CN206115629U - Conflagration control aircraft four -axis system of taking photo by plane - Google Patents
Conflagration control aircraft four -axis system of taking photo by plane Download PDFInfo
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- CN206115629U CN206115629U CN201621143137.3U CN201621143137U CN206115629U CN 206115629 U CN206115629 U CN 206115629U CN 201621143137 U CN201621143137 U CN 201621143137U CN 206115629 U CN206115629 U CN 206115629U
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Abstract
The utility model discloses a conflagration control aircraft four -axis system of taking photo by plane, a control system input is connected with MPU6050 module, atmospheric pressure detection module, earth magnetism detection module, the calculation and the aircraft attitude control at the gesture of being correlated with angle, a control system output is connected with the camera input, and the output of camera has connected gradually wireless dispensing device, image receiver and computer unit, the 2nd control system input is connected with temperature detection module, smoke detection module, and the 2nd control system output is connected with OLED display screen and GSM message routing module. The utility model discloses the real time monitoring forest fire that can decide for oneself independently sends an accurate forest fire positional information and the realtime graphic of scene of fire, has solved the practical problem of the poor efficiency nature of artificial control, puts out a fire for the forest and practices thrift the valuable rescue time as far as possible and provide more effectual scheme.
Description
Technical field
This utility model is related to automatically control, radio communication and signal and information processing technology field, more particularly to a kind of fire
Monitoring four axle of aircraft is taken photo by plane system.
Background technology
In recent years, with the continuous expansion that Global Greenhouse Effect affects, the temperature more and more higher in summer, so as to cause forest
The frequent generation of fire, but forest fire protection means fall behind, the condition of a fire find late, many unfavorable factors such as slow of reporting to the police seriously constrain it is gloomy
The progress of woods fire extinguishing, causes small fire to become big fire, endangers the existence of wild endangered animal and plant, seriously threatened broad masses of the people
The security of the lives and property.At present, external some countries take certain measure to prevent the generation of forest fire, such as U.S.'s shield
Woods aircraft and the patrol of infrared remote sensing fire alarm aircraft, while track of utilization " the earth " satellite at about 705 kilometers from the ground
On operate around the earth, detect high temperature area on ground, dense smoke area and scene of fire, though obtaining successfully, consume
A huge sum of money.And at home, take ground maintenance（Spread propaganda among the masses, control artificial burning things which may cause a fire disaster）, but this method to patrol area little,
Have tunnel vision.Although adopted in recent years fire is monitored using satellite remote sensing technology, and achieve certain effect, China
Satellite remote sensing software and hardware receive disposal ability and still have much room for improvement, fly with the fire hazard monitoring that can monitor live real-time condition
The four axle system of taking photo by plane of device is compared, and satellite remote sensing technology is slightly inadequate.Therefore, round-the-clock fire hazard monitoring early warning, it is quick really
Determine the accurate generation position of fire, obtain detailed scene of a fire information etc. and become problem instantly in the urgent need to address.
The content of the invention
This utility model purpose is to provide a kind of four axle of fire hazard monitoring aircraft and takes photo by plane system, not only solves monitor in real time
Forest fire simultaneously sends the problem of the accurately real time imaging of dot position information on fire and scene of fire, and compared with satellite remote sensing
There is good development meaning and market prospect etc. the satellite technology of funds with high investment, high, at the same time, artificial prison is solved again
The poorly efficient realistic problem of control.
This utility model solve technical scheme that its technical problem adopted for：Four axle of fire hazard monitoring aircraft is taken photo by plane and is
System, is sent including signal acquisition circuit module, single-chip microcomputer signal processing module, wireless image and is shown with receiver module, wireless messages
Show that module, wireless messages send and receiver module；Signal acquisition circuit module includes MPU6050 modules, geomagnetism detecting module, gas
Pressure detection module, temperature detecting module, Smoke Detection module；Single-chip microcomputer signal processing module includes the first control system and second
Control system；Wireless image sends and receiver module includes photographic head, wireless base station apparatus, image received device and microcomputer list
Unit；Wireless messages display module includes OLED display screen；Wireless messages send and receiver module include GSM information sending module and
Mobile phone；Wherein, the first control system input is connected with MPU6050 modules, air pressure detection module, geomagnetism detecting module, is entered
The calculating of row correlation attitude angle and aircraft manufacturing technology, the first control system outfan are connected with photographic head input, are imaged
The outfan of head is connected with wireless base station apparatus, image received device and microcomputer unit in turn；Second control system input with
Temperature detecting module, the connection of Smoke Detection module, the second control system outfan and OLED display screen and GSM information sending module
It is connected, information sending module is connected by signal with mobile phone, carries out real-time monitoring and show and send out to specified mobile phone
Deliver newspaper alarming information；First control system is connected with the second control system simultaneously carries out serial communication, for sending warning message
And data locking.
