CN206460332U - Group medicine disaster assistance system based on multiple no-manned plane - Google Patents
Group medicine disaster assistance system based on multiple no-manned plane Download PDFInfo
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- CN206460332U CN206460332U CN201621340278.4U CN201621340278U CN206460332U CN 206460332 U CN206460332 U CN 206460332U CN 201621340278 U CN201621340278 U CN 201621340278U CN 206460332 U CN206460332 U CN 206460332U
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Abstract
The utility model discloses a kind of group medicine disaster assistance system based on multiple no-manned plane, it includes：Information rotor wing unmanned aerial vehicle subsystem, cargo assault rotor wing unmanned aerial vehicle subsystem, data communication rotor wing unmanned aerial vehicle subsystem and unmanned aerial vehicle (UAV) control ground handling station.The utility model realizes the information and effective disaster assistance to disaster area by the upper pattern using cooperating between multiple rotor wing unmanned aerial vehicle subsystems, has the advantages that manufacturing cost is low, system combined reliability is high.
Description
Technical field
The utility model belongs to disaster assistance field, more particularly to a kind of group medicine disaster assistance based on multiple no-manned plane
System.
Background technology
Carry out disaster assistance under field or the big territorial environment in city difficult point be to carry out being accurately positioned of disaster affected people, by
Calamity personnel damage and the analysis for rescuing demand, and carry out the implementation of effective disaster assistance.Traditional disaster assistance hand
By way of the main disaster assistance team specialty of section uses manual search, march near disaster affected people implement disaster assistance with
Medical treatment.From disaster assistance team work from the perspective of, it is less efficient by the way of manual search, once run into massif or
The obstruction in river, will substantially reduce the traveling efficiency of rescue group；For the angle of disaster affected people, due to Disasters Type, environment
Factor, accidental factor, and disaster affected people individual factors difference, the relief demand difference of disaster affected people is larger.Therefore, how
The collection and analysis of field disaster assistance demand can be carried out, and carries out the targetedly victims of the disaster succouring, be current disaster assistance
The focus and difficult point of research.
In recent years, with the development of scientific and technological level, SUAV technology is widely used in disaster assistance field.With it
Its technological means is compared, SUAV advantage of lower cost, is easy to carry, and flight maneuver is strong, disclosure satisfy that the overwhelming majority
Work requirements under weather, therefore with certain practical value.In disaster assistance field, the small-sized remote sensing monitoring of Chinese patent without
A kind of Mini-Unmanned Aerial Vehicles for being provided with shooting storehouse are proposed in man-machine (patent publication No. CN200939356Y), the system is adopted
With the design method of fixed-wing and twin vertical fin, the reliability and carrying ability of UAS are improved；But the invention is not
Foot is by the way of fixed-wing unmanned plane during flying, carries out staying flight after disaster-stricken crowd is found and is interacted with the victims of the disaster
It is more difficult.Proposed in a kind of unmanned plane high-altitude base station communication system (patent publication No. CN203596823U) of Chinese patent a kind of
Disaster generation after, in the case that the infrastructure device such as surface road, bridge, electric power base station is damaged by large area, using unmanned plane,
Airborne communication base station system, and the system that Airborne Satellite Communication System carries out unmanned plane high-altitude base station communication.Pass through the system
Application, compared with the mode of emergency vehicles, can effectively expand operating radius；But the deficiency of the system is using single logical
Letter system unmanned plane carries out the application of disaster assistance, has only served the effect of information transfer, has not carried out substantive medical science disaster
Rescue.
By comparative studies and the application of reality it is seen that, single Mini-Unmanned Aerial Vehicles carry effective disaster
Limited in one's ability, the equipment that can not often carry a variety of perfect in shape and functions carries out the implementation of rescue work；And develop big-and-middle-sized unmanned plane
System, although its weight for carrying payload disclosure satisfy that certain requirement, but development cost will significantly rise, and once
Then machine system is all difficult to carry out normal work for a certain module failure in the system.Domestic UAS is implementing disaster
During rescue task, mainly still it is used to take photo by plane to disaster area as a kind of Information Collection System at present, it is few to make
The application interacted with unmanned plane and the disaster-stricken victims of the disaster, from without substantial the getting involved in medical science disaster assistance of the task
Go, therefore with certain application limitation.
Utility model content
In order to solve the above problems, on the one hand the utility model provides a kind of group medicine disaster based on multiple no-manned plane
Rescue system, it includes：Information rotor wing unmanned aerial vehicle subsystem, cargo assault rotor wing unmanned aerial vehicle subsystem, data communication rotation
Wing unmanned plane subsystem and unmanned aerial vehicle (UAV) control ground handling station；Described information, which collects rotor wing unmanned aerial vehicle subsystem, to be used to collect disaster-stricken
The disaster-stricken information of disaster-stricken crowd in area, wherein the disaster-stricken information includes view data, voice data and geography information；Institute
Stating cargo assault rotor wing unmanned aerial vehicle subsystem is used for disaster-stricken crowd's fixed point air-drop medical rescue goods and materials, the medical rescue
Contain communication terminal and medical supplies in goods and materials；The data communication rotor wing unmanned aerial vehicle subsystem is used in the disaster-stricken crowd
The data link that sky is set up between the communication terminal and the unmanned aerial vehicle (UAV) control ground handling station；The unmanned aerial vehicle (UAV) control
Rotor wing unmanned aerial vehicle subsystem, the cargo assault rotor wing unmanned aerial vehicle subsystem and the number are collected with described information in ground handling station
Connected respectively according to communication rotor wing unmanned aerial vehicle subsystem, for realizing that described information collects rotor wing unmanned aerial vehicle subsystem, the goods and materials
Drop flight control and the disaster-stricken information of rotor wing unmanned aerial vehicle subsystem and the data communication rotor wing unmanned aerial vehicle subsystem
Store user's discovery disaster-stricken crowd in order to the unmanned aerial vehicle (UAV) control ground handling station, analyze the disaster-stricken crowd's
Situation and for disaster-stricken people's group configuration medical rescue goods and materials.
In group medicine disaster assistance system as described above, it is preferable that described information collects rotor wing unmanned aerial vehicle subsystem
System includes：First rotor wing unmanned aerial vehicle, the first head camera apparatus, audio collecting device, the first geography information positioner and
One control board；First rotor wing unmanned aerial vehicle is used under the control at the unmanned aerial vehicle (UAV) control ground handling station in disaster site
Cruised in overhead or hovering flight in area；The first head camera apparatus carry is used below first rotor wing unmanned aerial vehicle
Shot to obtain the view data of the disaster-stricken crowd in the ground to the disaster area；The audio collecting device is hung
It is loaded in below first rotor wing unmanned aerial vehicle, the voice data for gathering the disaster-stricken crowd；First geography information is determined
Position device carry is on first rotor wing unmanned aerial vehicle, the geography information for obtaining the disaster-stricken crowd, and obtain it is described by
The distance between calamity crowd and the unmanned aerial vehicle (UAV) control ground handling station；The first control circuit plate carry is in the described first rotation
On wing unmanned plane, with the first head camera apparatus, the audio collecting device, the first geography information positioner and
The unmanned aerial vehicle (UAV) control ground handling station is connected respectively, for controlling the first head camera apparatus to carry out shooting processing, institute
State audio collecting device be acquired processing and the first geography information positioner carry out acquisition processing, and gather, store,
Described image data, voice data, geography information and distance are returned to the unmanned aerial vehicle (UAV) control ground handling station.
In group medicine disaster assistance system as described above, it is preferable that described information collects rotor wing unmanned aerial vehicle subsystem
System also includes audio playing apparatus；The audio playing apparatus carry on first rotor wing unmanned aerial vehicle, for it is described by
Calamity crowd, which plays, to be pacified with encouraging information and containing the prompt message for searching the communication terminal content；The first control electricity
Road plate is also connected with the audio playing apparatus, also under the control at the unmanned aerial vehicle (UAV) control ground handling station, controls the sound
Frequency playing device is played when finding the disaster-stricken crowd to the disaster-stricken crowd pacifies with encouragement information and to described disaster-stricken
Played when crowd drops medical rescue goods and materials to the disaster-stricken crowd containing the prompt message for searching the communication terminal content.
