CN116167594B - Unmanned aerial vehicle platform for detecting vital signs of human body under landslide body and detection method - Google Patents
Unmanned aerial vehicle platform for detecting vital signs of human body under landslide body and detection method Download PDFInfo
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/113—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb occurring during breathing
- A61B5/1135—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb occurring during breathing by monitoring thoracic expansion
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The application relates to the technical field of life detection of a landslide body, in particular to a detection unmanned aerial vehicle platform and a detection method for human vital signs under the landslide body, wherein the detection platform comprises the following components: the system comprises a task management terminal, an unmanned aerial vehicle module, a data transmission system and a data processing center. The task management terminal is used for realizing one or more functions of editing, planning and inquiring of detection tasks of human vital signs under the landslide body and issuing the detection tasks to the unmanned aerial vehicle group; the unmanned aerial vehicle module is used for performing flight control on the unmanned aerial vehicle group and comprises a plurality of types of detection equipment; the data transmission system is used for transmitting detection tasks to the unmanned aerial vehicle group and receiving various types of life detection data detected by the unmanned aerial vehicle group; the data processing center is used for identifying the vital signs of the landslide body according to the various types of vital detection data and sending rescue information to the rescue terminal. Therefore, the problems of slow rescue, weak cooperation, complex data, low transmission speed and the like in the traditional rescue mode are solved.
Description
Technical Field
The application relates to the technical field of life detection of a landslide body, in particular to a detection unmanned aerial vehicle platform and a detection method for human vital signs under the landslide body.
Background
The surface mine exploitation has the characteristics of hard working condition, severe natural environment, complex production process, multiple production links, numerous electromechanical equipment and the like, has been developed for decades in the field since the construction of China, has greatly controlled and improved risks, but has little progress in the aspect of casualty accident hazard degree, and the occurrence of serious and extra-large accidents is frequently and frequently seen. The trapped personnel in the collapse landfill of the rescue strip mine are a serious test, if conventional manpower search and rescue is carried out, the labor and time are wasted, the efficiency is low, the safety of rescue personnel is also affected to a certain extent, and if unmanned aerial vehicle is adopted for search and rescue, the efficiency can be greatly improved.
The traditional unmanned aerial vehicle takes an onboard camera, infrared imaging, image recognition and the like as a searching mode, is greatly influenced by the application environment, the accuracy of instruments and the like, is difficult to recognize trapped personnel buried below, is difficult to acquire accurate information of the casualties of the buried personnel, and greatly increases rescue difficulty. The existing searching mode is mainly used for independently searching and rescuing personnel or an independent unmanned aerial vehicle, and can not simultaneously and rapidly scan a large-range searching and rescuing place when facing a relatively wide rescue range. However, unmanned aerial vehicles carrying various life detection sensors have complex data sources, difficult identification and judgment of image results, and incapability of accurately and rapidly judging life body information in various data sources, so that the data blurring influences the implementation of rescue strategies. Meanwhile, the data transmission has delay, and rescue workers cannot acquire key information in time, so that the decision reaction time is increased, measures cannot be taken at the first time, and the gold rescue time is delayed.
Disclosure of Invention
The application provides a detection unmanned aerial vehicle platform and a detection method for human vital signs under a landslide body, which aim to solve the problems of slow rescue, weak cooperation, complex data, low transmission speed and the like in a traditional rescue mode.
An embodiment of the first aspect of the present application provides an unmanned aerial vehicle platform for detecting human vital signs under a landslide body, which includes a task management terminal for implementing one or more functions of editing, planning and querying a detection task of human vital signs under a landslide body, and issuing the detection task to an unmanned aerial vehicle group; the unmanned aerial vehicle module is used for performing flight control on the unmanned aerial vehicle group and comprises a plurality of types of detection equipment, wherein each type of detection equipment is carried on different unmanned aerial vehicles in the unmanned aerial vehicle group and is used for detecting a plurality of types of life detection data of an area where a landslide body is located; the data transmission system is used for transmitting the detection task to the unmanned aerial vehicle group and receiving various types of life detection data detected by the unmanned aerial vehicle group; the data processing center is used for identifying the vital signs of the human body under the landslide body according to the multiple types of vital detection data, and sending rescue information rescue terminals when the vital signs of the human body under the area where the landslide body is located are identified.
Optionally, the task management terminal includes: the task editing module is used for determining a detected target area and dividing the target area according to the detected grade to obtain one or more detection areas; the task planning module is used for determining the number of unmanned aerial vehicles and the types of detection equipment carried by the unmanned aerial vehicles according to the level of the detection area and generating a detection task of the detection area; and the task query module is used for querying the detection task of each detection area.
Optionally, the task editing module includes a target determining module and an area dividing module, where the target determining module is configured to determine a detected target area, and the area dividing module is configured to divide the target area according to the survival possibility of the buried person, so as to obtain detection areas with different levels.
