CN113178046A - Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning - Google Patents
Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning Download PDFInfo
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- CN113178046A CN113178046A CN202110319891.7A CN202110319891A CN113178046A CN 113178046 A CN113178046 A CN 113178046A CN 202110319891 A CN202110319891 A CN 202110319891A CN 113178046 A CN113178046 A CN 113178046A
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- 238000000034 method Methods 0.000 title claims abstract description 18
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- 239000000779 smoke Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000005865 ionizing radiation Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The invention discloses an indoor unmanned aerial vehicle fire-fighting inspection system based on radio positioning, which comprises two parts, namely an unmanned aerial vehicle circuit system arranged on an indoor fire-fighting inspection unmanned aerial vehicle and a charging take-off and landing control console arranged at a preset position on the ground, wherein the unmanned aerial vehicle circuit system structurally comprises an unmanned aerial vehicle main control module, the unmanned aerial vehicle main control module is respectively interconnected with a signal processing module and an encoder, and the unmanned aerial vehicle main control module is also respectively connected with a smoke detection module, an infrared thermal imager and a wireless radio frequency module A in a signal connection manner; the signal processing module is connected with the millimeter wave radar chip through the MIMO array antenna; the encoder is respectively in signal connection with the accelerometer, the magnetic sensor and the gyroscope module. The invention also discloses an indoor unmanned aerial vehicle fire-fighting inspection method based on radio positioning. The system and the method of the invention realize the intelligent inspection of indoor safety and simultaneously have extremely high obstacle avoidance and navigation capabilities.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, relates to an indoor unmanned aerial vehicle fire-fighting inspection system based on radio positioning, and further relates to an indoor unmanned aerial vehicle fire-fighting inspection method based on radio positioning.
Background
With the development of unmanned aerial vehicle technology, unmanned aerial vehicles play an increasingly important role in the civil field. In modern cities, high-rise buildings are more and more, the fire hazard is more serious, and the smoke detection module based on the conventional technology cannot meet the requirements of fire prevention, control and monitoring.
Unmanned aerial vehicles are widely applied outdoors, drive huge market consumption demands, and are extremely rare in indoor application scenes. Compare in outdoor technical maturity, low cost's GPS three-dimensional positioning mode, the two-dimensional code that indoor unmanned aerial vehicle used adds the optical current location, and optical image action capturing system can't reach the purpose that indoor intelligence was patrolled and examined because of the problem of low precision and the high time delay of real-time transmission, how to accomplish independently operation simultaneously, and intelligent monitoring also is the problem of treating the solution.
Disclosure of Invention
The invention aims to provide an indoor unmanned aerial vehicle fire-fighting inspection system based on radio positioning, and solves the problem that a smoke detection module at a traditional fixed position cannot meet intelligent real-time fire supervision under the prior art.
The invention further aims to provide an indoor unmanned aerial vehicle fire-fighting inspection method based on radio positioning.
The invention adopts the technical scheme that an indoor unmanned aerial vehicle fire-fighting inspection system based on radio positioning comprises two parts, namely an unmanned aerial vehicle circuit system arranged on an indoor fire-fighting inspection unmanned aerial vehicle and a charging take-off and landing console arranged at a preset position on the ground,
the unmanned aerial vehicle circuit system is structurally characterized by comprising an unmanned aerial vehicle main control module, wherein the unmanned aerial vehicle main control module is respectively interconnected with a signal processing module and an encoder, and is also respectively connected with a smoke detection module, a thermal infrared imager and a wireless radio frequency module A in a signal connection mode; the signal processing module is connected with the millimeter wave radar chip through the MIMO array antenna; the encoder is respectively in signal connection with the accelerometer, the magnetic sensor and the gyroscope module.
The invention adopts another technical scheme that an indoor unmanned aerial vehicle fire-fighting inspection method based on radio positioning is implemented by utilizing the indoor unmanned aerial vehicle fire-fighting inspection system according to the following steps:
and 7, after the frame of the unmanned aerial vehicle perfectly falls on the shutdown landing-assisting track, the internal infrared geminate transistors recognize successful landing and send a mark signal to the central processing unit, the central processing unit controls the LCD display screen to display the shutdown state, and transmits a charging prompt to charging auxiliary personnel through the wireless radio frequency module B, so that the data wire of the charging interface is manually stretched to start charging, the LCD display screen immediately displays the charging state, and the next inspection task is waited after the charging is finished.