In group medicine disaster assistance system as described above, it is preferable that described information collects rotor wing unmanned aerial vehicle subsystem
System also includes：Attitude transducer, wind direction sensor and elevation sensor；The attitude transducer carry is in the described first rotation
Below wing unmanned plane, for obtaining attitude angle of first rotor wing unmanned aerial vehicle in current flight environment；The wind direction
Sensor carry is below first rotor wing unmanned aerial vehicle, for obtaining first rotor wing unmanned aerial vehicle in current flight environment
Wind speed；The elevation sensor carry is below first rotor wing unmanned aerial vehicle, for obtaining first rotor wing unmanned aerial vehicle
Flying height in current flight environment；The first control circuit plate also with the attitude transducer, the wind direction
Sensor and elevation sensor connection, are additionally operable to attitude angle, the wind direction sensing obtained according to the attitude transducer
The flying height that the wind-force and the elevation sensor that device is obtained are obtained carries out safe flight control to first rotor wing unmanned aerial vehicle
System.
In group medicine disaster assistance system as described above, it is preferable that the cargo assault rotor wing unmanned aerial vehicle subsystem
System includes：Second rotor wing unmanned aerial vehicle, the second head camera apparatus, the second geography information positioner and second control circuit plate；
Second rotor wing unmanned aerial vehicle is used to be patrolled in disaster area overhead under the control at the unmanned aerial vehicle (UAV) control ground handling station
Boat or hovering flight；The second head camera apparatus carry is below second rotor wing unmanned aerial vehicle, for medical rescue
Disaster-stricken crowd is shot to obtain the view data that disaster-stricken crowd receives medical rescue goods and materials when cargo assault and reception；It is described
Second geography information positioner carry is on second rotor wing unmanned aerial vehicle, the ground for obtaining second rotor wing unmanned aerial vehicle
Information is managed in order to navigator fix；The second control circuit plate carry is on second rotor wing unmanned aerial vehicle, with described second
Head camera apparatus, the second geography information positioner and the unmanned aerial vehicle (UAV) control ground handling station are connected respectively, are used for
Control the second head camera apparatus to carry out shooting processing, the second geography information positioner and carry out acquisition processing, and
Gather, store, returning the view data of disaster-stricken crowd's reception medical rescue goods and materials and the geographical letter of the second rotor wing unmanned aerial vehicle
Cease to the unmanned aerial vehicle (UAV) control ground handling station.
In group medicine disaster assistance system as described above, it is preferable that the data communication rotor wing unmanned aerial vehicle subsystem
System includes：3rd rotor wing unmanned aerial vehicle, the 3rd head camera apparatus, the 3rd geography information positioner and the 3rd control board；
3rd rotor wing unmanned aerial vehicle is used to be patrolled in disaster area overhead under the control at the unmanned aerial vehicle (UAV) control ground handling station
Boat or hovering flight；The 3rd head camera apparatus carry is below the 3rd rotor wing unmanned aerial vehicle, for described disaster-stricken
The ground in area is shot in order to vision guided navigation；The 3rd geography information positioner carry the 3rd rotor without
On man-machine, for obtaining the geography information of the 3rd rotor wing unmanned aerial vehicle in order to navigator fix；3rd control board
Carry on the 3rd rotor wing unmanned aerial vehicle, with the 3rd head camera apparatus, the 3rd geography information positioner and
The unmanned aerial vehicle (UAV) control ground handling station is connected respectively, for controlling the 3rd head camera apparatus to carry out shooting processing, institute
State the 3rd geography information positioner and carry out acquisition processing, and gather, store, returning the figure that the 3rd rotor wing unmanned aerial vehicle is shot
As data, the geography information of the 3rd rotor wing unmanned aerial vehicle to the unmanned aerial vehicle (UAV) control ground handling station.
In group medicine disaster assistance system as described above, it is preferable that the unmanned aerial vehicle (UAV) control ground handling station is also
The marking result of user's input is received, and to the marking result using at artificial neural network analysis technology
Reason, with the sequence for the rescue urgency for obtaining the disaster-stricken crowd in many places, wherein, the marking result is in figure by the user
Found in data after the disaster-stricken crowd in many places, the situation to the disaster-stricken crowd in every place is given a mark successively.
The beneficial effect brought of technical scheme that the utility model embodiment is provided is：
(1) using the pattern of cooperating between multiple rotor wing unmanned aerial vehicle subsystems, the information receipts to disaster area are realized
Collection and effective disaster assistance, have the advantages that manufacturing cost is low, system combined reliability is high.
(2) the utility model proposes the air-drop and granting that emergency rescue goods and materials are carried out using rotor wing unmanned aerial vehicle, due to rotor
Unmanned plane can realize the offline mode such as hovering, stooge, therefore, it is possible to ensure the hair of air-dropped material more accurately, safe
It is put into disaster-stricken crowd's hand, with stronger practicality and reliability.
(3) the utility model proposes one kind to victims of the disaster's air-drop communication terminal (or mobile telecommunication device), and rotation is utilized
Wing unmanned plane sets up the mode of aerial mobile communication base station, realize the disaster area victims of the disaster using air-drop mobile telecommunication device with
Rescue group carries out the mode of operation of disaster-stricken situation exchange, effectively increases the operating efficiency of disaster medicine rescue；Propose simultaneously
The mode of audio playing apparatus is installed on the rotor wing unmanned aerial vehicle of information rotor wing unmanned aerial vehicle subsystem, air-to-ground voice is carried out
Information Communication, the confidence for combating a natural disaster to save oneself can be provided using this kind of working method, to calamity to the disaster-stricken victims of the disaster in psychological relief aspect
Evil rescue plays a positive role.
Brief description of the drawings
A kind of knot for group medicine disaster assistance system based on multiple no-manned plane that Fig. 1 provides for the utility model embodiment
Structure block diagram.
Embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Type embodiment is described in further detail.
As shown in figure 1, the utility model embodiment provides a kind of group medicine disaster assistance system based on multiple no-manned plane
System, it includes：Information rotor wing unmanned aerial vehicle subsystem 1, cargo assault rotor wing unmanned aerial vehicle subsystem 2, data communication rotor without
Man-machine subsystem 3 and unmanned aerial vehicle (UAV) control ground handling station 4.The system is particularly suitable for natural calamity generation area progress in the wild
People search and medical rescue.Above three subsystem preferably includes rotor wing unmanned aerial vehicle, the i.e. information with rotor wing unmanned aerial vehicle
Collect rotor wing unmanned aerial vehicle subsystem 1, the cargo assault rotor wing unmanned aerial vehicle subsystem 2 with rotor wing unmanned aerial vehicle and with rotor nobody
The data communication rotor wing unmanned aerial vehicle subsystem 3 of machine.
Information rotor wing unmanned aerial vehicle subsystem 1 is used for the disaster-stricken information for collecting disaster-stricken crowd in disaster area, disaster-stricken people
The disaster-stricken information of group includes view data, the voice data of disaster-stricken crowd and the geography information of disaster-stricken crowd of disaster-stricken crowd.
Specifically, information rotor wing unmanned aerial vehicle subsystem 1 includes：First rotor wing unmanned aerial vehicle, the first head camera apparatus,
Audio collecting device, the first geography information positioner and first control circuit plate.First rotor wing unmanned aerial vehicle is used in unmanned plane
Control under the control at ground handling station 4 in the progress cruising flight of disaster area overhead, fly to the upper space-time of disaster-stricken crowd to be hovered
Flight, in practice, the first rotor wing unmanned aerial vehicle, the second rotor wing unmanned aerial vehicle hereinafter and the 3rd rotor wing unmanned aerial vehicle can be single rotor
Or the unmanned plane of multi-rotor unmanned aerial vehicle, such as four rotors, six rotors, eight rotors or more rotor.First head camera apparatus carry
Below the first rotor wing unmanned aerial vehicle, shot to obtain the view data of disaster-stricken crowd for the ground to disaster area.The
One head camera apparatus is preferably two-degree-of-freedom cradle head camera apparatus, its camera for including carrying out image data acquiring and rotation phase
The two-degree-of-freedom cradle head of machine.Camera can be shot when shooting using Visible Light Camera, near infrared camera is shot or can
See that light is shot with the working method for the double-mode imaging that near infrared camera is combined, and use image fusion technology to improve figure
As the definition shot.The angle of pitch of two-degree-of-freedom cradle head can be -5 °~185 °, and yaw angle can be 0 °~300 °, and two certainly
Three axis microelectromechanicdevice gyroscopes and three axis accelerometer are installed in degree head, it is used for the stable work(for realizing two-degree-of-freedom cradle head
Energy.Audio collecting device carry is below the first rotor wing unmanned aerial vehicle, the voice data for gathering disaster-stricken crowd, in practice, sound
Frequency harvester can be audio sensor.First geography information positioner carry is on the first rotor wing unmanned aerial vehicle, for obtaining
The geography information of disaster-stricken crowd is taken, for example, is passed through, latitude coordinate, and the geography information based on disaster-stricken crowd obtains disaster-stricken crowd and nothing
The distance between the distance between Human-machine Control ground handling station 4, i.e., disaster-stricken crowd and user (or rescue group), the first ground
It can be GPS to manage Information locating device, the second geography information positioner hereinafter and the 3rd geography information positioner
(Global Positioning System, global positioning system) positioner, can also be big-dipper satellite positioner, this
Embodiment is defined not to this.First control circuit plate carry on the first rotor wing unmanned aerial vehicle, with the first head camera apparatus,
Audio collecting device, the first geography information positioner connection (such as wired connection), also with unmanned aerial vehicle (UAV) control ground handling station 4
Connect (such as wireless connection), for controlling the first head camera apparatus to enter under the control at unmanned aerial vehicle (UAV) control ground handling station 4
Row shooting processing, audio collecting device, which are acquired, to be handled and the first geography information positioner progress localization process, and gather,
Store, return view data, voice data, geography information and distance to unmanned aerial vehicle (UAV) control ground handling station 4.First control circuit
Plate, second control circuit plate hereinafter and the 3rd control board do not occur with the existing aircraft mounted control system of rotor wing unmanned aerial vehicle
Data interaction so that aforementioned control circuit plate, the installation of audio collecting device and corresponding geography information positioner and use
Simply, it is convenient.The existing onboard flight control system of rotor wing unmanned aerial vehicle is used to gather attitude transducer information and real-time resolving appearance
State angle, controlled motor rotating speed transmits flying quality, manages power supply.Because it typically uses Implementation of Embedded System, in order to reduce
Cost, the operational capability of the control system is general all weaker, and memory space is small, does not possess intellectual analysis and calculation function.
