CN206236228U - A kind of forest fire monitoring early-warning system based on unmanned plane - Google Patents
A kind of forest fire monitoring early-warning system based on unmanned plane Download PDFInfo
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- CN206236228U CN206236228U CN201621323040.0U CN201621323040U CN206236228U CN 206236228 U CN206236228 U CN 206236228U CN 201621323040 U CN201621323040 U CN 201621323040U CN 206236228 U CN206236228 U CN 206236228U
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Abstract
The utility model discloses a kind of forest fire monitoring early-warning system based on unmanned plane, including unmanned plane and the monitoring early-warning device being mounted on the unmanned plane, the monitoring early-warning device includes the first controller, fire hazard monitoring prewarning unit, unmanned aerial vehicle (UAV) control unit and battery monitoring unit, the fire hazard monitoring prewarning unit includes second controller, the second controller is connected to IMAQ and processing module and wireless communication module, the unmanned aerial vehicle (UAV) control unit includes GPS module, 3-axis acceleration sensor, baroceptor, geomagnetic sensor, machine governor module and aircraft motor module.It is the utility model simple structure, reasonable in design, fire Automatic Recognition is carried out using modern photography e measurement technology and GPS navigation technical tie-up, real-time monitoring ground whether there is ignition point on according to the default line of flight, by the way of radio communication, it is suitable for the transmission of forest movable signal on a large scale, and with cell voltage monitoring function.
Description
Technical field
The utility model belongs to technical field of fire safety, and in particular to a kind of forest fire monitoring based on unmanned plane is pre-
Alarm method.
Background technology
Forest fire is one of important disaster of global forestry, and heavy losses of forest resourceies and big can be all caused every year
The environmental pollution of scope.Traditional forest fire protection monitoring, it is main patrolled using ground, the observation of Ren Gong observation towers, long-distance video prison
Control and satellite remote sensing mode.Wherein, ground patrols that monitoring range is small, and the places that many is had inconvenient traffic are difficult to patrol；Observation tower is seen
The experience of effect excessively Yi Lai watchkeepers is examined, accuracy rate is low, error is big, and is easily limited by terrain, coverage is small, deposit
At fire monitoring dead angle；Satellite Remote Sensing forest fire is risk of forest fire monitoring means commonplace in the last few years, is had
Coverage is big, it is rapid, continuous whole in time the characteristics of, but the method there is also remote sensing images lack of resolution, flexibly
Property difference the problems such as, carrying out forest fire monitoring using unmanned plane can overcome drawbacks described above, and its deployment is convenient, data acquisition is fast
Prompt, abundant information and technical costs are relatively low.Therefore a kind of forest fire monitoring and early warning method based on unmanned plane is needed, is utilized
Modern photography e measurement technology carries out fire Automatic Recognition, and realization carries out comprehensive, careful, monitor to forest fire information,
Practical decision references information can be provided to Forest Fire Alarm and commander's work of putting out a fire to save life and property, and with battery electric quantity monitoring function,
Reduce device losses and the risk damaged.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided one kind is based on
The forest fire monitoring and early warning method of unmanned plane, it is its simple structure, reasonable in design, led using modern photography e measurement technology and GPS
Boat technical tie-up carries out fire Automatic Recognition, and real-time monitoring ground whether there is ignition point on according to the default line of flight,
By the way of radio communication, it is suitable for the transmission of forest movable signal on a large scale, and with cell voltage monitoring function, use
Easy to operate, practical, using effect is good, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of Forest Fire based on unmanned plane
Calamity monitoring early-warning system, it is characterised in that：Including unmanned plane and the monitoring early-warning device being mounted on the unmanned plane, the prison
Control prior-warning device includes the first controller, fire hazard monitoring prewarning unit, unmanned aerial vehicle (UAV) control unit and battery monitoring unit, the fire
Calamity monitoring and early warning unit includes the second controller connected with the first controller, and the second controller is connected to IMAQ with place
Reason module and wireless communication module, the unmanned aerial vehicle (UAV) control unit include what executing agency connected with the first controller input
Sensor mechanism and the GPS module connected with the first controller input, the sensor mechanism are sensed including 3-axis acceleration
Device, baroceptor and geomagnetic sensor, the executing agency include the machine governor connected with the first controller output end