Optionally, the task planning module comprises a task delegation module and a task route planning module, wherein the task delegation module matches the dispatch number of the unmanned aerial vehicle according to the grade of the detection area and is used for executing the scanning task and the detection task; and the task route planning module is used for carrying out route planning speed planning on the unmanned aerial vehicle according to the geographic position of the detection area to obtain an optimal route and a detection task with optimal speed.
Optionally, the unmanned aerial vehicle module includes flight control system and life detection system, wherein, flight control system includes positioning system, cluster management system, route control system, intelligent collision avoidance system, positioning system adopts GPS positioning system (Global Positioning System ) and/or big dipper positioning system to rely on inertial positioning system to carry out auxiliary positioning, intelligent collision avoidance system carries on physical collision avoidance module and radar detection module, life detection system carries on one or more in high definition digtal camera, duplex radar, biological detector, thermal infrared imager and the geological radar.
Optionally, the cluster management system performs cluster management on the unmanned aerial vehicle cluster; the route control system is used for receiving the detection tasks distributed by the unmanned aerial vehicle and correcting the planned path of the unmanned aerial vehicle.
Optionally, the data transmission system applies a wireless ad hoc network transmission technology and a base station transmission technology, wherein the wireless ad hoc network transmission technology is used for data transmission between unmanned aerial vehicles, and the data are summarized to obtain global data and transmitted to the base station; the base station transmission technique is used to transmit global data from the base station to the data processing center.
Optionally, the data processing center is configured to implement a data fusion function and a data evaluation function, where the data fusion function fuses multi-angle, diversified, and multi-level life detection data to obtain a global detection data map, and the method includes: generating real-time two-dimensional geological information from geological radar scanned geological information, carrying out system modeling according to the current detection information result to obtain a physical model, describing the state of particles through the life detection information of a life detector and the temperature information of a thermal infrared imager, establishing a state transition equation, carrying out set initialization processing on the particles to generate sampling particles, predicting the data of the sampling particles according to the state transition equation, calculating the weight of the particles in a mode of increasing from small to large weight for underground geological position information, temperature information and life detection information, and carrying out normalization processing on the three information; carrying out particle distribution resampling according to the particles and the corresponding weights thereof to generate new fused particle information; when the life detection information is detected, the corresponding particle information is marked, and the position information is output by combining the real-time high-definition photographic image; the data evaluation function is used for screening and evaluating the global detection data graph, determining the position of the living body and transmitting the position of the living body to the rescue terminal.
Optionally, the method further comprises: the logistics support center is used for replacing the unmanned aerial vehicle which does not have electricity and returning, dispatching a new unmanned aerial vehicle to inherit the tasks of the unmanned aerial vehicle with insufficient electric quantity, remotely monitoring the operation work dynamic of each unmanned aerial vehicle, and replacing, maintaining and replacing the unmanned aerial vehicle with abnormal working state.
An embodiment of the second aspect of the present application provides a method for detecting a vital sign of a human body under a landslide body, using a unmanned aerial vehicle platform for detecting a vital sign of a human body under a landslide body as described above, comprising the steps of: setting tasks according to the investigation conditions of the area where the landslide body is located; the task management terminal performs task planning and task delegation according to the set task, wherein the unmanned aerial vehicle group performs scanning detection work according to a preset route sent by the task management terminal, unmanned aerial vehicles with insufficient electric quantity in the scanning detection work automatically return to a logistics support center, the new unmanned aerial vehicles automatically inherit the task and data of the unmanned aerial vehicles and continue the scanning detection work, and part of unmanned aerial vehicle groups execute landslide body monitoring tasks to early warn secondary landslide disasters of landslide bodies; the data are subjected to data sharing and data transmission through a wireless ad hoc network transmission technology among unmanned aerial vehicle groups, multi-source data are shared to a task management terminal in real time, the task management terminal is connected with a base station, and the base station transmits the data to a data processing center; the data processing center is used for fusing multi-angle, diversified and multi-level life detection data to obtain a global detection data diagram, screening and evaluating the global detection data diagram, determining the position of a life body, and transmitting the position of the life body to the rescue terminal, wherein if the life body is found to have a scanning blind area after being evaluated by the data processing center, the task is arranged to the task management terminal again, and the task management terminal delegates the task to a new unmanned aerial vehicle for rescanning and detection.