Cargo assault rotor wing unmanned aerial vehicle subsystem 2 is used for disaster-stricken crowd fixed point air-drop medical rescue goods and materials, medical rescue
In goods and materials contain communication terminal and medical supplies, medical supplies can include can realize hemostasis, anti-inflammatory, the medicine of sterilizing function or
Articles for use, can also include：Illuminator, gloves, whistle of seeking survival, are disliked under slightly ambient conditions extreme, can also include water and high
Energy food.The communication terminal (or mobile telecommunication device) can also have function of radio receiver, such as in addition to call function
This can listen to the information of rescue group's broadcasting.Specifically, cargo assault rotor wing unmanned aerial vehicle subsystem 2 includes：Second rotor nobody
Machine, the second head camera apparatus, the second geography information positioner, second control circuit plate and carry are in the second rotor wing unmanned aerial vehicle
On medical rescue goods and materials.Second rotor wing unmanned aerial vehicle is used under the control at unmanned aerial vehicle (UAV) control ground handling station 4 in disaster area
Overhead carries out cruising flight, flies to the upper space-time of disaster-stricken crowd to carry out hovering flight, and drop medical rescue to disaster-stricken crowd fixed point
Goods and materials.Second head camera apparatus carry is below the second rotor wing unmanned aerial vehicle, during for medical rescue cargo assault and reception
Disaster-stricken crowd is shot to obtain the view data that disaster-stricken crowd receives medical rescue goods and materials, is led while vision can also be provided
Boat.The structure of second head camera apparatus can be found in the above-mentioned structure on the first head camera apparatus and describe, not another herein
One repeats.Second geography information positioner carry is on the second rotor wing unmanned aerial vehicle, the ground for obtaining the second rotor wing unmanned aerial vehicle
Geography information is managed in order to navigator fix, for example, is passed through, latitude coordinate, second control circuit plate carry is in the second rotor wing unmanned aerial vehicle
On, (such as wired connection) is connected with the second head camera apparatus, the second geography information positioner, also with unmanned aerial vehicle (UAV) control
Face work station 4 connects (such as wireless connection), for controlling the second head phase under the control at unmanned aerial vehicle (UAV) control ground handling station 4
Machine device carry out shoot processing and the second geography information positioner carry out localization process, and gather, store, passback processing obtain
View data, geography information to unmanned aerial vehicle (UAV) control ground handling station 4.
Data communication rotor wing unmanned aerial vehicle subsystem 3 is used for communication terminal and unmanned aerial vehicle (UAV) control are set up in disaster-stricken crowd overhead
Data link between face work station 4, and then realize relaying to signal of communication and transmission, thus realize disaster-stricken crowd with
The exchange of rescue group.Specifically, data communication rotor wing unmanned aerial vehicle subsystem includes the 3rd rotor wing unmanned aerial vehicle, the 3rd head camera dress
Put, the 3rd geography information positioner, the 3rd control board and the communication base station on the 3rd rotor wing unmanned aerial vehicle.3rd rotation
Wing unmanned plane be used under the control at unmanned aerial vehicle (UAV) control ground handling station 4 disaster area overhead carry out cruising flight, fly to by
The upper space-time of calamity crowd carries out hovering flight.Communication base station realizes the communication terminal (or mobile telecommunication device) and nothing of fixed point air-drop
The function of radio communication is carried out between Human-machine Control ground handling station 4.Communication base station can support common mobile communications network mould
Formula, such as GSM (Global System for Mobile communication, global system for mobile communications) network, WCDMA
(Wideband Code Division Multiple Access, WCDMA) network or TD-LTE (Time
Division Long Term Evolution, timesharing Long Term Evolution) network.3rd head camera apparatus carry is in the 3rd rotor
Below unmanned plane, for vision guided navigation.The structure of 3rd head camera apparatus can be found in above-mentioned on the first head camera apparatus
Structure description, no longer repeat one by one herein.3rd geography information positioner carry is on the 3rd rotor wing unmanned aerial vehicle, for obtaining
The geographical geography information of the 3rd rotor wing unmanned aerial vehicle is taken in order to navigator fix, for example, is passed through, latitude coordinate, the 3rd control board is hung
It is loaded on the 3rd rotor wing unmanned aerial vehicle, (such as wired company is connected with the 3rd head camera apparatus, the 3rd geography information positioner
Connect), (such as wireless connection) is also connected with unmanned aerial vehicle (UAV) control ground handling station 4, at unmanned aerial vehicle (UAV) control ground handling station 4
Control the 3rd head camera apparatus of lower control carries out shooting processing and the 3rd geography information positioner carries out localization process, and adopts
View data, geography information to unmanned aerial vehicle (UAV) control ground handling station 4 that collection, storage, passback processing are obtained.Unmanned aerial vehicle (UAV) control ground
Work station 4 and information rotor wing unmanned aerial vehicle subsystem 1, cargo assault rotor wing unmanned aerial vehicle subsystem 2 and data communication rotor without
Man-machine subsystem 3 is connected respectively, and it is used for control information and collects rotor wing unmanned aerial vehicle subsystem 1 in disaster area flying overhead, and
Storage information rotor wing unmanned aerial vehicle subsystem 1 collects the disaster-stricken information of disaster-stricken crowd, the image that user is returned by Real Time Observation
Data find disaster-stricken crowd, and analyze the situation of disaster-stricken crowd, such as disaster-stricken number, sex ratio, the wounded, children, Lao Renhe
The number of pregnant woman, residing geographical environment；By playing back voice data, the specific situation of disaster-stricken crowd is further appreciated that and confirmed；
Then medical rescue goods and materials are configured according to the situation of disaster-stricken crowd.User learns disaster-stricken crowd institute by the geography information of passback
Locate position.Unmanned aerial vehicle (UAV) control ground handling station 4 is used to control cargo assault rotor wing unmanned aerial vehicle subsystem 2 to position residing for disaster-stricken crowd
Flight is put, and controls the fixed point air-drop medical rescue goods and materials of cargo assault rotor wing unmanned aerial vehicle subsystem 2, also control data data communication
Rotor wing unmanned aerial vehicle subsystem 3 flies to disaster-stricken crowd present position.It can be used during control flight：The flight control of GPS information path
The combination of system or artificial remote controller flight control or both.The flight control of GPS information path is (i.e. by planning track flight
Control) when, three subsystems should also have locating module, for positioning in order to navigate, and planning flight path is typically on a ground
In the GIS-Geographic Information System in face complete, the GIS-Geographic Information System provide the disaster area two-dimentional or three-dimensional earth's surface mountain range,
The details such as river, building.When carrying out trajectory planning, it is necessary to set starting geographical coordinate, the end that rotor wing unmanned aerial vehicle takes off
Put the parameters, these parameters such as the flight path passed through in geographical coordinate, flight course, height, the speed of rotor wing unmanned aerial vehicle flight
In the ground in information system set after the completion of, in the control board that corresponding program is downloaded to rotor wing unmanned aerial vehicle, rotor nobody
Machine just can be flown according to the parameter of setting.During artificial remote controller flight control, three subsystems should also have head
Camera apparatus.The head camera apparatus of cargo assault rotor wing unmanned aerial vehicle subsystem 2 and data communication rotor wing unmanned aerial vehicle subsystem 3 can
So that as the head camera apparatus structure that aforementioned information collects rotor wing unmanned aerial vehicle subsystem 1, here is omitted.Unmanned plane control
Ground handling station 4 processed includes：Terminal computer, wireless data transceiving device, memory, display and remote control." flight control "
The flight for generally referring to unmanned plane carries out flight control by ground controller by way of control panel hand-manipulated, at this
The navigation for planting unmanned plane under mode of operation is to carry out vision guided navigation by the camera installed thereunder.Single unmanned plane is due to having
The constraint of load weight and the limitation of manufacturing cost are imitated, is appointed it is difficult to which the special equipment for carrying a large amount of perfect in shape and functions performs flight
Business, the utility model is according to modular design, by will realize difference in functionality, disposal ability comparatively perfect set
On mounting arrangements to different inexpensive rotor wing unmanned aerial vehicle systems, the mould of cooperating between multiple rotor wing unmanned aerial vehicles is utilized
Formula, is realized to the information in disaster area and effective disaster assistance, with manufacturing cost is low, system combined reliability is high
Advantage.