The invention has the beneficial effects that: 1) the design of the intelligent charging landing console realizes the automatic return landing of unmanned aerial vehicle inspection and the intelligent charging requirement. 2) The millimeter wave radar has the advantages of high-precision detection capability and no ionizing radiation, realizes indoor safe intelligent inspection, and has extremely high obstacle avoidance and navigation capabilities. 3) The intelligent warning that unmanned aerial vehicle fire control was cruised has greatly increased the ability of real time monitoring and the timely reply of very first time of conflagration.
Drawings
FIG. 1 is a circuit block diagram of the unmanned aerial vehicle circuitry of the present invention;
FIG. 2 is a schematic layout diagram of an embodiment of a millimeter wave radar chip of an unmanned aerial vehicle according to the present invention;
FIG. 3 is a schematic structural diagram of a charging landing console according to an embodiment of the present invention;
FIG. 4 is a block diagram of the charging landing console of the present invention;
fig. 5 is a schematic diagram of the cascade connection of the MIMO array antennas 4 in the present invention;
FIG. 6 is a partial cross-sectional view of the stop and landing aid rail 19 of the present invention;
fig. 7 is a simplified schematic diagram of the retractable charging interface 25 of the present invention.
In the figure, 1, an unmanned aerial vehicle main control module; 2. a smoke detection module; 3. a signal processing module; a MIMO array antenna; 5. a millimeter wave radar chip; 6. a thermal infrared imager; 7. an accelerometer; 8. a magnetic sensor; 9. a gyroscope module; 10. a wireless radio frequency module A; 11. an encoder; 12. an information storage; 13. a voice broadcasting device; 14. a wireless radio frequency module B; 15. a central processing unit; 16. an electric quantity detector; 17. a thermal sensing mark; 18. infrared pair transistors; 19. stopping the machine to help the landing track; a 20.5G SIM card; 21. a rotor; 22. an unmanned aerial vehicle main body; 23. a horn; 24. a frame; 25. a charging interface; an LCD display screen; 27. a power plug; 28. a brushless motor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses an indoor fire-fighting inspection unmanned aerial vehicle, which is hereinafter referred to as an unmanned aerial vehicle, and relates to a cruise system which establishes an indoor 3D model based on a take-off and landing control platform and millimeter wave radar scanning and assists an infrared thermal imager in real-time intelligent fire detection and alarm through a smoke detection module. The millimeter wave radar combines the MIMO technology to construct the indoor 3D map, has improved the fire control greatly and has patrolled and examined the intelligent and no dead angle control's of unmanned aerial vehicle ability. The millimeter wave radar has the characteristics of high penetrability and no ionizing radiation, so that the millimeter wave radar is safe and reliable to apply indoors.
The invention relates to an indoor unmanned aerial vehicle fire-fighting inspection system based on radio positioning, which comprises two parts, namely an unmanned aerial vehicle circuit system arranged on an indoor fire-fighting inspection unmanned aerial vehicle and a charging take-off and landing console arranged at a preset position on the ground,
referring to fig. 1, the unmanned aerial vehicle circuit system has a structure that the unmanned aerial vehicle circuit system comprises an unmanned aerial vehicle main control module 1, the unmanned aerial vehicle main control module 1 is respectively interconnected with a signal processing module 3 and an encoder 11, the unmanned aerial vehicle main control module 1 is also respectively connected with a smoke detection module 2, a thermal infrared imager 6 and a wireless radio frequency module a10 (the smoke detection module 2 and the thermal infrared imager 6 are input ends, and the wireless radio frequency module a10 is an output end); the signal processing module 3 is connected with a millimeter wave radar chip 5 through the MIMO array antenna 4; the encoder 11 is respectively connected with the accelerometer 7, the magnetic sensor 8 and the gyroscope module 9 through signals.