Therefore, the application has at least the following beneficial effects:
according to the embodiment of the application, a plurality of instruments and equipment are carried by the unmanned aerial vehicle group, so that the traditional single instrument, single equipment and small-fixed-point soil-rock landslide body rescue actions are replaced, the rescue actions are more automatic and intelligent, the problem of secondary injury of rescue workers caused by subsequent disasters is reduced, and the life safety of the rescue workers is ensured; by carrying a plurality of instruments and equipment and combining an intelligent algorithm, artificial intelligence, big data, a data fusion technology and a wireless ad hoc network transmission technology, the intelligent and automatic rescue operation is effectively improved, the efficiency of the rescue operation is improved, the slow data transmission is effectively reduced, the rescue time is prolonged due to the slow search efficiency, and the successful rescue probability of trapped people is improved; the multi-unmanned-plane-based robot set is adopted to work cooperatively, so that the searching scanning range is enlarged, and the searching, detecting and rescuing efficiency is improved; the positions of rescue workers are determined through various instruments and various data, and the obtained results are more reliable; the standardized flow has the beneficial effects of effectively reducing the problems of slow rescue actions, low survival probability of trapped personnel and the like caused by improper cooperation and no planning in the rescue process.
Therefore, the technical problems of slow rescue, weak cooperation, complex data, low transmission speed and the like in the traditional rescue mode are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic block diagram of a unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body according to an embodiment of the present application;
fig. 2 is a module composition diagram of a unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body according to an embodiment of the present application;
fig. 3 is a flowchart of a method for detecting vital signs of a human body under a landslide body according to an embodiment of the present application;
fig. 4 is an application flowchart of a method for detecting vital signs of a human body under a landslide body according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body and a detection method thereof according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that when an unmanned aerial vehicle is adopted for searching in the traditional rescue mode mentioned in the background art, the unmanned aerial vehicle is greatly influenced by the application environment, the accuracy of instruments and the like, the rescue speed is low, the data transmission has delay, the large-area scanning of disaster sites cannot be carried out, and the like, the application provides a human vital sign detection unmanned aerial vehicle platform under a landslide body, wherein a plurality of unmanned aerial vehicles are used for carrying a plurality of vital detection devices, and the rapid data transmission among the unmanned aerial vehicle, a base station and the unmanned aerial vehicle is realized by combining multi-source data fusion and a wireless ad hoc network technology, so that an intelligent, automatic and rapid unmanned aerial vehicle intelligent rescue platform and a process are formed. Therefore, the problems of slow rescue, weak cooperation, complex data, low transmission speed and the like in the traditional rescue mode are solved.
Specifically, fig. 1 is a schematic block diagram of a unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body according to an embodiment of the present application.
As shown in fig. 1, the unmanned aerial vehicle platform 10 for detecting vital signs of a human body under a landslide body includes: the task management terminal 11, the unmanned aerial vehicle module 12, the data transmission system 13 and the data processing center 14.
The task management terminal 11 is used for realizing one or more functions of editing, planning and inquiring of detection tasks of vital signs of a human body under a landslide body, and issuing the detection tasks to the unmanned aerial vehicle group; the unmanned aerial vehicle module 12 is used for performing flight control on an unmanned aerial vehicle group, and comprises a plurality of types of detection devices, wherein each type of detection device is carried on different unmanned aerial vehicles in the unmanned aerial vehicle group and is used for detecting a plurality of types of life detection data of an area where a landslide body is located; the data transmission system 13 is used for transmitting detection tasks to the unmanned aerial vehicle group and receiving various types of life detection data detected by the unmanned aerial vehicle group; the data processing center 14 is used for identifying vital signs of a human body under the landslide body according to various types of vital detection data, and sending rescue information to rescue the terminal when the vital signs of the human body exist under the area where the landslide body is located.
It may be understood that, in the embodiment of the present application, the task management terminal is configured to implement a detection task of a human vital sign under a landslide body, and issue the detection task to an unmanned aerial vehicle group, the unmanned aerial vehicle module is configured to control an unmanned aerial vehicle, and various detection devices are mounted on the unmanned aerial vehicle for detecting vital detection data of an area where the landslide body is located, and the data transmission system is configured to transmit the detection task to the unmanned aerial vehicle group and receive the vital data detected by the unmanned aerial vehicle group, transmit the detection data to the data processing center, and send rescue information to the rescue terminal when the human vital sign under the landslide body is identified. According to the embodiment of the application, a plurality of unmanned aerial vehicles are provided with a plurality of life detection devices, and a data transmission system is utilized to realize rapid data transmission among the unmanned aerial vehicles, the rescue terminal and the unmanned aerial vehicles, so that an intelligent, automatic and rapid unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body is formed.
In the embodiment of the application, the task management terminal comprises: the system comprises a task editing module, a task planning module and a task query module.
The task editing module is used for determining a detected target area and dividing the target area according to the detected grade to obtain one or more detection areas; the task planning module is used for determining the number of unmanned aerial vehicles and the types of detection equipment carried by the unmanned aerial vehicles according to the level of the detection area and generating a detection task of the detection area; the task query module is used for querying the detection task of each detection area.
It can be understood that the task management terminal in the embodiment of the application comprises a task editing module, a task planning module and a task query module, and mainly performs responsibilities such as management of various tasks, region division, route planning, task delegation, data transmission and the like. The task editing module divides the target area according to the determined target area and the survival possibility of the buried personnel; the task planning module divides tasks according to the target area position and the area division result; the task query module is used for querying the detection task of each detection area.
