CN210835734U - Unmanned aerial vehicle search and rescue system - Google Patents
Unmanned aerial vehicle search and rescue system Download PDFInfo
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- CN210835734U CN210835734U CN201922212823.1U CN201922212823U CN210835734U CN 210835734 U CN210835734 U CN 210835734U CN 201922212823 U CN201922212823 U CN 201922212823U CN 210835734 U CN210835734 U CN 210835734U
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Abstract
The utility model discloses an unmanned aerial vehicle search and rescue system, include: the system comprises an upper computer, an unmanned aerial vehicle and a portable device which are in wireless connection communication with the upper computer, and an OpenMV machine vision module; the portable device is positioned on the person to be rescued; the portable device is attached with a GPS module to preliminarily position the rescue workers, and meanwhile, the unmanned aerial vehicle and the portable device are respectively provided with a UWB positioning module to perform positioning again. The utility model discloses at first treat the rescue personnel through the GPS module and carry out preliminary location, the host computer obtains preliminary positioning information, go out to move unmanned aerial vehicle and go to preliminary positioning position according to planning the route, the further accurate positioning of UWB positioning module is recycled, positioning accuracy reaches centimetre level, can realize accurate input, when unable realization real-time location and the pursuit through the UWB module, unmanned aerial vehicle can rely on OpenMV machine vision module to realize real-time location and pursuit, thereby the adaptability and the interference killing feature of system have been strengthened.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle application apparatus technical field, more specifically say, the utility model relates to an unmanned aerial vehicle search and rescue system.
Background
In recent years, many people have studied unmanned aerial vehicle search and rescue systems. For example, students at northeast forestry university design a GPS global positioning system and an image semantic segmentation self-recognition system based on an unmanned aerial vehicle, and rescue personnel carry out rescue remote control on the unmanned aerial vehicle by acquiring image data transmitted by the unmanned aerial vehicle.
The unmanned aerial vehicle 'Helper' manufactured by the Helper company in France transmits a picture to near drowning personnel in real time through a camera, preliminarily discriminates the personnel falling into water and the surrounding environment thereof, and puts in a life buoy carried by the unmanned aerial vehicle to the drowning personnel after determining the position of the drowning personnel.
An airborne video image waterborne target intelligent positioning method is developed based on airborne VHF remote ship-shore wireless communication equipment, an unmanned aerial vehicle is used for searching drowning personnel in advance in the initial stage of search and rescue, and when the unmanned aerial vehicle locks a target in water, a piloted search and rescue helicopter or ship goes to rescue.
The above overwater rescue methods have certain limitations, such as frequent struggling when drowning people fall into water, and disordered pictures returned by the camera, which results in unclear results of people and inaccurate throwing; or autonomous more accurate positioning cannot be realized, manual remote control is required, and the like.
Therefore, it is urgently needed to design an unmanned aerial vehicle search and rescue system which can quickly, efficiently and conveniently locate and rescue the emergency target above the turbulent river channel and has the advantages of convenience in use, low cost, no casualty risk, good maneuvering performance and the like.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to address at least the above-mentioned deficiencies and to provide at least the advantages which will be explained later.
Another object of the utility model is to provide a can solve the not high problem of technical positioning accuracy such as traditional GPS, accomplish unmanned aerial vehicle's real-time accurate location to the unmanned aerial vehicle search and rescue system of accurately puting in is carried out.
In order to realize the utility model discloses a these purposes and other advantages, the utility model provides an unmanned aerial vehicle search and rescue system, wherein, include: the system comprises an upper computer, an unmanned aerial vehicle and a portable device, wherein the unmanned aerial vehicle is in wireless connection communication with the upper computer; the portable device is arranged on a person to be rescued;
the portable device is at least provided with a GPS module for primarily positioning the person to be rescued, and the unmanned aerial vehicle and the portable device are respectively provided with corresponding UWB positioning modules for carrying out positioning again.
Above-mentioned technical scheme at first treats the rescue personnel through the GPS module and tentatively fixes a position, and the host computer obtains tentatively positioning information, goes out unmanned aerial vehicle again and goes to tentatively fix a position the position according to planning the route, utilizes UWB positioning module further accurate positioning at last, and positioning accuracy reaches centimetre level, can realize accurate input.
The technical problems that traditional GPS positioning is not accurate enough, pictures shot by a camera are disordered and accurate putting is not easy are solved.