Survival in order to improve disaster-stricken crowd is expected and deploys rescue, information rotation unmanned plane subsystem beneficial to rescue group
System 1 also includes carry the audio playing apparatus on the first rotor wing unmanned aerial vehicle, and it, which is used to play to disaster-stricken crowd, pacifies and encourage
Information, pacifying can be with encouraging information：" rescue group has found you, will deliver goods and materials and expansion is rescued, ask masses suffering from disaster
Bear with ".Now control board is also connected with audio playing apparatus, is additionally operable at unmanned aerial vehicle (UAV) control ground handling station 4
Under control, control audio playing apparatus is played to disaster-stricken crowd when finding disaster-stricken crowd and pacified with encouraging information.It is empty in goods and materials
When throwing the air-drop medical rescue goods and materials of rotor wing unmanned aerial vehicle subsystem 2, control board is additionally operable at unmanned aerial vehicle (UAV) control ground handling station
Under 44 control, control audio playing apparatus is played containing the prompt message for searching communication terminal content to disaster-stricken crowd.Prompting
Information can be：Contain communication terminal in maximum parcel, ask everybody first to find communication terminal, then pass through communication terminal and rescue
Team sets up call contact, and reports the developments.The flight altitude control of rotor wing unmanned aerial vehicle is between 15~20 meters of ground, audio
The broadcast sound volume of player should be between 60~70 decibels.
Because disaster area environmental condition is more severe, in order to realize the safety of information rotor wing unmanned aerial vehicle subsystem 1
Flight, reduces accident rate, and information rotor wing unmanned aerial vehicle subsystem 1 also includes：Attitude transducer, wind sensor and height
Journey sensor；Attitude transducer carry is below rotor wing unmanned aerial vehicle, for obtaining the first rotor wing unmanned aerial vehicle in current flight environment
In attitude angle；Wind direction sensor carry is being worked as below the first rotor wing unmanned aerial vehicle for obtaining the first rotor wing unmanned aerial vehicle
Wind speed in preceding flight environment of vehicle；Elevation sensor carry is below the first rotor wing unmanned aerial vehicle, for obtaining the first rotor wing unmanned aerial vehicle
Flying height in current flight environment；Control board is also sensed with attitude transducer, wind direction sensor and elevation
Device is connected, and is additionally operable to attitude angle, the wind-force and elevation sensor of the acquisition of wind direction sensor obtained according to attitude transducer
The flying height of acquisition carries out safe flight control to the first rotor wing unmanned aerial vehicle.Specifically, if the first rotor wing unmanned aerial vehicle is in
Hovering flight state or average flight state, and the fluctuation index of the attitude angle of the first rotor wing unmanned aerial vehicle is more than default posture
Angle threshold value；Or if the first rotor wing unmanned aerial vehicle is in hovering flight state, and the first rotor wing unmanned aerial vehicle that wind sensor is obtained
Wind-force be more than default wind-force threshold value, then control board control the first rotor wing unmanned aerial vehicle reduction flying height；Or it is if high
Flying height of first rotor wing unmanned aerial vehicle of journey sensor collection in current flight spatial domain is more than default height threshold；Then lead to
Cross lamp sudden strain of a muscle unit of the carry in front of the first head camera apparatus and be prompted to user, that is to say, that user is by observing image
Data find that lamp dodges, then control unmanned aerial vehicle (UAV) control ground handling station 4 control board is controlled such that the first rotor nobody
Machine reduces flying height.Attitude transducer is by three axis microelectromechanicdevice gyroscopes, three axis accelerometer, and three axle geomagnetic sensor groups
Into, during the first rotor wing unmanned aerial vehicle flight, circuit board in attitude transducer can by three axle microcomputer gyroscopes, three axis accelerometer,
And three the signal that collects of axle geomagnetic sensor carry out attitude angle resolving, directly the first rotor wing unmanned aerial vehicle of output pitching
The real time data of angle, yaw angle, and roll angle.Wind direction sensor is made up of air velocity transducer and wind transducer, wind
Fast sensor uses three vane structures, and it has structural strength high, the characteristics of having started, and wind transducer is using accurate current potential
Device, responds wind direction, it has the characteristics of dynamic characteristic is good by low inertia light metal wind vane.Elevation sensor is high using air pressure
Degree sensor is measured, and the sensor measures height by the change of air pressure, is difficult during measurement by barrier
Influence, measurement altitude range it is wide.In order to realize cargo assault rotor wing unmanned aerial vehicle subsystem 2 and data communication rotor wing unmanned aerial vehicle
The safe flight of system 3, reduces accident rate, cargo assault rotor wing unmanned aerial vehicle subsystem 2 and data communication rotor wing unmanned aerial vehicle
Subsystem also includes：Attitude transducer, wind sensor and elevation sensor, the setting of respective sensor and function are referring to letter
Breath collects the description in rotor wing unmanned aerial vehicle subsystem 2, no longer repeats one by one herein.
If information rotor wing unmanned aerial vehicle subsystem 1 finds the disaster-stricken crowd in many places in disaster area, limited by rescue strength
User processed can not possibly deploy to rescue to the disaster-stricken crowd in many places simultaneously, therefore unmanned aerial vehicle (UAV) control ground handling station 4 also receives and used
The marking result of person's input, and processing is interacted using artificial neural network analysis technology to marking result, so as to obtain many
Locate the sequence of the rescue urgency of disaster-stricken crowd, wherein, marking result is according to the disaster-stricken of the disaster-stricken crowd of passback by user
Information carries out what objective marking was obtained to the situation of disaster-stricken crowd.Information rotor wing unmanned aerial vehicle subsystem is performed in disaster area
During rescue information collection aerial mission, if it find that single crowd to be rescued need not then carry out the meter of the above method
Calculate, i.e. the sequence without rescuing urgency；Conversely, when find it is multiple after rescue crowd after, then can utilize above-mentioned artificial god
Analysis method through network carries out the calculating of urgency level to be rescued, and determines successively to rescue according to the height of rescue urgency level
The order helped.Specifically, found in graph data after the disaster-stricken crowd in many places, the situation to the disaster-stricken crowd in every place is beaten successively
Get.The situation of disaster-stricken crowd includes：Disaster-stricken crowd's number (hereafter with D1 referred to as), wounded's number (hereafter with D2 referred to as),
Geographical environment quality degree (hereafter with D3 referred to as), can also include：Disaster-stricken crowd their location visibility is (hereafter with D7 letters
Claim), disaster-stricken crowd their location cargo assault can perform the compromised threat journey of degree (hereafter with D9 referred to as), disaster-stricken crowd
Degree (hereafter with D10 referred to as).Disaster-stricken crowd's number is more, and marking score value is bigger, such as scoring criterion listed by table 1；Wounded's number
More, marking score value is bigger, such as scoring criterion listed by table 2；Geographical environment is poorer, and marking score value is bigger, and such as table 3 is listed to be beaten
Minute mark is accurate；Disaster-stricken crowd their location visibility is poorer, and marking score value is bigger, such as scoring criterion listed by table 7；Disaster-stricken crowd institute
Place's executable degree of regional cargo assault is higher, and marking score value is bigger, such as scoring criterion listed by table 9；Prestige suffered by disaster-stricken crowd
The threat degree of the side of body is bigger, and marking score value is bigger, such as scoring criterion listed by table 10.Damage can also include：Disaster-stricken people
Flying distance (hereafter with D8 referred to as) between group and unmanned aerial vehicle (UAV) control ground handling station 4, disaster-stricken crowd their location are near the ground
Wind speed (hereafter with D4 referred to as), disaster-stricken crowd their location temperature (hereafter with D5 referred to as), disaster-stricken crowd their location humidity (under
Text is with D6 abbreviations).Flying distance is more remote, and marking score value is bigger, such as scoring criterion listed by table 8；Wind speed near the ground is bigger, marking
Score value is bigger, such as scoring criterion listed by table 4；Temperature is bigger, and marking score value is bigger, such as scoring criterion listed by table 5；Humidity is got over
Greatly, marking score value is bigger, such as scoring criterion listed by table 6.Flying distance can be 1 by information rotor wing unmanned aerial vehicle subsystem
Obtained according to the geographical position of disaster-stricken crowd and be back to unmanned aerial vehicle (UAV) control ground handling station 4, wind speed near the ground can be by wind-force wind
Gathered to sensor and be back to unmanned aerial vehicle (UAV) control ground handling station 4, temperature and humidity can be respectively by carry in the first rotor
Temperature sensor and humidity sensor on unmanned plane gather, are back to unmanned aerial vehicle (UAV) control ground handling station 4.