In the embodiment of the application, the task editing module comprises a target determining module and a region dividing module, wherein the target determining module is used for determining a detected target region, and the region dividing module is used for dividing the target region according to the survival possibility of buried personnel to obtain detection regions with different grades; the task planning module comprises a task delegation module and a task route planning module, wherein the task delegation module is used for matching the dispatching quantity of the unmanned aerial vehicle according to the grade of the detection area and executing the scanning task and the detection task; and the task route planning module is used for carrying out route planning speed planning on the unmanned aerial vehicle according to the geographic position of the detection area to obtain an optimal route and a detection task of the optimal speed.
Specifically, the task editing module comprises a target determining module and a region dividing module, wherein task content, mainly a target region geographical position range, is input into the task editing module, the target region is divided into an emergency region, an important region and a common region according to the survival possibility of buried personnel, an obstacle dangerous region is determined according to the on-site investigation condition, and an obstacle weight is set.
The task planning module comprises a task delegation module and a task route planning module, wherein the task is divided mainly according to the position of a target area and the area division result, different numbers of unmanned aerial vehicles are delegated according to the importance degree of different areas, different tasks are executed, and the route planning of the unmanned aerial vehicles of the task is carried out according to the geographic position of the target area. The task delegation module dispatches different numbers of unmanned aerial vehicles which are relatively more suitable for the tasks of the areas to execute scanning tasks and detection tasks according to the importance degrees of the different areas, monitors the displacement of the surrounding soil and stone landslide bodies in real time, predicts the occurrence of secondary landslide collapse disasters, and reduces personnel and property loss caused by the secondary landslide; and the task route planning module is used for carrying out customized route design and planning according to different geographic features of different task areas to obtain an optimal route and a detection task of optimal speed.
The embodiment of the application adopts multi-unmanned aerial vehicle group regional detection, and has the advantages of clear key points, clear division, more reasonable route planning, wider detection range, faster detection progress and higher detection efficiency.
In the embodiment of the application, the unmanned aerial vehicle module comprises a flight control system and a life detection system, wherein the flight control system comprises a positioning system, a cluster management system, a route control system and an intelligent anti-collision system, the positioning system adopts a GPS positioning system and/or a Beidou positioning system and performs auxiliary positioning by means of an inertial positioning system, the intelligent anti-collision system is provided with a physical anti-collision module and a radar detection module, and the life detection system is provided with one or more of a high-definition camera, a duplex radar, a biological detector, a thermal infrared imager and a geological radar.
It can be understood that the unmanned aerial vehicle module in the embodiment of the application comprises a flight control system and a life detection system, wherein the flight control system comprises a positioning system, a cluster management system, an air route control system and an intelligent anti-collision system, and the unmanned aerial vehicle can perform regional scanning detection tasks according to a preset task plan by realizing the control of the flight attitude of the unmanned aerial vehicle.
The positioning system performs fusion positioning by adopting the GPS positioning system and the Beidou positioning system and performs auxiliary positioning by depending on the INS inertial positioning system (Inertial Navigation System) when fusion positioning signals are weak, so that the flight track of the unmanned aerial vehicle is accurately mastered in real time, and the operation dynamics of the unmanned aerial vehicle is monitored in real time.
The intelligent anti-collision system is characterized in that a physical anti-collision module and a radar detection module are mounted, the physical anti-collision module is made of soft materials to strengthen a shell, an unmanned aerial vehicle is protected, and the radar detection module detects obstacles on a task route and avoids the obstacles in time; the cluster management system carries out cluster management on the unmanned aerial vehicle cluster; the route control system is used for receiving the detection tasks distributed by the unmanned aerial vehicle and correcting the planned path of the unmanned aerial vehicle.
The life detection system is provided with one or more of a high-definition camera, a duplex radar, a biological radar sensor, a thermal infrared imager and a geological radar, and the high-definition camera displays a high-definition image of a scene in real time; the duplex radar and the biological radar sensor detect the buried vital signs under the rock-soil body, mainly biological respiration signs, and the buried position of the vital body is judged by observing the tiny displacement of the thoracic cavity fluctuation when the organism breathes; the infrared thermal imager detects the biological temperature sign under the rock-soil body, and because the organism has the body temperature and the temperature is higher than the surrounding rock-soil body environment, the infrared thermal imager can be used for judging the underground temperature abnormal area, so that the position of the underground living body is determined; the geological radar determines the buried depth of organisms under a rock-soil body, has the characteristics of penetrability and no obstacle, so that discontinuous and defective parts in the underground can be scanned, the parts are usually the positions of the living bodies, and the buried depth of the living bodies can be judged by the instrument. From this, unmanned aerial vehicle crowd carries on high definition digtal camera, shoots in real time the scene condition, carries geological radar, can accurately confirm the degree of depth of vital body, carries infrared detector and can confirm the vital body position through perception vital body temperature, carries duplex radar and biological detection appearance and can confirm the vital body position according to vital body respiratory sign.