Millimeter wave radar chip 5 is installed on indoor fire control patrols and examines unmanned aerial vehicle, adopt echo location technology to realize the construction of map through MIMO array antenna 4, and give unmanned aerial vehicle main control module 1 with data and navigate and keep away the barrier, thermal infrared imager 6, whether the conflagration emergence is synthesized to the condition of smoke detection module 2 according to the monitoring, and in time send conflagration alarm information output to the landing control cabinet that charges through wireless radio frequency module A10, state parameter (by accelerometer 7, the parameter of magnetic sensor 8 and gyroscope module 9 collection) that unmanned aerial vehicle main control module 1 combines encoder 11 to collect carries out the gesture and fuses, analysis unmanned aerial vehicle's flight posture.
Referring to fig. 2, a rotor 21 is mounted on a horn 23 of an unmanned aerial vehicle main body 22 through a brushless motor 28, the brushless motor 28 is in control connection with an unmanned aerial vehicle main control module 1, and a frame 24 is mounted on the lower part of the unmanned aerial vehicle main body 22; the smoke detection module 2 is arranged at the top of the unmanned aerial vehicle main body 22 of the fire inspection unmanned aerial vehicle, and the thermal infrared imager 6 is arranged on the side face of the unmanned aerial vehicle main body 22 of the fire inspection unmanned aerial vehicle; the millimeter wave radar chips 5 are respectively embedded in the front surface, the side surface and the bottom surface of the main body 22 of the unmanned aerial vehicle, and are arranged in a multi-point manner in the direction of X, Y, Z; the millimeter wave radar chips 5 are arranged at equal intervals and aligned up and down, so that data in all directions can be fully detected, and navigation and obstacle avoidance capabilities are greatly enhanced.
Referring to fig. 3, the charging and landing console is structurally characterized by comprising a pair of stopping and landing-assisting rails 19 arranged on a table board, wherein the length and width of the pair of stopping and landing-assisting rails 19 are larger than that of a frame below an unmanned aerial vehicle, infrared geminate transistors 18 (comprising a transmitting end and a receiving end) are arranged in the pair of stopping and landing-assisting rails 19, a telescopic charging interface 25 is arranged on the outer side of one end of each of the pair of stopping and landing-assisting rails 19, and a triangular thermal sensing mark 17 is arranged on the outer side of the other end of each of the pair of stopping and landing-assisting rails 19; the table-board is also provided with an information memory 12, a voice broadcasting device 13, a wireless radio frequency module B14, a central processing unit 15, an electric quantity detector 16, a SIM card 20 of 5G, an LCD display screen 26 and a power plug 27,
referring to fig. 4, the circuit structure of the above components is that the input end of the central processing unit 15 is connected to the electric quantity detector 16, the infrared pair of transistors 18, and the radio frequency module B14 at the same time, the output end of the central processing unit 15 is connected to the information storage 12, the information storage 12 is in control connection with the voice broadcasting device 13 through the 5G SIM card 20, and the power plug 27 is accessed from an external Type-c interface line to supply power to the charging, lifting and controlling console;
the thermal sensing mark 17 and the infrared pair tube 18 are used for assisting the indoor fire-fighting inspection unmanned aerial vehicle to land; the wireless radio frequency module B14 is used for information interconnection with the fire-fighting inspection unmanned aerial vehicle; the SIM card 20 of 5G and the voice broadcasting device 13 carry out remote alarm together; the telescopic charging interface 25 can charge the unmanned aerial vehicle in time, so that continuous lifting work is realized; the LCD display screen 26 is used for displaying control data of the charging and landing console.
The unmanned aerial vehicle preparation arrives the control cabinet top of taking off and landing that charges before descending, and thermal infrared imager 6 is rotatory to vertical direction, discerns the thermal sensing sign 17 back of the triangle-shaped on the mesa of the control cabinet of taking off and landing that charges, by unmanned aerial vehicle host system 1 through the rotation adjustment unmanned aerial vehicle's of controlling many rotors gesture, slowly falls into and shuts down and helps on the track 19 of landing and descend to the exact position.
Referring to fig. 5, a schematic diagram of a scanning principle of the 3D millimeter wave radar adopted by the present invention is shown, based on the working principle of the MiMO array antenna, 3D data scanning is realized by using the radio frequency antennas in different millimeter wave radar chips 5 in the X/Y/Z plane and the echo phase difference, and the resolution is greatly improved. The millimeter wave sensor adopts AWR1243 of Texas Instrument (TI), and the frequency range is 77 Ghz. The wireless radio frequency module supports 2.4GHZ and 5GHZ double frequency.