Disaster-stricken crowd's number (D1) scoring criterion of table 1
Given a mark in table 1 with hundred-mark system, and be divided into 5 grades, the different disaster-stricken crowd of 5 grade correspondences
Number, in practice, can also be divided into 4 grades or 6 grades etc., the present embodiment is defined not to this.Due to disaster-stricken people
During group's number considerably less (such as 1 people~5 people), the urgency of rescue is higher than (such as 5 people~30 people between), therefore will now
Disaster-stricken crowd's number is divided into grade highest, and marking and 30 people are as above.It should be noted that belonging to same number scope
It is interior, if women in disaster-stricken crowd, children, old man number it is more, the fraction of grade marking is higher.In table 1~10, it is more than
A~B is meant：Numerical value is more than A and less than or equal between B, and A~B is meant：Numerical value more than or equal to A and less than etc.
Between B.
The treatment wounded substantially number (D2) scoring criterion is needed in the disaster-stricken crowd of table 2
| Sequence number | Treatment wounded's number (D2) is needed in disaster-stricken crowd | Fraction levels |
| 1 | 1~2 | 1~20 |
| 2 | 3~5 | 21~40 |
| 3 | 6~7 | 41~60 |
| 4 | 8~10 | 61~80 |
| 5 | More than 10 | 81~100 |
Given a mark in table 2 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different numbers of injured people,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.It should be noted that
Belong in the range of same wounded's number, if women in the wounded, children, old man number it is more, the fraction of grade marking
It is higher.
Fine or not degree (D3) scoring criterion of the disaster area geographical environment of table 3
| Sequence number | The fine or not degree D3 of disaster area geographical environment | Fraction levels |
| 1 | Geographical environment preferably, is such as smooth landform, there is safe blindage | 1~20 |
| 2 | Geographical environment is general, is such as hills, sand ground | 21~40 |
| 3 | Geographical environment is poor, is such as mountain region, granite landform | 41~60 |
| 4 | Geographical environment is severe, surface collapse area, puffs such as occurs | 61~80 |
| 5 | Geographical environment is extremely severe, is such as flood-ravaged areas, mud-rock flow area | 81~100 |
Given a mark in table 3 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.
Disaster-stricken crowd their location wind speed near the ground (D4) scoring criterion of table 4
| Sequence number | Disaster-stricken crowd their location wind speed near the ground (D4) | Fraction levels |
| 1 | Less than 0.2 meter per second | 1~20 |
| 2 | The meter per second of 0.2 meter per second~7.9 | 21~40 |
| 3 | More than the meter per second of 7.9 meter per seconds~13.8 | 41~60 |
| 4 | More than the meter per second of 13.8 meter per seconds~24.4 | 61~80 |
| 5 | More than 24.4 meter per seconds | 81~100 |
Given a mark in table 4 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.
Disaster-stricken crowd their location temperature (D5) scoring criterion of table 5
| Sequence number | Disaster-stricken crowd their location temperature (D5) | Fraction levels |
| 1 | More than 23 DEG C~25 DEG C | 1~20 |
| 2 | 10 DEG C~23 DEG C or more than 25 DEG C~28 DEG C | 21~40 |
| 3 | More than 0 DEG C~10 DEG C or more than 28~33 DEG C | 41~60 |
| 4 | More than -5 DEG C~0 DEG C or more than 33 DEG C~40 DEG C | 61~80 |
| 5 | Less than -5 DEG C or higher than 40 DEG C | 81~100 |
Given a mark in table 5 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.
Disaster-stricken crowd their location humidity (D6) scoring criterion of table 6
Given a mark in table 6 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.
Disaster-stricken crowd their location visibility (D7) scoring criterion of table 7
| Sequence number | Disaster-stricken crowd their location visibility (D7) | Fraction levels |
| 1 | Fine day, visibility is high | 1~20 |
| 2 | Slight airborne dust, slight haze, mist, visibility moderate | 21~40 |
| 3 | Moderate airborne dust, moderate haze, moderate mist, visibility are poor | 41~60 |
| 4 | Severe airborne dust, severe haze, thick fog, poor visibility | 61~80 |
| 5 | Extremely low ambient light illumination, visibility extreme difference | 81~100 |
Given a mark in table 7 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.Can be with visibility
Referring to, to the explanation of relational language, can also be that normal pictures of the user by view data with prestoring are entered in weather forecast
Row is compared, to determine visibility, is that 5 grade correspondences have prepared 5 normal pictures listed by table 7, first normal pictures is shown
Visibility fraction levels be 20, the visibility fraction levels that second normal pictures show are 40, and the 3rd normal pictures are aobvious
The visibility fraction levels shown are 60, and the visibility fraction levels that the 4th normal pictures are shown are 80, the 5th normal pictures
The visibility fraction levels of display are 100, compare view data and 5 normal pictures, if the visibility that view data is shown is situated between
Between the visibility that the visibility that first normal pictures is shown and second normal pictures are shown, and tend to second standard
Picture, then can be 15 to view data marking.
Flying distance (D8) scoring criterion between the rescue group of table 8 and disaster-stricken crowd
| Sequence number | Flying distance (D8) between rescue group and disaster-stricken crowd | Fraction levels |
| 1 | 0 kilometer~1 kilometer | 1~20 |
| 2 | More than 1 kilometer~2 kilometers | 21~40 |
| 3 | More than 2 kilometers~3 kilometers | 41~60 |
| 4 | More than 3 kilometers~4 kilometers | 61~80 |
| 5 | More than 4 kilometers~5 kilometers | 81~100 |
Given a mark in table 8 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.
The disaster-stricken crowd their location cargo assault of table 9 can perform degree (D9) scoring criterion
| Sequence number | Disaster-stricken crowd their location cargo assault can perform degree (D9) | Fraction levels |
| 1 | Dropping Zone manpower is difficult to reach | 1~20 |
| 2 | Dropping Zone manpower is difficult to reach | 21~40 |
| 3 | Dropping Zone manpower is more difficult to be reached | 41~60 |
| 4 | Dropping Zone manpower is accessible to | 61~80 |
| 5 | Dropping Zone manpower is easily reached | 81~100 |
Given a mark in table 9 with hundred-mark system, and be divided into 5 grades, 5 grades correspond to different geographical environments,
In practice, 4 grades or 6 grades etc. can also be divided into, the present embodiment is defined not to this.It is difficult to reach, such as：
Rain heavily, in flood-ravaged areas；It is difficult to reach, for example, descends moderate rain, ground puffs occurs；It is more difficult to reach, for example：Shower, locate
In mountain region；It is accessible to, for example, spots, in hills；Easily reach, for example fine day, level land.