Further, first control system is STM32F407VGT6.
Further, second control system is STM32F103C8T6.
Further, the chip of the GSM information sending module is SIM900A.
Further, the mobile phone is inserted with record telephone number SIM.
Advantage of the present utility model：Can independently monitor in real time forest fire and independently send accurately point of origin position letter
Breath and the real time imaging of scene of fire, and can the height of Autonomous Control aircraft, visual angle allow which to be maintained at the safety of scene of fire
There is good development meaning and market prospect apart from interior and with high investment compared with satellite remote sensing etc., high funds satellite technology, with
This solves the poorly efficient realistic problem of artificial monitoring simultaneously, again, be forest extinguishing save as much as possible preciousness rescue time and
More efficiently scheme is provided.
Description of the drawings
Fig. 1 is system structural framework figure of the present utility model；
Fig. 2 is the MPU6050 modules and its peripheral circuit diagram in this utility model；
Interface principle figures of the Fig. 3 for the OLED display screen in this utility model；
Fig. 4 is the MS5611 and its peripheral circuit diagram in this utility model；
Fig. 5 is the pinoutss of STM32F103C8T6 chips in the second control system of the present utility model；
Fig. 6 is the hardware elementary diagram of STM32F407VGT6 in the first control system of the present utility model.
In figure：1- information acquisition circuit modules, 11-MPU6050 modules, 12- geomagnetism detecting modules, 13- air pressure detection mould
Block, 14- temperature detecting module, 15- Smoke Detection modules；2- single-chip microcomputer signal processing modules, the first control systems of 21-, 22-
Two control systems；3- wireless images send and receiver module, 31- photographic head, 32- wireless base station apparatus, 33- image-receptives dress
Put, 34- microcomputer units；4- wireless messages display modules, 41-OLED display screens；5- wireless messages send and receiver module, 51-
GSM information sending module, 52- mobile phones.
Specific embodiment
This utility model is described further below in conjunction with drawings and Examples.Referring to Fig. 1 to Fig. 6, fire hazard monitoring
Four axle of aircraft is taken photo by plane system, including signal acquisition circuit module 1, single-chip microcomputer signal processing module 2, wireless image send and connect
Receive module 3, wireless messages display module 4, wireless messages to send and receiver module 5；Signal acquisition circuit module 1 includes
MPU6050 modules 11, geomagnetism detecting module 12, air pressure detection module 13, temperature detecting module 14, Smoke Detection module 15；It is single
Piece machine signal processing module 2 includes the first control system 21 and the second control system 22；Wireless image sends and receiver module 3 is wrapped
Include photographic head 31, wireless base station apparatus 32, image received device 33 and microcomputer unit 34；Wireless messages display module 4 includes
OLED display screen 41；Wireless messages send and receiver module 5 includes GSM information sending module 51 and mobile phone 52；Wherein, the first control
21 input of system processed is connected with MPU6050 modules 11, air pressure detection module 13, geomagnetism detecting module 12, carries out related appearance
The calculating at state angle and aircraft manufacturing technology, 21 outfan of the first control system are connected with 31 input of photographic head, photographic head 31
Outfan be connected with wireless base station apparatus 32, image received device 33 and microcomputer unit 34 in turn；Second control system 22 is defeated
Enter end to be connected with temperature detecting module 14, Smoke Detection module 15,22 outfan of the second control system and OLED display screen 41 and
GSM information sending module 51 is connected, and information sending module 51 is connected by signal with mobile phone 52, carries out real-time monitoring and shows
And warning message is sent to specified mobile phone；First control system 21 is connected with the second control system 22 and is gone here and there simultaneously
Port communications, for sending warning message and data locking.First control system 21 is STM32F407VGT6；Second control system
22 is STM32F103C8T6；The chip of GSM information sending module 51 is SIM900A；Mobile phone 52 is inserted with record telephone number SIM
Card.