The cluster management system is used for managing the groups of the plurality of unmanned aerial vehicles, so that the unmanned aerial vehicles in the unmanned aerial vehicle groups can be added, deleted, revised and checked, the number of the unmanned aerial vehicle groups can be timely and effectively controlled, the task execution efficiency is improved, and meanwhile, the resource waste caused by excessive unmanned aerial vehicles is reduced; and the route control system enables the unmanned aerial vehicle to receive the distributed route tasks, performs scanning detection work according to the preset tasks by combining with real-time positioning of the positioning system, and corrects the planned path of the unmanned aerial vehicle.
In the embodiment of the application, a wireless self-networking transmission technology and a base station transmission technology are applied to a data transmission system, wherein the wireless self-networking transmission technology is used for data transmission among unmanned aerial vehicles, and data are summarized to obtain global data and transmitted to a base station; the base station transmission technique is used to transmit global data from the base station to the data processing center.
It can be understood that the data transmission system of the embodiment of the application applies a wireless ad hoc network transmission technology and a base station transmission technology, and the wireless ad hoc network transmission technology enables the unmanned aerial vehicles to rapidly transmit data and summarize the data to form a global data in real time and transmit the global data to the close-range base station through a simplified transmission algorithm, so that the unmanned aerial vehicle group can be integrated to perform a detection task through the technology, and the base station transmission technology enables the summarized global data to be rapidly transmitted to the data processing center through the base station, thereby reducing time loss caused by slow data transmission in traditional rescue. According to the embodiment of the application, the wireless ad hoc network transmission technology is utilized, so that the data transmission speed among unmanned aerial vehicles is improved, the unmanned aerial vehicle group operation is more integrated, the detection efficiency is higher, and the task planning, delegation and execution speeds are faster.
In the embodiment of the application, the data processing center is used for realizing a data fusion function and a data evaluation function, wherein the data fusion function fuses multi-angle, diversified and multi-level life detection data to obtain a global detection data diagram, and the method comprises the following steps: generating real-time two-dimensional geological information from geological radar scanned geological information, carrying out system modeling according to the current detection information result to obtain a physical model, describing the state of particles through the life detection information of a life detector and the temperature information of a thermal infrared imager, establishing a state transition equation, carrying out set initialization processing on the particles to generate sampling particles, predicting the data of the sampling particles according to the state transition equation, calculating the weight of the particles in a mode of increasing from small to large weight to underground geological position information, temperature information and life detection information, and carrying out normalization processing on the three information; carrying out particle distribution resampling according to the particles and the corresponding weights thereof to generate new fused particle information; when the life detection information is detected, the corresponding particle information is marked, and the position information is output by combining the real-time high-definition photographic image; the data evaluation function is used for screening and evaluating the global detection data graph, determining the position of the living body and transmitting the position of the living body to the rescue terminal.
It can be understood that the data processing center of the embodiment of the application can realize a data fusion function and a data evaluation function, and fuses life detection data carried by multi-angle, multi-diversified and multi-layer unmanned aerial vehicles according to a certain algorithm flow, namely, multi-source complex data of different instruments are fused into a simple and accurate data chart, so that the data is easier to identify, the position of a living body is more accurate to determine, the decision reaction time is reduced, and the data processing efficiency and the rescue efficiency are greatly improved.
The specific implementation steps of the data fusion function are as follows: (1) Generating real-time two-dimensional geological information from geological information scanned by the geological radar, and carrying out system modeling according to the current detection information result; (2) Describing the state of particles according to the life detection information of a life detector through a physical model, establishing a state transfer equation, carrying out set initialization processing on the particles to generate certain sampling particles, predicting the data of the sampling particles according to the state transfer equation to generate the sampling particles, calculating the weight of the particles in a mode of increasing from small to large weight for the underground geological position information, the temperature information and the life detection information, and carrying out normalization processing on the three information; (3) Carrying out particle distribution resampling according to the particles and the corresponding weights thereof to generate new fused particle information; (4) When the life detection information is detected, the particle information of the point at the moment is subjected to marking processing, and the position information of the point is output by combining the real-time high-definition photographic image of the point. Therefore, a complete and clear global detection data graph can be formed by carrying out multi-source data fitting. After the data fusion function is realized, the data processing center rapidly performs data screening and evaluation, rapidly determines the position of the living body, and transmits the position of the living body back to the scene to perform rescue actions.
It should be noted that if the scan data result is evaluated by the data processing center and then the scan blind area is found, the task is rearranged to the task management terminal, the task management terminal delegates the task to the new unmanned aerial vehicle for rescanning and detecting, the route control system modifies the weight of the particles in the original task route, improves the weight of dangerous particles at the position, and carries out correction planning on the route at the position again.