Referring to fig. 6, it is the partial cross-sectional view of shutting down and helping falling track 19, shuts down and helps falling track 19 and adopts the semicircular design of cross section, can assist unmanned aerial vehicle's level and smooth the descending to the correct position, whether inside infrared geminate transistors 18 transmitting terminal and receiving terminal pass through infrared ray received signal have can further confirm unmanned aerial vehicle accurate descending, strict descending discernment can help telescopic charging interface 25 and unmanned aerial vehicle perfect docking.
Refer to fig. 7, be the telescopic structure of the interface that charges, the telescopic charges interface 25 highly adjusts according to specific unmanned aerial vehicle model size, and the front end adopts conventional USB interface that charges, and the inside structure that adopts the coiling spring adopts artifical manual mode to realize that length is flexible, and the practicality has had very big assurance.
The control method of the invention is implemented according to the following steps:
And 7, after the frame 24 of the unmanned aerial vehicle perfectly falls on the stopping landing-assisting track 19, the internal infrared geminate transistors 18 recognize that the landing is successful and send a mark signal to the central processing unit 15, the central processing unit 15 controls the LCD display screen 26 to display the stopping state, and a charging waiting prompt is transmitted to a charging assistant through the wireless radio frequency module B14, so that the data wire of the charging interface 25 is manually stretched to start charging, the LCD display screen 26 immediately displays the charging state, and the next polling task is waited after the charging is completed.
Claims (5)
1. The utility model provides an indoor unmanned aerial vehicle fire control system of patrolling and examining based on radio location which characterized in that: comprises two parts, namely an unmanned aerial vehicle circuit system arranged on an indoor fire-fighting inspection unmanned aerial vehicle and a charging take-off and landing console arranged at a preset position on the ground,
the unmanned aerial vehicle circuit system is structurally characterized by comprising an unmanned aerial vehicle main control module (1), wherein the unmanned aerial vehicle main control module (1) is respectively interconnected with a signal processing module (3) and an encoder (11), and the unmanned aerial vehicle main control module (1) is also respectively connected with a smoke detection module (2), an infrared thermal imager (6) and a wireless radio frequency module A (10) in a signal connection manner; the signal processing module (3) is connected with the millimeter wave radar chip (5) through the MIMO array antenna (4); the encoder (11) is respectively in signal connection with the accelerometer (7), the magnetic sensor (8) and the gyroscope module (9).
2. The indoor unmanned aerial vehicle fire inspection system based on radio positioning of claim 1, wherein: the smoke detection module (2) is arranged at the top of an unmanned aerial vehicle main body (22) of the fire-fighting inspection unmanned aerial vehicle, and the thermal infrared imager (6) is arranged on the side surface of the unmanned aerial vehicle main body (22) of the fire-fighting inspection unmanned aerial vehicle; a plurality of millimeter wave radar chips (5) are respectively embedded in the front surface, the side surface, and the bottom surface of the main body (22) of the unmanned aerial vehicle.
3. The indoor unmanned aerial vehicle fire inspection system based on radio positioning of claim 1, wherein: the charging landing console structurally comprises a pair of stopping landing-assisting rails (19) arranged on a table board, infrared geminate transistors (18) are arranged in the pair of stopping landing-assisting rails (19), a telescopic charging interface (25) is arranged on the outer side of one end of each of the pair of stopping landing-assisting rails (19), and a triangular thermal sensing mark (17) is arranged on the outer side of the other end of each of the pair of stopping landing-assisting rails (19); the table top is also provided with an information memory (12), a voice broadcasting device (13), a wireless radio frequency module B (14), a central processing unit (15), an electric quantity detector (16), a 5G SIM card (20), an LCD display screen (26) and a power plug (27).