Temperature detecting module described in the utility model 14 uses DHT11 humiture modules, with 3 line numeral outputs is
It is main, and thermometric error is ± 2 °, while and because light weight can be directly mounted at the safety of about 30cm below the foot rest of both sides away from
From place, in order to avoid burn sensor and aircraft parking stand.
Smoke Detection module described in the utility model 15 uses MQ-2 smog gas sensors, detected smokescope
For 300-10000ppm, using digital and analog outputs, while sensitivity adjusting knob is controllable when detection smokescope reaches
Safe distance of the aircraft from fire point during fire rank.
MPU6050 modules described in the utility model 11（As shown in Figure 2）, geomagnetism detecting module 12, air pressure detection module 13
What is be respectively adopted is MPU6050 chips（Three axis accelerometer and three-axis gyroscope）, three axle magnetic compass AK8975 chips and high-precision
Degree barometer MS5611 chips and its each peripheral circuit（As shown in Figure 4）, respectively the first control system（STM32F407VGT6）
21 provide each axle acceleration of aircraft and the magnetic force size on angular velocity, three direction of principal axis of aircraft and air pressure height residing for aircraft
Degree, is that MCU carries out accurately hardware DMP attitude algorithms, there is provided good hardware circuit basis, while being conducive to aircraft certainly
Main control state of flight, realizes the function of intelligent fire hazard monitoring.
Single-chip microcomputer signal processing module described in the utility model 2 is by the first control system（STM32F407VGT6）21（Such as
Shown in Fig. 6）With the second control system（STM32F103C8T6）22（As shown in Figure 5）And its peripheral circuit composition, system reception
The trigger of signal acquisition circuit carries out DMP attitude clearing, autonomous flight control, serial communication, data locking and alarm signal
Breath sends, and controls the normal work of whole system.
Wireless base station apparatus described in the utility model 32, image received device 33 and microcomputer unit 34 combine, in work
During power stability, the real time imaging for being transmitted is clear, provides accurately scene of a fire information for staff and formulates effectively
Fire extinguishing scheme provides real time information.
OLED display screen described in the utility model 41 adopts four line serial SPI interfaces（As shown in Figure 3）, respectively SIN,
SOUT, PCS, CLK, and size only has 0.96 cun, quality is little, volume is light, highly versatile, easily with the second control system
（STM32F103C8T6）22 connections carry out serial communication, and high resolution, for showing the temperature of current flight device local environment
Degree, humidity, smokescope.
GSM information sending module 51 described in the utility model adopts four line serial TTL interfaces, strong interference immunity, with second
Control system（STM32F103C8T6）22 connections carry out serial communication, when the temperature and smokescope in environment reaches fire level
When other, to after 51 sending signal of GSM information sending module, GSM information sending module 51 is to insertion record cell-phone number for control system
The mobile phone 52 of code SIM sends warning message in time, there is provided the elaborate position information of fire.
This utility model is by 1 one side of signal acquisition circuit module according to MPU6050 modules 11, geomagnetism detecting module
12nd, the data obtained by air pressure detection module 13 carry out attitude algorithm, and then the Autonomous Control aircraft flight attitude of itself, protect
During holding fire hazard monitoring, on the other hand aircraft is examined according to DHT11 temperature detecting module 14 and smog in home
The temperature and smokescope of 15 real-time monitoring aircraft local environment of module are surveyed, when fire rank is reached, control system passes through
GSM information sending module 51 sends the elaborate position information of warning message and fire spot in time to specified mobile phone number, together
When open image transmission system, in real time the concrete condition of transmission scene of fire, can be thus staff and rescue center in real time
Timely and effectively scene of fire information is provided, is that forest extinguishing is saved the rescue time of preciousness as much as possible and provided more effectively
Scheme.
Principle of the present utility model is：In aircraft running, MPU6050 modules 11, geomagnetism detecting module 12, gas
Pressure 13 continuous detection data of detection module simultaneously sends the first control system to（STM32F407VGT6）The 21 attitude solutions for carrying out each axle
Calculate, to maintain the autonomous flight control of aircraft, temperature sensor 14 and 15 real-time monitoring of Smoke Sensor and transmit data
To the second control system（STM32F103C8T6）22 carry out monitor in real time, when the temperature and smog of surrounding residing for aircraft
When concentration all reaches fire rank, the second control system（STM32F103C8T6）22 send specific to GSM information sending module 51
Signal, then GSM information sending module 51 will at once to insertion record phone number SIM mobile phone 52 send warning message and
The elaborate position information of point of origin, at the same time, carries out the first control system of serial communication（STM32F407VGT6）21 are carried out
The height of data locking record current flight device, visual angle, and can move in real time to keep peace of the aircraft in scene of fire
In full distance, can be thus that forest extinguishing is saved the rescue time of preciousness as much as possible and provides more efficiently scheme.