Preferably, in the unmanned aerial vehicle search and rescue system, the upper computer, the unmanned aerial vehicle and the portable device are respectively provided with a wireless data transmission module for wireless connection communication.
Information transmission among the upper computer, the unmanned aerial vehicle and the portable device can be realized through the wireless data transmission module, such as GPS positioning information, control instructions and the like.
Preferably, in the unmanned aerial vehicle search and rescue system, the unmanned aerial vehicle is provided with a single chip microcomputer besides a flight control module, and the single chip microcomputer is connected with a steering engine on the unmanned aerial vehicle. The singlechip can control the steering wheel to accurately throw in.
Preferably, in the unmanned aerial vehicle search and rescue system, an ultrasonic module is further arranged on the unmanned aerial vehicle, and the ultrasonic module is connected with a flight control module of the unmanned aerial vehicle.
The ultrasonic module can detect information such as obstacles and flight heights, and the flight control module can avoid obstacles and measure heights according to the information detected by the ultrasonic module.
Preferably, in the unmanned aerial vehicle search and rescue system, a GPS module in the portable device is connected with a wireless data transmission module to send preliminary positioning information to an upper computer.
Preferably, in the unmanned aerial vehicle search and rescue system, the UWB positioning module on the unmanned aerial vehicle is connected with a flight control module of the unmanned aerial vehicle.
After UWB positioning module obtains the more accurate locating information of target point, flight control module control unmanned aerial vehicle flies to the target point, then flight control module starts the instruction to the singlechip, and the singlechip control steering wheel accomplishes the goods and materials and puts in.
Preferably, the unmanned aerial vehicle search and rescue system further includes an OpenMV machine vision module, and the OpenMV machine vision module includes:
the processor is arranged on the unmanned aerial vehicle and is connected with the flight control module;
the camera is arranged on the unmanned aerial vehicle and is connected with the processor;
and the three-color lamp is arranged on the portable device and can send out a flashing signal.
In some scenes, the search and rescue target may be in a moving state for a long time, the unmanned aerial vehicle cannot calculate the specific position of the target point in a short time through the UWB module, and at the moment, the positioning and tracking of the unmanned aerial vehicle with rescuers or the target can be further realized through the OpenMV machine vision module.
Specifically, the red, green and blue three-color lamps of the portable device flash alternately at a certain frequency, while the unmanned aerial vehicle searches for flash signals of the three-color lamps in a visual area through an OpenMV machine vision module in the process of secondary positioning through a uwb technology, after the camera obtains an image, the processor obtains signal lamp flash frequency and color sequence of a target through image processing and resolving, if the signal frequency is matched with the given frequency and flash sequence, the OpenMV machine vision module processes the proportion of pixel points occupied by the signal lamps in the image and multiplies the proportion K set in advance, so that the actual distance is indirectly obtained and output, and meanwhile, the relative position coordinates of the target point in the image are obtained. When actual distance data are continuously output in the OpenMV machine vision module, and the measured actual distance data are lower than a given value or the unmanned aerial vehicle still cannot further approach the position of a target point through the UWB module in a long time, the OpenMV machine vision module sends distance data information to the flight control module, and the unmanned aerial vehicle can complete further positioning and tracking by means of the OpenMV machine vision module.
Therefore, the problem that the unmanned aerial vehicle cannot realize real-time positioning and tracking through a UWB module is effectively solved through the arrangement of the OpenMV machine vision module, and therefore the adaptability and the anti-interference capacity of the system are enhanced.
Preferably, the unmanned aerial vehicle search and rescue system in, still include handheld terminal, handheld terminal and unmanned aerial vehicle wireless connection are used for manually controlling unmanned aerial vehicle.
Preferably, in the unmanned aerial vehicle search and rescue system, the portable device is an electronic watch, an electronic bracelet or a cap body.
The utility model discloses at least, include following beneficial effect:
first, the utility model discloses an unmanned aerial vehicle search and rescue system can realize many-sided input and rescue, and the UWB orientation module that wherein sets up can solve the not high problem of technical positioning accuracy such as GPS, accomplishes unmanned aerial vehicle and treats rescue personnel's real-time accurate location, conveniently carries out more accurate input. The UWB module can be integrated in daily equipment such as electronic watch bracelet, and the anytime and anywhere is available, makes the search and rescue process more save time, avoids too much manpower and material resources, can improve the search and rescue success rate at to a great extent.