Compromised threat degree (D10) scoring criterion of the disaster-stricken crowd of table 10
| Sequence number | The compromised threat degree of disaster-stricken crowd (D10) | Fraction levels |
| 1 | The disaster-stricken compromised influence of crowd is smaller | 1~20 |
| 2 | The disaster-stricken compromised influence of crowd is general | 21~40 |
| 3 | The disaster-stricken compromised influence of crowd is heavier | 41~60 |
| 4 | The disaster-stricken compromised influence of crowd is serious | 61~80 |
| 5 | The disaster-stricken compromised influence of crowd is very serious | 81~100 |
The compromised threat including natural environment, the threat of wild animal, and artificial destruction threat.Natural environment
Threat, such as rain, snow, wind, upcoming cooling, other seismic secondary disasters；The threat of wild animal, such as wolf, bear；
The threat of artificial destruction, such as harm caused when rescuing to disaster-stricken crowd.Influence is smaller, and for example weather condition is good, is adapted to
Flight, air-drop, no carnivore；Influence is general, for example, have light rain；Influence it is heavier, such as disaster-stricken crowd location will under
Moderate rain；Influence is serious, such as disaster-stricken crowd location will it's going to rain hard；Influence very serious, such as disaster-stricken crowd location
Area's cooling extent is big, it also occur that other seismic secondary disasters, there is carnivore, can be to disaster-stricken crowd location during air-drop article
Area's ground failure.Given a mark in table 10 with hundred-mark system, and be divided into 5 grades, the different geographical ring of 5 grade correspondences
Border, in practice, can also be divided into 4 grades or 6 grades etc., the present embodiment is defined not to this.
After above-mentioned scoring treatment is completed, unmanned aerial vehicle (UAV) control ground handling station 4 will use ANN to marking result
The assessment that network analytical technology carries out rescue urgency level is calculated.It is preferred that, the utility model uses BPNN (Back
Propagation Neural Network, reverse transmittance nerve network) carry out rescue urgency level estimation.BPNN is a kind of
The multilayer neural network calculating instrument of weighting parameter is adjusted using backpropagation.Compared with monolayer neural networks, BPNN can be real
Adaptive learning and calculating now with feedback, therefore there is preferably calculating effect in actual applications.With other kinds of god
Compared through network tool, the structure and design pattern of BPNN networks are more fixed, when carrying out network training to training data
The form of priori probability density function is not required specifically, therefore is more adapted to computation of the present utility model.
Below by taking certain seismic disaster relief rehearsal event as an example, this area is located at North China of China somewhere, belongs to Plain
Landform, Occurence Time of Earthquakes is early April then, and earthquake occurs area and is located in mountain area, and temperature on average is between 10 DEG C to 20 DEG C
Between, relative humidity is about 15%.Information rotor wing unmanned aerial vehicle subsystem 1 finds to treat rescue crowd, first at two in earthquake region
Locate disaster-stricken crowd (serial number 1) personnel number for 5 people, 5 people are male, wherein including a wounded；Disaster-stricken people at second
Group's (serial number 2) personnel number is to have 2 males and 1 women in 3 people, 3 people.The final marking knot of above-mentioned disaster assistance rehearsal
Fruit is as shown in table 11.In table 11, " marking result " item is that according to table 1, the content into table 10 carries out marking assessment to rescue group expert
Result；" monitoring data " item is the result that BPNN is calculated, i.e. the result of unmanned aerial vehicle (UAV) control ground handling station output.
The difference of table 11 treats rescue crowd marking result
Above-mentioned BPNN network structure is chosen for 10-18-1 type neutral nets；BPNN control parameter setting is as follows：Study
Rate is that 0.3, momentum coefficient is that 0.2, maximum iteration is 50000.By the setting of above-mentioned parameter, and utilize accumulation in the past
Rescue data carry out network training, after network reaches convergence, the urgency level to be rescued to above-mentioned two groups of crowds is counted
Calculate, the rescue urgency level that disaster-stricken crowd at two can be calculated respectively is respectively 47 and 92.Therefore, according to above-mentioned result of calculation,
Disaster-stricken crowd is corresponding at second rescues the rescue urgency level that urgency level is more than disaster-stricken crowd at first, therefore rescue group should
The region at second residing for disaster-stricken crowd is gone to carry out multiple no-manned plane group medicine disaster assistance immediately.
Finally, by the application of above-mentioned computational methods, the guidance program for providing quantification is rescued for group medicine, simultaneously
Also the implementation for rescue provides evidence and foundation, can be prevented effectively from because treat the dispute of the dissatisfied rescue order initiation of rescue personnel with
Legal issue.Especially in rescue information collection phase, information rotor wing unmanned aerial vehicle subsystem by audio playing apparatus to by
Calamity crowd has carried out psychology and has pacified and encourage, and the implementation by rescue personnel easily to rescue in this case produces the higher heart
Reason expects, and if the reason for hereafter arranged because of rescue precedence, by the order of the dissatisfied rescue of rescue personnel after causing, hold
Easily cause all kinds of disputes and lawsuit, the generation of above mentioned problem can be effectively evaded by the utility model systematic difference.
It should be noted that BPNN is before use, firstly the need of substantial amounts of training data and monitoring data is gathered, pass through net
The mode of network training adjust the control parameter of multiple neurons inside BPNN until related network error reach it is minimum.This practicality
New BPNN used input data is that vector is marking result to above-mentioned 10 factors, i.e. vector
[D1D2D3D4D5D6D7D8D9D10].BPNN output supervision vector is defined as ground and treats rescue personnel (or for disaster-stricken people
Group) need the urgency level of rescue, i.e., vectorial [S].When carrying out network training, the substantial amounts of video rescued in the past is collected first
Data, disaster assistance expert is given a mark according to method of the video data shot back according to table 1 into table 10, and according to disaster
The actual conditions of rescue, human subjective's provides the urgency level fraction that different geographical needs to rescue, the foundation such as table 12 of marking
Shown in.Said process, constantly accumulation are repeated, and then sets up BPNN training dataset and monitoring data collection respectively.It is preferred that,
BPNN training and the data volume of monitoring data should be greater than 500 groups, and bigger the trained network performance of data volume is more excellent.Its
It is secondary, when carrying out actual BPNN training, when all training datasets and monitoring data collection are normalized to [0,1] interval
In after, BPNN training can be carried out.After BPNN training terminates, the BPNN just can be according to the rescue video newly shot
The estimation for carrying out rescue urgency level is calculated.The real data of part BPNN training and supervision is given in table 13.
The quantitative estimation method of the disaster assistance urgency level of table 12
| Sequence number | The description of disaster assistance urgency level | Fraction levels |
| 1 | Rescue urgency level low | 1~20 |
| 2 | Rescue urgency level general | 21~40 |
| 3 | Rescue urgency level higher | 41~60 |
| 4 | Rescue urgency level high | 61~80 |
| 5 | Rescue urgency level high | 81~100 |
Table 13BPNN is trained and monitoring data sample
The utility model embodiment additionally provides a kind of group medicine disaster assistance system based on foregoing multiple no-manned plane
Group medicine disaster assistance method, this method includes：Information gathering procedure, information rotor wing unmanned aerial vehicle subsystem is in disaster site
Area overhead carries out cruising flight, and carries out cruise shooting to the ground in disaster area, what storage and passback cruise shooting were formed
View data is to unmanned aerial vehicle (UAV) control ground handling station；In the cruising flight of information rotor wing unmanned aerial vehicle subsystem, unmanned plane
User's input hovering flight instruction at ground handling station is controlled, hovering flight instruction is in user's Real Time Observation and in cruise
Shoot in formed view data and find after disaster-stricken crowd, inputted to unmanned aerial vehicle (UAV) control ground handling station, information rotation
Wing UAS carries out hovering flight, and disaster-stricken crowd is entered after hovering flight instruction is received in disaster-stricken crowd overhead
Row hovering is shot, and storage and passback hovering shoot formed view data to unmanned aerial vehicle (UAV) control ground handling station, also gather, deposit
The voice data of disaster-stricken crowd is stored up and returned to unmanned aerial vehicle (UAV) control ground handling station, while positioning, storage and back information are collected
The current geographical position of unmanned plane subsystem to unmanned aerial vehicle (UAV) control ground handling station；Rescue method determines step, treats information
After the cruise of rotor wing unmanned aerial vehicle subsystem is finished, user enters to practise medicine according to the formed view data of hovering shooting and voice data
Learn the configuration of relief goods；Implement rescue step, unmanned aerial vehicle (UAV) control ground handling stand control cargo assault rotor wing unmanned aerial vehicle subsystem
Unite to disaster-stricken crowd fixed point air-drop the medical rescue goods and materials containing communication terminal and medical supplies, also control data communication rotor without
The data link that man-machine subsystem is set up between communication terminal and unmanned aerial vehicle (UAV) control ground handling station in disaster-stricken crowd overhead.