Detailed conceptual design：
First, information acquisition circuit module 1：
1st, attitude clearing part：
MPU6050 modules 11 are calculated with the fusion of the spin matrix of 6 axle of numeral output or 9 axles, quaternary number, Eulerian angles form
Data, and there is 131LSBs/ °/sec sensitivitys to be ± 250, ± 500, ± 1000 and ± 2000 °/sec with full lattice sensing range
3 axle gyroscopes, and 3 axis accelerometers that formula span of control is ± 2g, ± 4g, ± 8g and ± 16g.While digital moving
Process（DMP）Engine can reduce the load that data, sensor synchronization, posture sensing etc. are calculated in the fusion of complexity, can be effectively
With geomagnetism detecting module（12）AK8975, air pressure detection module（13）MS5611 is combined and is carried out efficient attitude algorithm, is conducive to
The Autonomous Control flight of aircraft.
2nd, environment measuring part：
DHT11 humitures module 14 is based on 3 line numeral outputs, and thermometric error is ± 2 °, temperature survey mistake
Difference is ± 5%, while and because light weight is can be directly mounted at below the foot rest of both sides at the safe distance of about 30cm, in order to avoid burn biography
Sensor and aircraft parking stand；And the detected smokescope of MQ-2 smog gas sensors be 300-10000ppm, using numeral and
Simulation output, while the controllable aircraft when detecting that smokescope reaches fire rank of sensitivity adjusting knob is from fire point
Safe distance.
2nd, single-chip microcomputer signal processing module 2：
First and second control system of this utility model selects STM32F407VGT6 respectively（21）And STM32F103C8T6（22）
Used as main control chip, development environment adopts Keil uVision4.70 versions, STM32F407 series microprocessors first be based on
32 standard RISC (reduced instruction set computer) processors of ARM Cortex-M4F architectures, there is provided very high code efficiency,.Should
Series microprocessor operating frequency is 72MHz, the SRAM of the flash storage and 192K bytes of built-in up to 1M bytes, is had
Abundant general purpose I/O port.It is embedded with four universal synchronous/asynchronous receivers（USART1, USART2, USART3 and USART6）
With two UART Universal Asynchronous Receiver Transmitters（UART4 and UART5）And multiple I2C interfaces, SPI interface, a CAN interface, it is realization
Serial data communication is provided and is ensured.STM32F407VGT6 chip pins figure is as shown in Figure 6
And STM32F103 series microprocessors are first 32 standards RISC based on ARM Cortex-M3 architectures
(reduced instruction set computer) processor, has played the high-performance of ARM kernels on usual 8 memory spaces with sixteen-bit system.This is
Row operation frequency of microprocessor is 72MHz, the SRAM of the flash storage and 20K bytes of built-in up to 128K bytes, it may have
Abundant general purpose I/O port, simultaneously containing abundant communication interface:Three USART asynchronous serial communication interfaces, two I2C connect
Mouth, two SPI interfaces, a CAN interface and a USB interface.STM32F103C8T6 chip pins figure is as shown in Figure 5
3rd, wireless image sends and receiver module 3：
Photographic head 31, wireless base station apparatus 32, image received device 33 and microcomputer unit 34 combine, in the course of the work
Power stability, the real time imaging for being transmitted are clear, provide accurately scene of a fire information for staff and formulate effectively fire extinguishing side
Case provides real time information.
4th, wireless messages display module 4：
OLED display screen 41 adopts 4 line serial SPI interfaces, respectively SIN, SOUT, PCS, CLK, and size only has 0.96
Very little, quality is little, volume is light, highly versatile, easily carries out serial communication with the connection of the second control system STM32F103C8T6, and divides
Resolution is high, for showing the temperature of current flight device local environment, humidity, smokescope.The interface of 0.96 cun of OLED display screen
Schematic diagram is as shown in Figure 3
5th, wireless messages send and receiver module 5：
GSM information sending module 51 adopts 4 line serial TTL interfaces, strong interference immunity, with the second control system
STM32F103C8T6 connections carry out serial communication, when temperature and smokescope in environment reach fire rank, control system
To after 51 sending signal of GSM information sending module, mobile phone of the GSM information sending module 51 to insertion record phone number SIM
52 send warning message in time, there is provided the elaborate position information of point of origin.