Secondly, compared with the traditional overwater rescue scheme, the unmanned aerial vehicle search and rescue system has more excellent system performance, and can quickly, efficiently and conveniently position and rescue the adventure target above the turbulent river channel; the rescue device also supports the necessary food, medicine and other materials to be delivered to the lost personnel in remote areas such as mountainous areas and the like under the condition that the ground transportation tool can not perform rescue actions; when a disaster happens, the unmanned aerial vehicle can also independently put in goods and materials and the like to help people in danger to save themselves and help rescue teams to smoothly complete rescue tasks; so the utility model has the advantages of rapid use, high efficiency, low cost, no casualty risk, good maneuvering performance and the like.
Still, the utility model discloses a problem that unmanned aerial vehicle can't realize real-time location and pursuit through the UWB module has been solved effectively in the setting of OpenMV machine vision module, has stronger adaptability and interference immunity.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a structural frame diagram of an embodiment of the search and rescue system for unmanned aerial vehicles according to the present invention;
fig. 2 is a structural frame diagram of another embodiment of the search and rescue system for unmanned aerial vehicles according to the present invention;
fig. 3 is a schematic diagram of the operation of the UWB positioning module according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.
The utility model discloses a main material as follows:
UWB technology is an existing high precision positioning technology in which UWB positioning modules are commercially available.
The positioning principle of the UWB positioning module is as follows:
the wireless ultra-narrow pulse electromagnetic wave is a wireless positioning technology which uses a wireless pulse signal with the pulse width of ns level as a positioning carrier wave. In the frequency domain, it is also called ultra wideband technology or UWB technology because the occupied frequency band is wide. The UWB positioning module DWM1000 generates an independent time stamp from the start, the transmitter of module a transmits a pulse signal of requesting nature at time Ta1 on its time stamp, module B receives at time Tb1, and module a transmits a signal of responding nature at time Tb2, which is received by module a at time Ta2 on its own time stamp. From this, the time of flight of the pulse signal between the two modules can be calculated, and since the speed of light C is known, the distance of flight S thereof is determined, and the following formula is an expression about S.
S＝C*[(Ta2-Ta1)-(Tb2-Tb1)]
The UWB positioning module is based on a wireless ultra-narrow pulse technology, and has the characteristics of high positioning precision, stable performance, strong anti-interference performance and the like compared with other products in the wireless positioning field. The UWB positioning module has two working modes of 'base station' and 'label', and a one-label three-base-station positioning system, a one-label four-base-station positioning system and the like are generally established according to the principle of the trilateration method. The utility model discloses a label, a basic station formula positioning system has been established, and its approximate operating principle is shown in fig. 2.
In fig. 3, the unmanned aerial vehicle flies in a single direction and measures the distance S between the unmanned aerial vehicle and the target point in real time, and the distance change trend from the point to the straight line shows that S is smaller first and then larger. Both had been had a distance minimum in the single direction, when UWB orientation module detected the distance change flex point, unmanned aerial vehicle will slow down and turn to 90 degrees towards one side of target point, produced braking distance x from this, and the size of x descends gradually with unmanned aerial vehicle constantly is close to the target point. And (3) presetting the maximum throwing distance as a, and when the horizontal distance d from the vertical projection of the unmanned aerial vehicle to the target point is in the area (0, a), indicating that the unmanned aerial vehicle reaches the target area, and finishing positioning.
The utility model discloses well unmanned aerial vehicle carries on UWB orientation module, after the task of taking off begins to carry out, UWB orientation module feeds back the flight control module of unmanned aerial vehicle with the distance value size of surveying, and flight control module obtains the trend q of change of distance through judging twice numerical value size around, and when q >0, flight control module transfers unmanned aerial vehicle flight direction angle 180 degrees. When q is less than 0, the flight control module controls the airplane to keep horizontal and fly in a straight line direction, and the q value is increased and tends to 0. When q is 0, the flight control module takes the last turning angle direction as a reference to enable the unmanned aerial vehicle to turn 90 degrees and keep the straight line flight, and the q value changes at the moment to enable the flight control module to execute the judgment command again. Until the horizontal distance d satisfies the following equation:
wherein a is a system preset value and represents the maximum throwing distance between the unmanned aerial vehicle and a target point. h is the actual measurement relative height of unmanned aerial vehicle, is surveyed by the ultrasonic module that unmanned aerial vehicle carried on. After the unmanned aerial vehicle reaches the throwing area, the flight control module adjusts the mode and converts the mode into the hovering mode, and sends a signal to the singlechip through the I/O interface, so that the singlechip controls the steering engine to finish throwing.
