. The mask reel at the second position is still remained in the tube due to the locking force of the soft rubber tube, and the next throwing is carried out after the same actions are finished.
2. Security service:
when a security task is executed, the unmanned aerial vehicle is equipped with a multispectral camera (an infrared camera and a visible light camera), a sound warning radar, a light warning radar, and a tear-gas bomb throwing machine, which can refer to fig. 6. The tear-gas shells are contained in a containing disc of the tear-gas shells feeding machine.
The tactical combined application method of the equipment comprises the following steps:
at night, target (figure 8) of hiding in the field background is markd in thermal imaging by infrared camera, and unmanned aerial vehicle flies to the target sky according to the mark position, starts the sodar, plays the high sound pressure level discourse and falls the warning term, simultaneously, gives and searches army's reference position with the white facula of sodar.
If the security service is executed in daytime, the visual range calibration is carried out on the target hidden in the field by using the visible light camera, the unmanned aerial vehicle flies over the target according to the calibration position, the acoustic radar is started, the high-sound-pressure-level discourse warning words are played, and meanwhile, the position is indicated for a searching army by using contrast color light spots of the optical radar.
After the lachrymatory bomb is warned for a plurality of times without any effect, the lachrymatory bomb throwing machine is started to throw lachrymatory bombs above the target, meanwhile, the sound warning radar plays an ear-piercing warning sound, and meanwhile, the light spot of the optical radar is strobed at a high speed, so that the effect of deterring the target is achieved.
3. Search and rescue service
The unmanned aerial vehicle is provided with a multispectral camera, a sound warning radar, a light warning radar, a tear bomb throwing machine, an unmanned aerial vehicle blade airflow duct impedance composite muffler and a wireless interface high-directivity microphone.
3.1 in the fire
A person is rescued in a fire scene to search a target by using a multispectral camera, use an infrared band at night and use a visible band in the daytime, after the target is locked, a sound warning radar is used for playing a self-rescue and escape method, meanwhile, a fire extinguishing bomb and an escape rope are put into the target, and a contrast color light spot and a white light spot of the light radar are used for calibrating the target direction for rescue teams.
3.2 in flood
And similarly, a multispectral camera is used for searching a target, an infrared band is used at night, a visible light band is used in daytime, after the target is locked, a consolation term is played to the person trapped by the flood by using a sound warning radar, the target emotion is stabilized, and meanwhile, a life buoy and one end (the other end is tied to the bank) of the escape rope, which is tied with a buoy, are thrown. If the target is indoors, the positions of the building and the window are calibrated to the lifeboat by using the light spot of the optical radar, so that search and rescue personnel can quickly approach the target in the dark and rescue the lifeboat.
3.3 in earthquake
An unmanned aerial vehicle platform for earthquake search and rescue is shown in figure 7.
According to earthquake search and rescue manual, the rescue area must be strictly guarded against, and furthest keeps quiet, because the building collapses and has blockked up all streets, so search and rescue in the air is the most effective means, and within several hours after the earthquake takes place is the best time of saving the person who buries and press, because the person who lives has now physical strength shout, carry on sound column type high directivity microphone on unmanned aerial vehicle, monitor the on-the-spot ambient noise of earthquake, the calling for help sound that has the wounded on very quiet background can appear this moment, high directivity microphone is fixed in the tension leg platform board below that has four wire rope pulls, the sound level meter is fixed on the upper platform board, arrange rather than in opposite directions by the camera on the cloud platform, the number of degrees that the sound level meter shows is passed back control center through the air interface of camera.
The platform is rotatory along the unmanned aerial vehicle axis of ordinates this moment, searches for the wounded in 360 all-round and calls out the sound, and when high sound pressure level appeared, the digital camera passes the remote control center with the image transmission this moment, according to the axis direction of instruction of landing slab, and unmanned aerial vehicle advances towards this direction search immediately. With the shortening of the distance from the wounded, the sound pressure level will be continuously increased, and the maximum value is the target position. At the moment, the acoustic warning radar plays comfort voice, the optical radar projects white light spots at night, the optical radar projects contrast color light spots to calibrate the target position for the search and rescue team in the daytime, then, the throwing machine is started to throw dyeing bombs to the target, and the target position is calibrated for the search and rescue team in the daytime.
The method is faster and more efficient than a method of using a geophone to monitor the solid-borne sound of knocking of the wounded in the field. Because unmanned aerial vehicle can be by personnel remote control outside several kilometers, so can fly to the scene by unmanned aerial vehicle at first after the earthquake takes place, accomplish the search and rescue service.
And then, immediately searching the direction of the next maximum sound pressure level, thus completing large-area and rapid early-stage efficient search and rescue within the range of several square kilometers in the shortest time, and only the unmanned aerial vehicle and the acoustic method can complete earthquake search and rescue in the first time through cruise monitoring in the air.