Module and the aircraft motor module connected with machine governor module, the battery monitoring unit include being used for the first control
The battery voltage monitoring module that device provides the supplying cell of electric energy and is arranged between the first controller and supplying cell.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The machine governor
Module includes 4 machine governors, and the aircraft motor module includes 4 aircraft motors.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The radio communication mold
Block includes the SIM of chip SIM800C and insertion chip SIM800C, and the chip SIM800C passes through socket and second controller
Communications pins connect.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：Described image gather with
Processing module includes the camera of model ZC0301, and the camera of the model ZC0301 is by USB port and the second control
The communications pins of device processed connect.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The second controller
Using OK6410 type development boards, processor model is S3C6410.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The 3-axis acceleration
Sensor is chip MPU6050, and the SDA pins of the chip MPU6050 connect through resistance R4 with+3.3V voltage ends, the core
The SCL pins of piece MPU6050 connect through resistance R5 with+3.3V voltage ends, AUX-DA pins, the AUX- of the chip MPU6050
CL pins, AD0 pins and INT pins connect with the first controller, VDD pins and the+3.3V voltages of the chip MPU6050
End connects.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The baroceptor
Be chip MS5611, the VDD pins of the chip MS5611 point two-way, all the way the one end with electric capacity C1 connect, another road with+
3.3V voltage ends connect, the GND pin point two-way of the chip MS5611, and the other end with electric capacity C1 connects all the way, Ling Yilu
Ground connection, the SCLK pins and SDI pins of the chip MS5611 connect with the first controller.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The geomagnetic sensor
It is chip HMC5883L, the VDD pins of the chip HMC5883L divide three tunnels, and the one end with electric capacity C2 connects all the way, Ling Yilu
One end with electric capacity C3 connects, and the 3rd tunnel connects with+3.3V voltage ends；The VDDI0 pins of the chip HMC5883L point two-way,
The one end with electric capacity C4 connects all the way, and another road connects with+3.3V voltage ends；The SCL pins of the chip, SDA pins and
DRDY pins connect with the first controller；The other end of the other end, the other end of electric capacity C3 and electric capacity C4 of the electric capacity C2
It is grounded.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：The GPS module is mould
Block LEA-5H.
A kind of above-mentioned forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：First controller
It is chip STM32F103RCT6.
The utility model has advantages below compared with prior art：
1st, simple structure of the present utility model, reasonable in design, realizes and using easy to operate.
2nd, the utility model carries out fire Automatic Recognition using modern photography e measurement technology and GPS navigation technical tie-up, figure
As collection and processing module can monitor in real time forest fires, it is to avoid using Smoke Sensor, temperature sensor and flame sensing
The sensors such as device transmit monitored picture due to the reliability and accuracy of environmental change influence monitoring, and GPS module can be accurately quick
Acquisition fire location data, unmanned plane real-time monitoring ground on according to the default line of flight whether there is ignition point, real
Comprehensive, careful, monitor now is carried out to forest fire information, provides practical to Forest Fire Alarm and commander's work of putting out a fire to save life and property
Decision references information.
3rd, the utility model has cell voltage monitoring function, when supplying cell electricity is less than power supply threshold value, the first control
Device processed sends order of making a return voyage, and controls the work of aircraft motor, unmanned plane is maked a return voyage, and reduces unmanned plane and answers electricity shortage to drop to
In forest, device losses and the risk damaged are reduced.
4th, forest fire information is sent to receiving terminal by the utility model in time by the way of radio communication, covers model
Enclose that wide, mobility is good, be suitable for the transmission of forest movable signal on a large scale.
In sum, the utility model simple structure, reasonable in design, using modern photography e measurement technology and GPS navigation skill
Art is combined carries out fire Automatic Recognition, and real-time monitoring ground whether there is ignition point on according to the default line of flight, uses
The mode of radio communication, is suitable for the transmission of forest movable signal on a large scale, and with cell voltage monitoring function, use operation
Convenient, practical, using effect is good, is easy to promote the use of.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Fig. 2 is the circuit theory diagrams of the controller of the utility model first.
Fig. 3 is the circuit theory diagrams of the utility model 3-axis acceleration sensor.