In an embodiment of the present application, the detection platform 10 of the present application further includes: and (5) a logistics support center.
The logistics support center is used for replacing the unmanned aerial vehicle which does not have electricity and sending a new unmanned aerial vehicle to inherit the tasks of the unmanned aerial vehicle with insufficient electric quantity, remotely monitoring the operation work dynamic of each unmanned aerial vehicle and replacing, maintaining and replacing the unmanned aerial vehicle with abnormal working state.
It can be understood that the logistics support center can timely replace the unmanned aerial vehicle with insufficient electric quantity, send a new unmanned aerial vehicle to inherit the task of the unmanned aerial vehicle with insufficient electric quantity, remotely monitor the operation work dynamics of each unmanned aerial vehicle, replace, repair and replace the unmanned aerial vehicle with abnormal working state, monitor whether the operation work environment of the unmanned aerial vehicle set is suitable in real time, and combine the real-time work environment dynamics to perform work judgment.
In summary, as shown in fig. 2, the unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide body of the present application specifically includes: the system comprises a task management terminal, an unmanned aerial vehicle module, a logistics support center, a data transmission system and a data processing center. The task management terminal comprises a task editing module, a task planning module and a task query module. The task editing module comprises a target determining module and a region dividing module. The task planning module comprises a task delegation module and a task route planning module. The unmanned aerial vehicle module comprises a flight control system and a life detection system. The flight control system comprises a positioning system, a cluster management system, an air route control system and an intelligent anti-collision system. The positioning system adopts a GPS positioning system and a Beidou positioning system and performs auxiliary positioning by means of an INS inertial positioning system. The intelligent anti-collision system is provided with a physical anti-collision module and a radar detection module. The life detection system is provided with a high-definition camera, a duplex radar, a biological detector, a thermal infrared imager and a geological radar. The data transmission system uses wireless ad hoc network transmission technology and base station transmission technology. The data processing center applies a data fusion technology to evaluate the data.
According to the unmanned aerial vehicle platform for detecting the vital signs of the human body under the landslide body, which is provided by the embodiment of the application, a plurality of instrument devices are carried by the unmanned aerial vehicle group to replace the traditional single instrument, single device and small-fixed-point earth-rock landslide body rescue actions, so that the rescue actions are more automatic and intelligent, the secondary injury problem of rescue workers caused by subsequent disasters is reduced, and the life safety of the rescue workers is ensured; by carrying a plurality of instruments and equipment and combining an intelligent algorithm, artificial intelligence, big data, a data fusion technology and a wireless ad hoc network transmission technology, the intelligent and automatic rescue operation is effectively improved, the efficiency of the rescue operation is improved, the slow data transmission is effectively reduced, the rescue time is prolonged due to the slow search efficiency, and the successful rescue probability of trapped people is improved; the multi-unmanned-plane-based robot set is adopted to work cooperatively, so that the searching scanning range is enlarged, and the searching, detecting and rescuing efficiency is improved; the positions of rescue workers are determined through various instruments and various data, and the obtained results are more reliable; the standardized flow has the beneficial effects of effectively reducing the problems of slow rescue actions, low survival probability of trapped personnel and the like caused by improper cooperation and no planning in the rescue process.
Next, a method for detecting vital signs of a human body under a landslide body according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a flowchart of a method for detecting vital signs of a human body under a landslide body according to an embodiment of the present application.
As shown in fig. 3, the method for detecting the vital sign of the human body under the landslide body utilizes the unmanned aerial vehicle platform for detecting the vital sign of the human body under the landslide body to detect, and comprises the following steps:
in step S101, a task is set according to the investigation situation of the area where the landslide body is located.
It can be understood that the embodiment of the application needs to evaluate the area and the site of the area where the landslide body is positioned, define the disaster area range and set the detection task according to the investigation condition.
In step S102, the task management terminal performs task planning and task delegation according to the set task, wherein the unmanned aerial vehicle group performs scanning detection work according to a predetermined route sent by the task management terminal, unmanned aerial vehicles with insufficient electric quantity in the scanning detection work automatically return to the logistics support center, the new unmanned aerial vehicles automatically inherit the task and data thereof, the scanning detection work is continued, and part of unmanned aerial vehicle groups execute landslide body monitoring tasks to early warn secondary landslide disasters of landslide bodies; the data are shared and transmitted by wireless self-networking transmission technology among unmanned aerial vehicle groups, multi-source data are shared to a task management terminal in real time, the task management terminal is connected with a base station, and the base station transmits the data to a data processing center.
It can be understood that, in the embodiment of the present application, based on the detection task set in step S101, the task management terminal performs task planning and task delegation according to the set task area, controls the unmanned aerial vehicle group to perform work, and performs data sharing and data transmission through the wireless ad hoc network transmission technology between the unmanned aerial vehicle groups, so as to implement data communication, and transmits the data to the data processing center.