The working principle of unmanned aerial vehicle realization input is as follows:
the single chip microcomputer controls the steering engine to rotate by a corresponding angle, so that material throwing is realized. After the single chip microcomputer receives a control signal from the flight controller, the single chip microcomputer controls the motor to rotate, the motor drives a series of gear sets, and the gear sets are transmitted to the output rudder disc after being decelerated. The output shaft of the steering engine is connected with the position feedback potentiometer, the steering wheel rotates and simultaneously drives the position feedback potentiometer, the potentiometer outputs a voltage signal to the control circuit board for feedback, and then the control circuit board determines the rotation direction and the rotation speed of the motor according to the position of the potentiometer, so that the target stop is achieved.
The utility model discloses single chip microcomputer can realize the control to the multichannel steering wheel, and the pulse signal that the singlechip produced through the 555 oscillator produces counts and produces the PWM signal. The singlechip can generate PWM signals of 8 channels, and the PWM signals are respectively output by different ports. And 8 paths of output PWM signals are transmitted to a next-stage circuit through optical coupling isolation. Because the signal is inverted during transmission through the optocoupler, the signal out of the optocoupler must be inverted through an inverter. After the square wave signal is transmitted by the optical coupler, the front edge and the back edge can be distorted, so that the inverter adopts a CD40106 Schmidt inverter to shape the signal transmitted by the optical coupler, and a standard PWM square wave signal is generated. The scheme has the advantages of realizing multi-path output and simpler software design.
Unmanned aerial vehicle ultrasonic wave keeps away barrier and height finding theory of operation:
ultrasonic waves have strong directivity and are propagated in a medium over a long distance, and thus are often used for distance measurement. The ultrasonic detection is often relatively rapid and convenient, the calculation is simple, and the real-time control is easy to realize, the ultrasonic ranging principle is that an ultrasonic transmitter transmits ultrasonic waves to a certain direction, the timing is started at the same time of the transmitting moment, the ultrasonic waves are transmitted in the air, the ultrasonic waves return immediately when encountering an obstacle on the way, and the timing is stopped immediately when an ultrasonic receiver receives the reflected waves. The ultrasonic module detects the time t from transmitting ultrasonic waves to receiving echo signals by the transducer through threshold comparison, phase correlation and the like by adopting an echo time method, and then calculates the distance S according to the ultrasonic velocity v during measurement. The following formula is an expression for S:
through giving the front and back, left and right, upper and lower six positions of unmanned aerial vehicle and connecting ultrasonic module, let the feedback value that flight control can receive six different ultrasonic module in real time to judge that unmanned aerial vehicle each direction has or not the barrier. The unmanned aerial vehicle also will transfer the ultrasonic module measuring distance value of below to express unmanned aerial vehicle's relative height.
The utility model discloses in the ultrasonic wave module of adopting more, we are through 4pin to 4 pin's connecting wire, unmanned aerial vehicle flight controller's I2C mouth is connected to one end, I2C line concentration board is connected to one end and line concentration board and flight controller are connected, equally adopt 4pin to 4 pin's connecting wire, I2C line concentration board is connected to one end, other end connection ultrasonic wave module connects line concentration board and ultrasonic wave module to accomplish unmanned aerial vehicle flight controller and ultrasonic wave module's connection. The SUI04 ultrasound module can be generally selected as an obstacle avoidance module by setting the value of the Pixhawk parameter PRX _ TYPE, and the setting of the obstacle avoidance distance is accomplished by changing the value of the parameter AVOID _ MARGIN.
The OpenMV machine vision module work principle is as follows:
the OpenMV machine vision module is provided with a camera and an STM32H743VI ARM Cortex M7 processor, and the specification of the processor is 400MHz, 1MB RAM and 2MB flash. All I/O pins output 3.3V and 5V tolerant, and the OpenMV machine vision module piggybacks the MicroPython interpreter, allowing programming using Python on the embedded. The OpenMV machine vision module is a programmable camera, after the camera obtains an image of a target area, the processor processes the image, processed data information is transmitted to the upper computer, the upper computer can directly utilize the information to control the unmanned aerial vehicle, and the upper computer does not need to occupy time to process complex image information.