In order to ensure the quiet of the background environmental noise on site and control the blade air flow noise of the unmanned aerial vehicle, a duct type impedance composite muffler is arranged on four blades, the muffler is an unmanned aerial vehicle blade high-speed air flow duct consisting of two waist drum-shaped shells and a middle shaft space sound absorption cone, the duct has two times of section mutation, the acoustic impedances of the mutation parts are not matched to generate reflection, and at the moment, the middle shaft space sound absorption cone is internally provided with a perforated plate with the density of 40kg/m3The superfine glass cotton, this impedance composite muffler with the noise reduction 20dB of unmanned aerial vehicle screw below space to the noise pollution of the air current noise of paddle to below space environment has been eliminated in the unmanned aerial vehicle flight process. The target identification efficiency of the sound column type high-directivity microphone is improved.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. An unmanned aerial vehicle platform capable of carrying various equipment to be combined to execute different services is characterized in that the platform is a combination of at least two of a multispectral camera, a sound warning radar, a throwing machine, a light warning radar, an unmanned aerial vehicle blade airflow duct impedance combined type silencer and a wireless interface high-directivity microphone;
the sod includes: the H-shaped double-line array sound source comprises a line array sound source I, a line array sound source II and a fixing shaft which penetrates through the line array sound source I and the line array sound source II to be connected, and one end of the fixing shaft is fixed on the unmanned aerial vehicle carrying platform through a bearing; the voice band-pass filters are electrically connected with the linear array sound source I and the linear array sound source II; the stepping motor is fixedly connected to the unmanned aerial vehicle carrying platform; the gear revolute pair comprises a driving gear fixedly connected to an output shaft of the stepping motor and a driven gear fixedly connected with the other end of the fixed shaft, and the driving gear is meshed with the driven gear;
the putting machine comprises: the front end of the protection tube is hinged with the circular end cover; a linear driving mechanism and a soft rubber pipe are arranged in the protection pipe, one end of the soft rubber pipe is coaxially arranged with the push rod end of the linear driving mechanism, and the other end of the soft rubber pipe extends to the inner side of the circular end cover; the containing plate is arranged in the soft rubber pipe in sequence and is restrained by the elasticity of the soft rubber pipe;
light warning radar: the device comprises a cross light pipe, wherein one end of the cross light pipe is a main collimator, and the other three ends of the cross light pipe are tail end light source pipes; a first convex lens is arranged on the axis of the front end of the main collimator, a double-sided reflector is arranged at the center of the cross collimator, the double-sided reflector is provided with a rotating shaft perpendicular to the main collimator, and the focus of the first convex lens is positioned at the center of the double-sided reflector; the front ends of the three tail end light source tubes are provided with second convex lenses, the rear ends of the three tail end light source tubes are provided with parabolic reflectors, the middle parts of the three tail end light source tubes are provided with regular triangular prisms, rotating shafts are arranged between two bottom surfaces of the regular triangular prisms, and the rotating shafts are respectively vertical to the axes of the tail end light source tubes and are respectively driven by a motor; a white light source, a near infrared light source and a far infrared light source are arranged in the tail end light source tube opposite to the main collimator tube; three groups of complementary color light sources are respectively arranged in the other two tail end light source tubes vertical to the main parallel light tube, and the light sources are respectively arranged on the side surfaces of the corresponding regular triangular prisms; when one side surface of the regular triangular prism is opposite to the paraboloid reflector, the light source on the side surface is positioned on the focus of the paraboloid reflector; the cross light pipe is provided with a slit used for lifting the double-sided reflector out of the parallel light pipe;
the unmanned aerial vehicle blade airflow duct impedance composite muffler comprises two waist drum-shaped shells, a sound absorption cone is arranged on a middle shaft in each shell, a flow guide plate is arranged at the top of each sound absorption cone, a perforated plate is connected below each flow guide plate, and superfine glass wool is filled in each perforated plate;
the wireless interface high-directivity microphone comprises an upper bedplate and a lower bedplate, wherein a motor is arranged above the upper bedplate, a gear pair, a sound data collector and two winding motors are arranged on the upper bedplate, an output shaft of the motor is connected with the gear pair, the gear pair is arranged in the center of the bedplate and connected with an output shaft of the motor, and the winding motors are arranged on two sides of the motor; two fixed pulleys are arranged at the position, corresponding to the winding motor, on the lower bedplate, a rope on a winding drum of the winding motor penetrates through the upper bedplate and then winds on the fixed pulleys below the upper bedplate, and a high-directivity microphone is further arranged at the bottom of the lower bedplate.
2. The unmanned aerial vehicle platform capable of carrying multiple equipment to perform different services in combination according to claim 1, wherein a partition plate is arranged in the protection tube to divide the protection tube into a chamber I and a chamber II, the linear driving mechanism is located in the chamber I, the flexible rubber hose is located in the chamber II, and an ultraviolet germicidal lamp is arranged in the chamber II.
3. The unmanned aerial vehicle platform capable of carrying multiple equipment to perform different services according to claim 1, wherein the H-shaped double-line array sound source performs voice signal filtering through a voice band-pass filter to obtain voice octave high-frequency components, the center frequencies of the voice octave high-frequency components are 1kHz, 2kHz and 3kHz, and coherence conditions are met in respective frequency bands.
4. The drone platform of claim 1, wherein the three sets of complementary color light sources are: red and green, blue and orange, yellow and purple, red, blue and yellow light sources are arranged in the same tail end light source tube, and the other three light sources are arranged in the other tail end light source tube.
5. The unmanned aerial vehicle platform capable of carrying multiple equipment in combination to perform different duties as claimed in claim 1, wherein the two waist drum shaped shells and the sound absorption cone form a high speed airflow duct, the duct has two abrupt cross-section changes, the acoustic impedances at the abrupt cross-section changes to be mismatched, and reflection is generated.
6. The unmanned aerial vehicle platform capable of carrying multiple equipment to perform different services according to claim 1, wherein the high directivity microphone and the sound data collector complete communication and storage of collected data through a bluetooth interface.
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