In order to which the survival for improving disaster-stricken crowd expects that information rotor wing unmanned aerial vehicle subsystem is carried out in disaster-stricken crowd overhead
During hovering flight, information rotor wing unmanned aerial vehicle subsystem is also played to disaster-stricken crowd and pacified with encouraging information.
If finding the disaster-stricken crowd in many places in disaster area, for the effective rescue of disaster-stricken crowd expansion, group medicine disaster
Rescue mode also includes：After the cruise of information rotor wing unmanned aerial vehicle subsystem is finished, formed if user shoots according to hovering
View data find the disaster-stricken crowd in many places, then by the situation of the disaster-stricken crowd in many places given a mark and will give a mark result input to nothing
Human-machine Control ground handling station；Unmanned aerial vehicle (UAV) control ground handling station is carried out to marking result using artificial neural network analysis technology
The assessment of urgency is rescued, with the sequence for the rescue urgency for obtaining the disaster-stricken crowd in many places；Press at unmanned aerial vehicle (UAV) control ground handling station
It is disaster-stricken to many places that phototypesetting sequence controls cargo assault rotor wing unmanned aerial vehicle subsystem and data communication rotor wing unmanned aerial vehicle subsystem to fly successively
Crowd overhead carries out medical rescue.
When making a return voyage, information rotor wing unmanned aerial vehicle subsystem, cargo assault rotor wing unmanned aerial vehicle subsystem, data communication rotor
Unmanned plane subsystem is maked a return voyage using location navigation mode, so improves rescue efficiency.
After the cruise of information rotor wing unmanned aerial vehicle subsystem is finished, group medicine disaster assistance method also includes：Nobody
Machine control ground handling stand control information rotor wing unmanned aerial vehicle subsystem flies to disaster-stricken crowd overhead, plays and contains to disaster-stricken crowd
There is the prompt message for searching communication terminal content, and gather, store and return the figure of disaster-stricken crowd when medical rescue goods and materials are delivered
Graphic data and voice data；Goods and materials are delivered disaster-stricken crowd when rotor wing unmanned aerial vehicle subsystem is also delivered to medical rescue goods and materials and clapped
Take the photograph, store and return the view data of the disaster-stricken crowd during the launch process of medical rescue goods and materials and reception；User's root
Rotor wing unmanned aerial vehicle subsystem is delivered according to all view data and voice data, goods and materials of information rotor wing unmanned aerial vehicle subsystem collection
The view data that system is collected formulates the scheme that disaster-stricken crowd to be rescued arrives in rescue group.User can be from the data of passback
Estimate to drop the traveling road that the time, rescue group that disaster-stricken people's group energy under the conditions of emergency relief goods and materials survives go to rescue
Line, whether need to drop the information such as the demand of relief goods again.
The group medicine disaster assistance method to the group medicine disaster assistance system based on multiple no-manned plane is carried out in detail below
Describe in detail bright.
After generation disaster, information rotor wing unmanned aerial vehicle subsystem carries out the quick collection of disaster area information.First, believe
Breath collects rotor wing unmanned aerial vehicle subsystem and carries out the flight of cruising condition in disaster area overhead, passes through the first rotor wing unmanned aerial vehicle lower end
The camera of carry, carries out the shooting, storage and passback of disaster area state of ground.Secondly, returned by visual observation as user
Data are found after doubtful disaster affected people, information rotor wing unmanned aerial vehicle subsystem is cruised to disaster-stricken crowd and are carried out hovering bat
Take the photograph, and the audio-frequency information collection of disaster-stricken crowd is further carried out by audio sensor, wherein, the search and judgement of disaster-stricken crowd
Artificial visual judgement is mainly carried out by disaster assistance team unmanned plane operator.Again, information rotor wing unmanned aerial vehicle
System obtains the position coordinates of current first rotor wing unmanned aerial vehicle, and calculates the reality between current position coordinates and rescue group's position coordinates
Border distance, and as rescue group ground controller optionally by the first rotor wing unmanned aerial vehicle entrained by audio playing apparatus, adopt
The mode played with certain volume carries out psychology to disaster-stricken crowd and pacifies and encourage.Finally, information rotor wing unmanned aerial vehicle is used
The mode of cruise quickly returns to the position where rescue group.
After after the specifying information that information rotor wing unmanned aerial vehicle subsystem returns disaster-stricken crowd, rescue group is directed to disaster affected people
Situation given a mark.If information rotor wing unmanned aerial vehicle subsystem performs a rescue information in disaster area and collects aerial mission
When, it is found that single crowd to be rescued need not then carry out the calculating that disaster-stricken crowd rescues urgency；Conversely, being treated when discovery is multiple
After rescue crowd, then the calculating of rescue urgency is carried out, and deploy rescue successively according to rescue urgency.
It is determined that wait after the crowd rescued, rescue group carries out the configuration of medical rescue goods and materials for the situation of disaster-stricken crowd.
After information rotor wing unmanned aerial vehicle subsystem return after, rescue group according to information rotor wing unmanned aerial vehicle subsystem recorded by
The situation of calamity personnel carries out further confirming that for medical rescue goods and materials, determine cargo assault rotor wing unmanned aerial vehicle subsystem quantity,
The air route of unmanned plane during flying, and clearly relief scheme is formulated, let information rotor wing unmanned aerial vehicle subsystem, goods and materials fly away rapidly empty
Throw the medical rescue that rotor wing unmanned aerial vehicle subsystem, data communication rotor wing unmanned aerial vehicle subsystem carry out disaster affected people.
After near multiple unmanned plane during flyings to disaster-stricken crowd, multiple rotor wing unmanned aerial vehicles carry out space hovering flight, goods and materials
Drop after the air-drop that rotor wing unmanned aerial vehicle subsystem carries out entrained medical rescue goods and materials, according to GPS or Beidou satellite navigation side
Formula returns to rescue group；And information rotor wing unmanned aerial vehicle subsystem then continued executing with data communication rotor wing unmanned aerial vehicle subsystem it is outstanding
Grounding row.Information rotor wing unmanned aerial vehicle subsystem is by entrained audio playing apparatus, using the language of certain volume
Communication terminal in the medical rescue goods and materials that message number is constantly dropped before the disaster-stricken crowd of tip ground searches, such as mobile phone,
And point out it to set up contacting for voice call with rescue group using mobile phone, its disaster-stricken situation is specifically reported.Now, number
Hovering is realized in the air according to communication rotor wing unmanned aerial vehicle subsystem, and constantly carries out connection and the relaying of communication data.Treat that information is received
The energy of collection rotor wing unmanned aerial vehicle subsystem and data communication rotor wing unmanned aerial vehicle subsystem reached after the maximum hovering time, each rotor without
The man-machine mode according to GPS or Beidou satellite navigation is back to rescue group.
The letter that unmanned aerial vehicle (UAV) control ground handling station is returned for information rotor wing unmanned aerial vehicle, cargo assault rotor wing unmanned aerial vehicle
Breath, further formulates rescue group and quickly arrives at the scheme for succouring disaster-stricken crowd.
As known by the technical knowledge, the utility model can be by other for utility model utility model utility model utility model
Essence without departing from its spirit or the embodiment of essential feature realize.Therefore, embodiment disclosed above, with regard to each side
For, all it is merely illustrative, is not only.It is all in the range of the utility model or of the present utility model being equal to
In the range of change be included in the utility model.
Claims (6)
1. a kind of group medicine disaster assistance system based on multiple no-manned plane, it is characterised in that the group medicine disaster assistance
System includes：Information rotor wing unmanned aerial vehicle subsystem, cargo assault rotor wing unmanned aerial vehicle subsystem, data communication rotor wing unmanned aerial vehicle
Subsystem and unmanned aerial vehicle (UAV) control ground handling station；
Described information collects the disaster-stricken information that rotor wing unmanned aerial vehicle subsystem is used to collect disaster-stricken crowd in disaster area, wherein described
Disaster-stricken information includes view data, voice data and geography information；
The cargo assault rotor wing unmanned aerial vehicle subsystem is used for disaster-stricken crowd's fixed point air-drop medical rescue goods and materials, the doctor
Learn and contain communication terminal and medical supplies in relief goods；
The data communication rotor wing unmanned aerial vehicle subsystem be used for set up in the disaster-stricken crowd overhead communication terminal with it is described
Data link between unmanned aerial vehicle (UAV) control ground handling station；
The unmanned aerial vehicle (UAV) control ground handling station and described information collect rotor wing unmanned aerial vehicle subsystem, the cargo assault rotor without
Man-machine subsystem and the data communication rotor wing unmanned aerial vehicle subsystem are connected respectively, for realize described information collect rotor nobody
The flight control of loom system, the cargo assault rotor wing unmanned aerial vehicle subsystem and the data communication rotor wing unmanned aerial vehicle subsystem
Storage with the disaster-stricken information in order to the user at the unmanned aerial vehicle (UAV) control ground handling station find the disaster-stricken crowd, point
Analyse the situation of the disaster-stricken crowd and for disaster-stricken people's group configuration medical rescue goods and materials.