In step S103, the data processing center is configured to fuse multi-angle, diversified, and multi-level life detection data to obtain a global detection data map, screen and evaluate the global detection data map, determine a position of a living body, and transmit the position of the living body to the rescue terminal, where if the evaluation by the data processing center finds that a scanning blind area exists, the task is rearranged to the task management terminal, and the task management terminal delegates the task to a new unmanned aerial vehicle for rescanning and detection.
It can be understood that, in the embodiment of the application, the life detection data detected by the unmanned aerial vehicle group can be fused by the data processing team, the global detection data diagram is obtained, the position of the life body is determined and transmitted to the rescue terminal, if the scanning blind area exists, the task is rearranged, and the unmanned aerial vehicle group is controlled to scan and detect.
Specifically, as shown in fig. 4, the specific flow of the detection method of the vital sign of the human body under the landslide body is as follows:
A. after an accident occurs, rescue workers arrive at the scene rapidly, the scene is subjected to regional and scene condition evaluation, a disaster area range is defined, an emergency data transmission base station is arranged near the disaster area, a logistic support center is arranged near a safety area, surrounding environments are observed, and the working state of an unmanned aerial vehicle group is monitored in real time.
B. The rescue workers input the task area range and the on-site investigation condition into the task management terminal, and the unmanned aerial vehicle units are grouped. The task management terminal divides the task geographical range into different area ranges according to the field geographical condition and the investigation condition, performs task route planning setting according to different areas, and delegates the task to unmanned aerial vehicles with different numbers. Meanwhile, a certain number of monitoring unmanned aerial vehicles are dispatched, displacement monitoring is conducted on the landslide body and surrounding areas, and early warning is conducted on secondary landslide disasters of the landslide body.
C. The unmanned aerial vehicle group starts detection work according to a preset task route in a preset task range. Unmanned aerial vehicle with insufficient electric quantity automatically returns to the logistics support center, simultaneously, task data and task processes are sent to the relay unmanned aerial vehicle by using a wireless ad hoc network transmission technology, and the relay unmanned aerial vehicle takes off from the logistics support center to continuously complete the regional scanning task. The logistics support center personnel carry out battery replacement work to the unmanned aerial vehicle with insufficient electric quantity.
D. The unmanned aerial vehicle group performs data sharing and data transmission in real time through a wireless ad hoc network transmission technology in the scanning detection work, achieves unmanned aerial vehicle group information integrated control, transmits multi-instrument multi-source data to a task management terminal in real time, is connected with a temporary base station, and is transmitted to a data processing center in real time through the base station.
E. The data processing center applies a multi-source data fusion technology to fuse multi-source data of multiple unmanned aerial vehicles and multiple instruments into a simple, clear and visual data chart, and data chart information is evaluated by data processing center personnel to judge whether the data are reasonable and effective. And the data invalid area reissues the uploading task area to the task management terminal, the task automatically covers the overlapping part of the original task area, and the processes B-E are repeated.
F. The data are reasonable and effective, and the effective life body position is transmitted back to the on-site rescue workers in real time by the personnel of the data processing center.
G. Rescue workers quickly carry out rescue actions.
It should be noted that, the explanation of the foregoing embodiment of the unmanned aerial vehicle platform for detecting the vital signs of the human body under the landslide body is also applicable to the method for detecting the vital signs of the human body under the landslide body in this embodiment, and will not be repeated here.
According to the detection method of the vital signs of the human body under the landslide body, provided by the embodiment of the application, a set of standardized flow is provided, so that the problems of slow rescue actions and low survival probability of trapped people caused by improper cooperation and no planning in the rescue process are effectively solved; the process is clear and standard, the matching efficiency of each part is higher, the position of the living body is accurately and rapidly determined, and the rescue process is more intelligent, automatic and systematic.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (5)
1. The utility model provides a survey unmanned aerial vehicle platform of human vital sign under landslide body which characterized in that includes:
the task management terminal is used for realizing one or more functions of editing, planning and inquiring of detection tasks of vital signs of a human body under a landslide body and issuing the detection tasks to the unmanned aerial vehicle group, and comprises: the task editing module is used for determining a detected target area and dividing the target area according to the detected grade to obtain one or more detection areas; the task planning module is used for determining the number of unmanned aerial vehicles and the types of detection equipment carried by the unmanned aerial vehicles according to the level of the detection area and generating a detection task of the detection area; the task query module is used for querying the detection task of each detection area, wherein the task editing module comprises a target determining module and an area dividing module; the target determining module is used for determining a detected target area, and the area dividing module is used for dividing the target area according to the survival possibility of buried personnel to obtain detection areas with different grades; the task planning module comprises a task delegation module and a task route planning module, wherein the task delegation module is used for matching the dispatch number of the unmanned aerial vehicle according to the grade of the detection area and executing a scanning task and a detection task; the task route planning module is used for carrying out route planning speed planning on the unmanned aerial vehicle according to the geographic position of the detection area to obtain an optimal route and a detection task of optimal speed;