The realization method comprises the following steps:
the red, green and blue three-color lamps of the portable device flicker alternately at a certain frequency, the unmanned aerial vehicle searches flicker signals of the three-color lamps in a visual area through an OpenMV machine vision module in the process of secondary positioning through a uwb module, after the camera obtains an image, the processor obtains signal lamp flicker frequency and color sequence of a target through image processing and resolving, if the signal frequency is matched with the given frequency and flicker sequence, the OpenMV machine vision module processes the proportion of pixel points occupied by the signal lamps in the image and multiplies the proportion K set in advance, so that the actual distance is indirectly obtained and output, and meanwhile, the relative position coordinates of the target point in the image are obtained. When actual distance data are continuously output in the OpenMV machine vision module, and the measured actual distance data are lower than a given value or the unmanned aerial vehicle still cannot further approach the position of a target point through the UWB module in a long time, the OpenMV machine vision module sends distance data information to the flight control module, and the unmanned aerial vehicle finishes further positioning and tracking by means of the OpenMV machine vision module so as to carry out delivery.
Specifically, as shown in fig. 1, in one embodiment, an unmanned aerial vehicle search and rescue system includes: the system comprises an upper computer, an unmanned aerial vehicle and a portable device, wherein the unmanned aerial vehicle is in wireless connection communication with the upper computer; the portable device is arranged on a person to be rescued;
the portable device is at least provided with a GPS module for primarily positioning the person to be rescued, and the unmanned aerial vehicle and the portable device are respectively provided with corresponding UWB positioning modules for carrying out positioning again.
When implementing, the rescue personnel can be treated to the GPS module among the portable device and tentatively fix a position, and preliminary locating information gives the host computer through wireless transmission, and after the host computer obtained preliminary locating information, it goes to preliminary locating position to go out to move unmanned aerial vehicle according to planning the route, and unmanned aerial vehicle recycles UWB locating module and carries out more accurate positioning, and UWB's positioning accuracy can reach centimetre level to accurately put in.
Further, host computer, unmanned aerial vehicle and portable equipment are provided with wireless data transmission module respectively in order to carry out wireless connection communication. Information transmission among the upper computer, the unmanned aerial vehicle and the portable device can be realized through the wireless data transmission module, such as GPS positioning information, control instructions and the like. Besides the flight control module, the unmanned aerial vehicle is also provided with a single chip microcomputer, and the single chip microcomputer is connected with a steering engine on the unmanned aerial vehicle. The singlechip can control the steering wheel to accurately throw in.
Unmanned aerial vehicle carries the UWB orientation module, wireless data transfer radio station module to and the GPS module of taking certainly, components such as barometer and accelerometer.
When the portable device is used, after a help seeker presses an alarm switch on the portable device, a GPS module in the portable device sends longitude and latitude positioning information to an upper computer through a wireless data transmission module, and after the upper computer plans a shortest route for the unmanned aerial vehicle to reach a positioning point, the upper computer sends an instruction to the unmanned aerial vehicle through a wireless data transmission radio module to control the unmanned aerial vehicle to start and execute system tasks. After the unmanned aerial vehicle reaches the primary positioning area, the UWB positioning module on the unmanned aerial vehicle communicates with the UWB positioning module in the portable device, and the search and rescue target is accurately positioned. After the unmanned aerial vehicle locks the target, the flight controller of the unmanned aerial vehicle is communicated with the single chip microcomputer through a serial port to control the steering engine to finish throwing.
Further, still be provided with the ultrasonic wave module on the unmanned aerial vehicle, the ultrasonic wave module is connected with unmanned aerial vehicle from the flight control module who takes.
In the flight process, the ultrasonic module of unmanned aerial vehicle can detect information such as barrier and flight height, and flight control module can keep away the barrier and height finding according to ultrasonic module detection information.
Furthermore, a GPS module in the portable device is connected with the wireless data transmission module and used for sending the preliminary positioning information to the upper computer.
Further, UWB positioning module on the unmanned aerial vehicle is connected with the flight control module of unmanned aerial vehicle from the area.
After UWB positioning module obtains the more accurate locating information of target point, flight control module control unmanned aerial vehicle flies to the target point, then flight control module starts the instruction to the singlechip, and the singlechip control steering wheel accomplishes the goods and materials and puts in.
Further, as shown in fig. 2, in another embodiment, the unmanned aerial vehicle search and rescue system further includes an OpenMV machine vision module, where the OpenMV machine vision module includes:
the processor is arranged on the unmanned aerial vehicle and is connected with the flight control module;
the camera is arranged on the unmanned aerial vehicle and is connected with the processor;
and the three-color lamp is arranged on the portable device and can send out a flashing signal.
The camera shoots the flickering signals of the three-color lamp and then sends the flickering signals to the processor for corresponding processing.