2. group medicine disaster assistance system according to claim 1, it is characterised in that described information collect rotor nobody
Loom system includes：First rotor wing unmanned aerial vehicle, the first head camera apparatus, audio collecting device, the first geography information positioning dress
Put and first control circuit plate；
First rotor wing unmanned aerial vehicle is used in disaster area overhead enter under the control at the unmanned aerial vehicle (UAV) control ground handling station
Row cruise or hovering flight；
The first head camera apparatus carry is below first rotor wing unmanned aerial vehicle, for the ground to the disaster area
Shot to obtain the view data of the disaster-stricken crowd；
The audio collecting device carry is below first rotor wing unmanned aerial vehicle, the audio number for gathering the disaster-stricken crowd
According to；
The first geography information positioner carry is on first rotor wing unmanned aerial vehicle, for obtaining the disaster-stricken crowd's
Geography information, and obtain the distance between the disaster-stricken crowd and described unmanned aerial vehicle (UAV) control ground handling station；
The first control circuit plate carry is on first rotor wing unmanned aerial vehicle, with the first head camera apparatus, described
Audio collecting device, the first geography information positioner and the unmanned aerial vehicle (UAV) control ground handling station are connected respectively, are used for
Control the first head camera apparatus to carry out shooting processing, the audio collecting device and be acquired processing and first ground
Manage Information locating device and carry out acquisition processing, and gather, store, return described image data, voice data, geography information and away from
From the extremely unmanned aerial vehicle (UAV) control ground handling station.
3. group medicine disaster assistance system according to claim 2, it is characterised in that described information collect rotor nobody
Loom system also includes：Audio playing apparatus；
The audio playing apparatus carry is pacified and drum on first rotor wing unmanned aerial vehicle for being played to the disaster-stricken crowd
Encourage information and containing the prompt message for searching the communication terminal content；
The first control circuit plate is also connected with the audio playing apparatus, is additionally operable in the unmanned aerial vehicle (UAV) control ground handling
Under the control stood, control the audio playing apparatus to be played when finding the disaster-stricken crowd to the disaster-stricken crowd and pacify and drum
Encourage information and played when dropping medical rescue goods and materials to the disaster-stricken crowd to the disaster-stricken crowd containing the search communication
The prompt message of terminal content.
4. group medicine disaster assistance system according to claim 2, it is characterised in that described information collect rotor nobody
Loom system also includes：Attitude transducer, wind direction sensor and elevation sensor；
The attitude transducer carry is being worked as below first rotor wing unmanned aerial vehicle for obtaining first rotor wing unmanned aerial vehicle
Attitude angle in preceding flight environment of vehicle；
The wind direction sensor carry is below first rotor wing unmanned aerial vehicle, for obtaining first rotor wing unmanned aerial vehicle
Wind speed in current flight environment；
The elevation sensor carry is being worked as below first rotor wing unmanned aerial vehicle for obtaining first rotor wing unmanned aerial vehicle
Flying height in preceding flight environment of vehicle；
The first control circuit plate also connects with the attitude transducer, the wind direction sensor and the elevation sensor
Connect, be additionally operable to attitude angle, the wind-force and the height of wind direction sensor acquisition obtained according to the attitude transducer
The flying height that journey sensor is obtained carries out safe flight control to first rotor wing unmanned aerial vehicle.
5. group medicine disaster assistance system according to claim 1, it is characterised in that the cargo assault rotor nobody
Loom system includes：Second rotor wing unmanned aerial vehicle, the second head camera apparatus, the second geography information positioner and the second control electricity
Road plate；
Second rotor wing unmanned aerial vehicle is used in disaster area overhead enter under the control at the unmanned aerial vehicle (UAV) control ground handling station
Row cruise or hovering flight；
The second head camera apparatus carry below second rotor wing unmanned aerial vehicle, for medical rescue cargo assault and
Disaster-stricken crowd is shot to obtain the view data that disaster-stricken crowd receives medical rescue goods and materials during reception；
The second geography information positioner carry on second rotor wing unmanned aerial vehicle, for obtain second rotor without
Man-machine geography information is in order to navigator fix；
The second control circuit plate carry is on second rotor wing unmanned aerial vehicle, with the second head camera apparatus, described
Second geography information positioner and the unmanned aerial vehicle (UAV) control ground handling station are connected respectively, for controlling the second head phase
Machine device carries out shooting processing, the second geography information positioner and carries out acquisition processing, and gather, store, return described in
Disaster-stricken crowd receives the view data of medical rescue goods and materials and the geography information of the second rotor wing unmanned aerial vehicle to the unmanned aerial vehicle (UAV) control
Ground handling station.
6. group medicine disaster assistance system according to claim 1, it is characterised in that the data communication rotor nobody
Loom system includes：3rd rotor wing unmanned aerial vehicle, the 3rd head camera apparatus, the 3rd geography information positioner and the 3rd control electricity
Road plate；
3rd rotor wing unmanned aerial vehicle is used in disaster area overhead enter under the control at the unmanned aerial vehicle (UAV) control ground handling station
Row cruise or hovering flight；
The 3rd head camera apparatus carry is below the 3rd rotor wing unmanned aerial vehicle, for vision guided navigation；
The 3rd geography information positioner carry on the 3rd rotor wing unmanned aerial vehicle, for obtain the 3rd rotor without
Man-machine geography information is in order to navigator fix；
The 3rd control board carry is on the 3rd rotor wing unmanned aerial vehicle, with the 3rd head camera apparatus, described
3rd geography information positioner and the unmanned aerial vehicle (UAV) control ground handling station are connected respectively, for controlling the 3rd head phase
Machine device carries out shooting processing, the 3rd geography information positioner and carries out acquisition processing, and gather, store, return described in
View data, the geography information of the 3rd rotor wing unmanned aerial vehicle to the unmanned aerial vehicle (UAV) control ground handling of 3rd rotor wing unmanned aerial vehicle shooting
Stand.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106598067A (en) * | 2016-12-07 | 2017-04-26 | 中国人民武装警察部队总医院 | Combined medical disaster rescue system and method based on multi-UAVs |
| CN108168522A (en) * | 2017-12-11 | 2018-06-15 | 宁波亿拍客网络科技有限公司 | A kind of unmanned plane observed object method for searching and correlation technique again |
| CN108523843A (en) * | 2018-03-23 | 2018-09-14 | 安徽中天保安服务集团有限公司 | It is a kind of to realize that intelligence nurses the wireless emergency system with rescue based on wearable device |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN110098862A (en) * | 2019-05-06 | 2019-08-06 | 东华大学 | A kind of emergency communication temporary base station construction method based on unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106598067A (en) * | 2016-12-07 | 2017-04-26 | 中国人民武装警察部队总医院 | Combined medical disaster rescue system and method based on multi-UAVs |
| CN108168522A (en) * | 2017-12-11 | 2018-06-15 | 宁波亿拍客网络科技有限公司 | A kind of unmanned plane observed object method for searching and correlation technique again |
| CN108523843A (en) * | 2018-03-23 | 2018-09-14 | 安徽中天保安服务集团有限公司 | It is a kind of to realize that intelligence nurses the wireless emergency system with rescue based on wearable device |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN110098862A (en) * | 2019-05-06 | 2019-08-06 | 东华大学 | A kind of emergency communication temporary base station construction method based on unmanned plane |
| US11275376B2 (en) | 2019-06-20 | 2022-03-15 | Florida Power & Light Company | Large scale unmanned monitoring device assessment of utility system components |
| CN113225706A (en) * | 2021-05-06 | 2021-08-06 | 中国人民解放军空军军医大学 | Battlefield wounded personnel searching method and system based on unmanned aerial vehicle cluster |
| CN116844309A (en) * | 2023-08-16 | 2023-10-03 | 中国长江电力股份有限公司 | Meteorological data real-time monitoring multichannel early warning system |
| CN116844309B (en) * | 2023-08-16 | 2023-12-29 | 中国长江电力股份有限公司 | Meteorological data real-time monitoring multichannel early warning system |
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