The unmanned aerial vehicle module is used for performing flight control on the unmanned aerial vehicle group and comprises a plurality of types of detection equipment, wherein each type of detection equipment is carried on different unmanned aerial vehicles in the unmanned aerial vehicle group and is used for detecting a plurality of types of life detection data of an area where a landslide body is located, the unmanned aerial vehicle module comprises a flight control system and a life detection system, the flight control system comprises a positioning system, a cluster management system, a line control system and an intelligent anti-collision system, the positioning system adopts a GPS (global positioning system) and/or a Beidou positioning system and performs auxiliary positioning by means of an inertial positioning system, the intelligent anti-collision system carries a physical anti-collision module and a radar detection module, and the life detection system carries one or more of a high-definition camera, a duplex radar, a biological detector, a thermal infrared imager and a geological radar;
the data transmission system is used for transmitting the detection task to the unmanned aerial vehicle group and receiving various types of life detection data detected by the unmanned aerial vehicle group;
the data processing center is used for identifying the vital signs of the human body under the landslide body according to the multiple types of vital detection data, sending rescue information rescue terminals when the vital signs of the human body under the area where the landslide body is positioned are identified, the data processing center is used for realizing a data fusion function and a data evaluation function,
The data fusion function fuses multi-angle, diversified and multi-level life detection data to obtain a global detection data diagram, and the method comprises the following steps: generating real-time two-dimensional geological information from geological radar scanned geological information, carrying out system modeling according to the current detection information result to obtain a physical model, describing the state of particles through the life detection information of a life detector and the temperature information of a thermal infrared imager, establishing a state transition equation, carrying out set initialization processing on the particles to generate sampling particles, predicting the data of the sampling particles according to the state transition equation, calculating the weight of the particles in a mode of increasing from small to large weight for underground geological position information, temperature information and life detection information, and carrying out normalization processing on the three information; carrying out particle distribution resampling according to the particles and the corresponding weights thereof to generate new fused particle information; when the life detection information is detected, the corresponding particle information is marked, and the position information is output by combining the real-time high-definition photographic image;
the data evaluation function is used for screening and evaluating the global detection data graph, determining the position of the living body and transmitting the position of the living body to the rescue terminal.
2. The unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide of claim 1, wherein the cluster management system performs cluster management on the unmanned aerial vehicle cluster; the route control system is used for receiving the detection tasks distributed by the unmanned aerial vehicle and correcting the planned path of the unmanned aerial vehicle.
3. The unmanned aerial vehicle platform for detecting vital signs of human body under landslide of claim 1, wherein the data transmission system applies a wireless ad hoc network transmission technology and a base station transmission technology, wherein the wireless ad hoc network transmission technology is used for data transmission among unmanned aerial vehicles, and data are summarized to obtain global data and transmitted to a base station; the base station transmission technique is used to transmit global data from the base station to the data processing center.
4. The unmanned aerial vehicle platform for detecting vital signs of a human body under a landslide of claim 1, further comprising:
the logistics support center is used for replacing the unmanned aerial vehicle which does not have electricity and returning, dispatching a new unmanned aerial vehicle to inherit the tasks of the unmanned aerial vehicle with insufficient electric quantity, remotely monitoring the operation work dynamic of each unmanned aerial vehicle, and replacing, maintaining and replacing the unmanned aerial vehicle with abnormal working state.
5. A method for detecting human vital signs under a landslide body, characterized in that the method uses the unmanned aerial vehicle platform for detecting human vital signs under a landslide body according to any one of claims 1-4, wherein the method comprises the following steps:
setting tasks according to the investigation conditions of the area where the landslide body is located;
the task management terminal performs task planning and task delegation according to the set task, wherein the unmanned aerial vehicle group performs scanning detection work according to a preset route sent by the task management terminal, unmanned aerial vehicles with insufficient electric quantity in the scanning detection work automatically return to a logistics support center, the new unmanned aerial vehicles automatically inherit the task and data of the unmanned aerial vehicles and continue the scanning detection work, and part of unmanned aerial vehicle groups execute landslide body monitoring tasks to early warn secondary landslide disasters of landslide bodies; the data are subjected to data sharing and data transmission through a wireless ad hoc network transmission technology among unmanned aerial vehicle groups, multi-source data are shared to a task management terminal in real time, the task management terminal is connected with a base station, and the base station transmits the data to a data processing center;
the data processing center is used for fusing multi-angle, diversified and multi-level life detection data to obtain a global detection data diagram, screening and evaluating the global detection data diagram, determining the position of a life body, and transmitting the position of the life body to the rescue terminal, wherein if the life body is found to have a scanning blind area after being evaluated by the data processing center, the task is arranged to the task management terminal again, and the task management terminal delegates the task to a new unmanned aerial vehicle for rescanning and detection.
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