Fig. 4 is the circuit theory diagrams of the utility model baroceptor.
Fig. 5 is the circuit theory diagrams of the utility model geomagnetic sensor.
Description of reference numerals:
1-the first controller；2-second controller；
3-IMAQ and processing module；4-wireless communication module；
5-3-axis acceleration sensor；6-baroceptor；7-geomagnetic sensor；
8-GPS module；9-supplying cell；
10-battery voltage monitoring module；11-machine governor module；
12-aircraft motor module.
Specific embodiment
As shown in figure 1, the utility model includes unmanned plane and the monitoring early-warning device being mounted on the unmanned plane, it is described
Monitoring early-warning device includes the first controller 1, fire hazard monitoring prewarning unit, unmanned aerial vehicle (UAV) control unit and battery monitoring unit, institute
Stating fire hazard monitoring prewarning unit includes the second controller 2 connected with the first controller 1, and the second controller 2 is connected to image
Collection and processing module 3 and wireless communication module 4, the unmanned aerial vehicle (UAV) control unit include that executing agency and the first controller 1 are defeated
Enter the end sensor mechanism for connecting and the GPS module 8 connected with the input of the first controller 1, the sensor mechanism includes three
Axle acceleration sensor 5, baroceptor 6 and geomagnetic sensor 7, the executing agency include and the output end of the first controller 1
The machine governor module 11 for connecting and the aircraft motor module 12 connected with machine governor module 11, the battery cell monitoring
Unit is included for providing the supplying cell 9 of electric energy to the first controller 1 and being arranged on the first controller 1 and supplying cell 9
Between battery voltage monitoring module 10.
In the present embodiment, the machine governor module 11 includes 4 machine governors, the aircraft motor module 12
Including 4 aircraft motors.
In the present embodiment, the wireless communication module 4 includes the SIM of chip SIM800C and insertion chip SIM800C,
The chip SIM800C is connected by socket with the communications pins of second controller 2.
In the present embodiment, described image collection includes the camera of model ZC0301, the model with processing module 3
The camera of ZC0301 is connected by USB port with the communications pins of second controller 2.
In the present embodiment, the second controller 2 uses OK6410 type development boards, and processor model is S3C6410.
As shown in Fig. 2 in the present embodiment, first controller 1 is chip STM32F103RCT6.
As shown in figure 3, in the present embodiment, the 3-axis acceleration sensor 5 is chip MPU6050, the chip
The SDA pins of MPU6050 connect through resistance R4 with+3.3V voltage ends, the SCL pins of the chip MPU6050 through resistance R5 with+
3.3V voltage ends connect, and the AUX-DA pins of the chip MPU6050, AUX-CL pins, AD0 pins and INT pins are with
One controller 1 connects, and the VDD pins of the chip MPU6050 connect with+3.3V voltage ends.During specific implementation, the chip
The AUX-DA pins of MPU6050, AUX-CL pins, AD0 pins and INT pins respectively with the PC12 of chip STM32F103RCT6
Pin, PC11 pins, PC10 pins and PC09 pins connect.
As shown in figure 4, in the present embodiment, the baroceptor 6 is chip MS5611, the VDD of the chip MS5611
Pin divides two-way, and the one end with electric capacity C1 connects all the way, and another road connects with+3.3V voltage ends, the GND of the chip MS5611
Pin divides two-way, and the other end with electric capacity C1 connects all the way, another road ground connection, the SCLK pins and SDI of the chip MS5611
Pin connects with the first controller 1.During specific implementation, the SCLK pins and SDI pins of the chip MS5611 respectively with core
The PC05 pins and PC04 pins of piece STM32F103RCT6 connect.
As shown in figure 5, in the present embodiment, the geomagnetic sensor 7 is chip HMC5883L, the chip HMC5883L's
VDD pins divide three tunnels, and the one end with electric capacity C2 connects all the way, and another road connects with one end of electric capacity C3, and the 3rd tunnel is electric with+3.3V
Pressure side connects；The VDDI0 pins of the chip HMC5883L point two-way, all the way the one end with electric capacity C4 connect, another road with+
3.3V voltage ends connect；The SCL pins of the chip, SDA pins and DRDY pins connect with the first controller 1；The electricity
The other end for holding the other end, the other end of electric capacity C3 and electric capacity C4 of C2 is grounded.During specific implementation, the SCL of the chip draws
Pin, SDA pins and DRDY pins PC08 pins respectively with chip STM32F103RCT6, PC07 pins and PC06 pins connect.