Claims (5)
1. four axle of fire hazard monitoring aircraft is taken photo by plane system, it is characterised in that：Including signal acquisition circuit module（1）, single-chip microcomputer letter
Number processing module（2）, wireless image send and receiver module（3）, wireless messages display module（4）, wireless messages send and connect
Receive module（5）；Signal acquisition circuit module（1）Including MPU6050 modules（11）, geomagnetism detecting module（12）, air pressure detection mould
Block（13）, temperature detecting module（14）, Smoke Detection module（15）；Single-chip microcomputer signal processing module（2）Including the first control system
System（21）With the second control system（22）；Wireless image sends and receiver module（3）Including photographic head（31）, wireless base station apparatus
（32）, image received device（33）And microcomputer unit（34）；Wireless messages display module（4）Including OLED display screen（41）；Nothing
Line information sends and receiver module（5）Including GSM information sending module（51）And mobile phone（52）；Wherein, the first control system
（21）Input and MPU6050 modules（11）, air pressure detection module（13）, geomagnetism detecting module（12）It is connected, carries out correlation
The calculating of attitude angle and aircraft manufacturing technology, the first control system（21）Outfan and photographic head（31）Input connects, and takes the photograph
As head（31）Outfan be connected with wireless base station apparatus in turn（32）, image received device（33）And microcomputer unit（34）；The
Two control systems（22）Input and temperature detecting module（14）, Smoke Detection module（15）Connection, the second control system（22）
Outfan and OLED display screen（41）With GSM information sending module（51）It is connected, information sending module（51）With mobile phone（52）
Connected by signal, carry out real-time monitoring and show and warning message is sent to specified mobile phone；System is controlled first simultaneously
System（21）With the second control system（22）Being connected carries out serial communication, for sending warning message and data locking.
2. four axle of fire hazard monitoring aircraft according to claim 1 is taken photo by plane system, it is characterised in that：The first control system
System（21）For STM32F407VGT6.
3. four axle of fire hazard monitoring aircraft according to claim 1 is taken photo by plane system, it is characterised in that：The second control system
System（22）For STM32F103C8T6.
4. four axle of fire hazard monitoring aircraft according to claim 1 is taken photo by plane system, it is characterised in that：The GSM information is sent out
Send module（51）Chip be SIM900A.
5. four axle of fire hazard monitoring aircraft according to claim 1 is taken photo by plane system, it is characterised in that：The mobile phone（52）Insert
There is record telephone number SIM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621143137.3U CN206115629U (en) | 2016-10-21 | 2016-10-21 | Conflagration control aircraft four -axis system of taking photo by plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621143137.3U CN206115629U (en) | 2016-10-21 | 2016-10-21 | Conflagration control aircraft four -axis system of taking photo by plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206115629U true CN206115629U (en) | 2017-04-19 |
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ID=58527238
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621143137.3U Expired - Fee Related CN206115629U (en) | 2016-10-21 | 2016-10-21 | Conflagration control aircraft four -axis system of taking photo by plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206115629U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416963A (en) * | 2018-05-04 | 2018-08-17 | 湖北民族学院 | Forest Fire Alarm method and system based on deep learning |
| CN110091990A (en) * | 2019-03-18 | 2019-08-06 | 深圳市元征科技股份有限公司 | A kind of traffic accident emergency method and unmanned plane |
| CN114241844A (en) * | 2021-12-23 | 2022-03-25 | 辽宁警察学院 | Portable analog simulation system and device of semi-closed space nuclide identification device |
-
2016
- 2016-10-21 CN CN201621143137.3U patent/CN206115629U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416963A (en) * | 2018-05-04 | 2018-08-17 | 湖北民族学院 | Forest Fire Alarm method and system based on deep learning |
| CN110091990A (en) * | 2019-03-18 | 2019-08-06 | 深圳市元征科技股份有限公司 | A kind of traffic accident emergency method and unmanned plane |
| CN114241844A (en) * | 2021-12-23 | 2022-03-25 | 辽宁警察学院 | Portable analog simulation system and device of semi-closed space nuclide identification device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20181021 |