4. The indoor unmanned aerial vehicle fire inspection system based on radio positioning of claim 1, wherein: the input end of the central processing unit (15) is simultaneously connected with the electric quantity detector (16), the infrared pair tube (18) and the radio frequency module B (14), the output end of the central processing unit (15) is connected with the information memory (12), the information memory (12) is in control connection with the voice broadcasting device (13) through a 5G SIM card (20), and the power plug (27) is accessed from an external Type-c interface line to supply power to the charging lifting console;
the thermal sensing mark (17) and the infrared geminate transistors (18) are used for assisting the indoor fire-fighting inspection unmanned aerial vehicle to land; the wireless radio frequency module B (14) is used for information interconnection with the fire-fighting inspection unmanned aerial vehicle; the SIM card (20) of the 5G and the voice broadcasting device (13) perform remote alarm together; the telescopic charging interface (25) can charge the unmanned aerial vehicle in time, so that continuous lifting work is realized; the LCD display screen (26) is used for displaying control data of the charging lifting console.
5. An indoor unmanned aerial vehicle fire inspection method based on radio positioning, which utilizes the indoor unmanned aerial vehicle fire inspection system of claims 1-4, and is characterized by being implemented according to the following steps:
step 1, an unmanned aerial vehicle is controlled by an operator to carry out flight scanning indoors through each millimeter wave radar chip (5), a three-dimensional environment map is generated by carrying out synchronous map construction and positioning algorithm according to echo phase difference received and transmitted by an MIMO array antenna (4), and a lifting initial coordinate is determined by taking a charging lifting console of the unmanned aerial vehicle as an initial position;
step 2, starting an actual inspection task from the initial coordinate position of take-off and landing, and solving a global position to enter trackless autonomous navigation operation by an unmanned aerial vehicle main control module (1) through reading a three-dimensional point cloud picture in a signal processing module (3) of the unmanned aerial vehicle in real time and carrying out information fusion on inertia and mileage data;
step 3, in the process of the step 2, the main control module (1) of the unmanned aerial vehicle monitors whether a fire hazard problem exists in real time according to an infrared thermal imager (6) and a smoke detection module (2) which are carried on the unmanned aerial vehicle, and an infrared thermal phase method and smoke concentration conditions are utilized for judgment; if the abnormality is detected, the fire-fighting inspection unmanned aerial vehicle stays in the overhead disc of the fire-fighting inspection unmanned aerial vehicle to further check the condition;
step 4, when confirming the fire situation in the step 3, the unmanned aerial vehicle transmits an alarm signal to a central processing unit (15) on the charging landing console through a wireless radio frequency module A (10) and a wireless radio frequency module B (14), then sends the alarm signal to appointed receiving personnel and mechanisms through an information memory (12) and a 5G SIM card (20), and simultaneously alarms by using a voice broadcasting device (13);
step 5, when the unmanned aerial vehicle detects that the electric quantity is close to insufficient through the electric quantity detector (16) in the routing inspection process, the unmanned aerial vehicle main control module (1) assists a 3D seat positioning algorithm to start automatic return through a track recursive model generated by the encoder (11);
step 6, after the unmanned aerial vehicle arrives and stays above the charging, taking-off and landing console, rotating the thermal infrared imager (6) to a vertical horizontal plane angle, collecting image information, and starting image matching with the triangular thermal sensing mark (17); if the thermal sensing mark (17) is located in the central triangular area of the image, matching is completed, and the unmanned aerial vehicle main control module (1) controls the brushless motor (28) to adjust the rotor wing to start slow landing;
and 7, after a frame (24) of the unmanned aerial vehicle perfectly falls on the stop landing assisting track (19), the internal infrared geminate transistors (18) recognize successful landing and send a mark signal to the central processing unit (15), the central processing unit (15) controls the LCD display screen (26) to display the stop state, and a charging waiting prompt is transmitted to a charging assistant person through the wireless radio frequency module B (14), so that the data wire of the charging interface (25) is manually stretched to start charging, the LCD display screen (26) immediately displays the charging state, and the next polling task is waited after the charging is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110319891.7A CN113178046B (en) | 2021-03-25 | 2021-03-25 | Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning |
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| CN202110319891.7A CN113178046B (en) | 2021-03-25 | 2021-03-25 | Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning |
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| CN113178046A true CN113178046A (en) | 2021-07-27 |
| CN113178046B CN113178046B (en) | 2022-06-24 |
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