In the present embodiment, the GPS module 8 is module LEA-5H.
During specific implementation, before unmanned plane starts flight, in the line of flight of the default unmanned plane of earth station, line of flight letter
Breath includes longitude and latitude, height, time and flight course, and earth station calculates the amount of yaw of unmanned plane according to the information of the line of flight,
After controlling the flight of unmanned plane, unmanned plane to start flight with this, into autonomous cruise offline mode, can be navigated according to default flight
To flight.Unmanned plane during flying being realized to designated area using GPS module 8 and being cruised, nothing is read using 3-axis acceleration sensor 5
Man-machine acceleration magnitude and magnitude of angular velocity, the stabilization of flying height is realized using baroceptor 6, real using geomagnetic sensor 7
The determination of existing direction in space, the first controller 1 passes through acceleration magnitude, magnitude of angular velocity, flying height and the direction in space for receiving
Data, four machine governors in controlled motor speed regulator module 11 control four in aircraft motor module 12 with this
The work of individual aircraft motor, it is ensured that the autonomous landing and stabilized flight of unmanned plane.The detection power supply of battery voltage monitoring module 10
The voltage of battery 9 simultaneously sends cell voltage to first controller 1, is set when the cell voltage that the first controller 1 is received is less than
During fixed cell voltage minimum value, the first controller 1 sends control command to controlled motor speed regulator module 11, and unmanned plane is to press
Independently maked a return voyage according to former flight path, it is to avoid unmanned plane is dropped in forest because of the too low accident of electricity, causes device losses or damage.
The real-time monitoring ground on according to the default line of flight whether there is ignition point to IMAQ with processing module 3,
And picture transmission will be monitored to second controller 2,2 pairs of monitoring pictures of second controller are processed, and burning things which may cause a fire disaster image such as occur, are led to
Wireless communication module 4 is crossed in the way of radio communication, ground station sends alarm signal.Burning things which may cause a fire disaster image is gathered using camera,
Reliability is high, it is to avoid using sensors such as Smoke Sensor, temperature sensor and flame sensors because environmental change influences
The reliability and accuracy of monitoring.Wireless communication module 4 realizes GSM short message transmissions using S IM cards, and transmitting terminal can be known
Whether receiving terminal receives message, communication mode reliability, and with fabulous mobility, wide coverage is non-maintaining, it is adaptable to gloomy
The transmission of woods interior movable signal on a large scale.Realize carries out comprehensive, careful, monitor to forest fire information, to forest
Fire alarm and commander's work of putting out a fire to save life and property provide practical decision references information.
The above, is only embodiment of the present utility model, and not the utility model is imposed any restrictions, every according to this
Any simple modification, change and equivalent structure change that utility model technical spirit is made to above example, still fall within
In the protection domain of technical solutions of the utility model.
Claims (10)
1. a kind of forest fire monitoring early-warning system based on unmanned plane, it is characterised in that：Including unmanned plane and it is mounted in described
Monitoring early-warning device on unmanned plane, the monitoring early-warning device includes the first controller (1), fire hazard monitoring prewarning unit, nothing
Human-machine Control unit and battery monitoring unit, the fire hazard monitoring prewarning unit include connect with the first controller (1) second
Controller (2), the second controller (2) is connected to IMAQ and processing module (3) and wireless communication module (4), the nothing
Human-machine Control unit include the sensor mechanism that connects with the first controller (1) input of executing agency and with the first controller
(1) GPS module (8) that input connects, the sensor mechanism includes 3-axis acceleration sensor (5), baroceptor (6)
With geomagnetic sensor (7), the executing agency includes the machine governor module (11) that connects with the first controller (1) output end
And the aircraft motor module (12) connected with machine governor module (11), the battery monitoring unit is including being used for first
The battery that controller (1) provides the supplying cell (9) of electric energy and is arranged between the first controller (1) and supplying cell (9)
Voltage monitoring module (10).
2. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
Machine governor module (11) includes 4 machine governors, and the aircraft motor module (12) includes 4 aircraft motors.
3. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
SIM of the wireless communication module (4) including chip SIM800C and insertion chip SIM800C, the chip SIM800C is by inserting
Seat connects with the communications pins of second controller (2).
4. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
IMAQ and the camera of processing module (3) including model ZC0301, the camera of the model ZC0301 pass through USB
Port connects with the communications pins of second controller (2).
5. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
Second controller (2) uses OK6410 type development boards, and processor model is S3C6410.
6. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
3-axis acceleration sensor (5) is chip MPU6050, and the SDA pins of the chip MPU6050 are through resistance R4 and+3.3V voltages
End connects, and the SCL pins of the chip MPU6050 connect through resistance R5 with+3.3V voltage ends, the chip MPU6050's
AUX-DA pins, AUX-CL pins, AD0 pins and INT pins connect with the first controller (1), the chip MPU6050's
VDD pins connect with+3.3V voltage ends.
7. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
Baroceptor (6) is chip MS5611, the VDD pins point two-way of the chip MS5611, all the way with one end phase of electric capacity C1
Connect, another road connects with+3.3V voltage ends, the GND pin point two-way of the chip MS5611, all the way with the other end of electric capacity C1
Connect, another road ground connection, the SCLK pins and SDI pins of the chip MS5611 connect with the first controller (1).
8. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
Geomagnetic sensor (7) is chip HMC5883L, three tunnels of VDD pins point of the chip HMC5883L, all the way with the one of electric capacity C2
End connects, and another road connects with one end of electric capacity C3, and the 3rd tunnel connects with+3.3V voltage ends；The chip HMC5883L's
VDDI0 pins divide two-way, and the one end with electric capacity C4 connects all the way, and another road connects with+3.3V voltage ends；The SCL of the chip
Pin, SDA pins and DRDY pins connect with the first controller (1)；The other end of the electric capacity C2, the other end of electric capacity C3
The other end with electric capacity C4 is grounded.
9. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：It is described
GPS module (8) is module LEA-5H.
10. according to a kind of forest fire monitoring early-warning system based on unmanned plane described in claim 1, it is characterised in that：Institute
It is chip STM32F103RCT6 to state the first controller (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621323040.0U CN206236228U (en) | 2016-12-05 | 2016-12-05 | A kind of forest fire monitoring early-warning system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621323040.0U CN206236228U (en) | 2016-12-05 | 2016-12-05 | A kind of forest fire monitoring early-warning system based on unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN206236228U true CN206236228U (en) | 2017-06-09 |
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ID=58979427
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621323040.0U Expired - Fee Related CN206236228U (en) | 2016-12-05 | 2016-12-05 | A kind of forest fire monitoring early-warning system based on unmanned plane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380416A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of new unmanned plane for forest fire protection monitoring |
| CN108609181A (en) * | 2018-05-09 | 2018-10-02 | 重庆睿宇测绘有限责任公司 | Outdoor scene three-dimensional surveys and draws take photo by plane unmanned plane and its control method |
| CN110124228A (en) * | 2019-06-26 | 2019-08-16 | 张兰勇 | Aerial unmanned firefighting robot system |
| CN111672049A (en) * | 2020-06-28 | 2020-09-18 | 深圳高度创新技术有限公司 | Fire-fighting unmanned aerial vehicle control system and fire-fighting method |
-
2016
- 2016-12-05 CN CN201621323040.0U patent/CN206236228U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380416A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of new unmanned plane for forest fire protection monitoring |
| CN108609181A (en) * | 2018-05-09 | 2018-10-02 | 重庆睿宇测绘有限责任公司 | Outdoor scene three-dimensional surveys and draws take photo by plane unmanned plane and its control method |
| CN110124228A (en) * | 2019-06-26 | 2019-08-16 | 张兰勇 | Aerial unmanned firefighting robot system |
| CN111672049A (en) * | 2020-06-28 | 2020-09-18 | 深圳高度创新技术有限公司 | Fire-fighting unmanned aerial vehicle control system and fire-fighting method |
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Granted publication date: 20170609 Termination date: 20171205 |