Further, still include handheld terminal, handheld terminal and unmanned aerial vehicle wireless connection are used for manually controlling unmanned aerial vehicle.
Further, the portable device is an electronic watch, an electronic bracelet or a cap body. The tri-color lamp can be arranged on the cap body.
The utility model discloses an implementation process as follows:
when the portable device is required to be rescued, after a help seeker presses an alarm switch on the portable device, a GPS module in the portable device sends longitude and latitude positioning information to an upper computer through a wireless data transmission module, and after the upper computer plans a shortest route for the unmanned aerial vehicle to reach a positioning point, the upper computer sends an instruction to the unmanned aerial vehicle through the wireless data transmission radio station module to control the unmanned aerial vehicle to start and execute system tasks. After the unmanned aerial vehicle reaches the primary positioning area, the UWB positioning module on the unmanned aerial vehicle communicates with the UWB positioning module in the portable device, and the search and rescue target is accurately positioned. After the unmanned aerial vehicle locks the target, the flight controller of the unmanned aerial vehicle is communicated with the single chip microcomputer through a serial port to control the steering engine to finish throwing.
When the person for help may be in a mobile state for a long time, the unmanned aerial vehicle cannot calculate the specific position of the target point in a short time through the UWB module, and the unmanned aerial vehicle can further realize the positioning and tracking of the person for help through the OpenMV machine vision module.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the applications listed in the specification and the examples. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art.
Claims (9)
1. The utility model provides an unmanned aerial vehicle search and rescue system which characterized in that includes:
the system comprises an upper computer, an unmanned aerial vehicle in wireless connection with the upper computer and a portable device in wireless connection with the upper computer; the portable device is positioned on the person to be rescued;
the portable device is provided with a GPS module for preliminarily positioning the person to be rescued; and corresponding UWB positioning modules are further arranged on the unmanned aerial vehicle and the portable device respectively to perform positioning again.
2. The unmanned aerial vehicle search and rescue system of claim 1, wherein the host computer, the unmanned aerial vehicle and the portable device are respectively provided with a wireless data transmission module to perform wireless connection communication with each other.
3. The unmanned aerial vehicle search and rescue system of claim 2, wherein the unmanned aerial vehicle is provided with a flight control module and a single chip microcomputer, and the single chip microcomputer is respectively connected with the flight controller and a steering engine of the unmanned aerial vehicle.
4. An unmanned aerial vehicle search and rescue system as claimed in claim 3, wherein the unmanned aerial vehicle is further provided with an ultrasonic module, and the ultrasonic module is connected with a flight control module of the unmanned aerial vehicle.
5. An unmanned aerial vehicle search and rescue system as claimed in claim 4, wherein the GPS module is connected with the wireless data transmission module for transmitting the preliminary positioning information to the upper computer.
6. The unmanned aerial vehicle search and rescue system of claim 5, wherein the UWB positioning module on the unmanned aerial vehicle is connected with a flight control module of the unmanned aerial vehicle.
7. The unmanned aerial vehicle search and rescue system of claim 6, further comprising an OpenMV machine vision module, the OpenMV machine vision module comprising:
a processor disposed on the drone;
the camera is arranged on the unmanned aerial vehicle and is connected with the processor;
a tri-color light disposed on the portable device.
8. The unmanned aerial vehicle search and rescue system of claim 1, further comprising a handheld terminal wirelessly connected with the unmanned aerial vehicle for manually operating the unmanned aerial vehicle.
9. The unmanned aerial vehicle search and rescue system of claim 1, wherein the portable device is an electronic watch or an electronic bracelet or a cap.
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| CN201922212823.1U CN210835734U (en) | 2019-12-11 | 2019-12-11 | Unmanned aerial vehicle search and rescue system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862531A (en) * | 2020-07-28 | 2020-10-30 | 山东久晟电器设备有限公司 | AI lifesaving system and application thereof |
| CN111917508A (en) * | 2020-08-10 | 2020-11-10 | 中国人民解放军陆军工程大学 | Anti-interference communication model based on multiple antennas and dynamic spatial spectrum anti-interference method |
| CN112684414A (en) * | 2020-12-21 | 2021-04-20 | 广西大学 | Unmanned aerial vehicle counter-braking method and device |
| CN113790668A (en) * | 2021-07-26 | 2021-12-14 | 广东工业大学 | Intelligent cargo measuring system based on multi-rotor unmanned aerial vehicle |
| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
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2019
- 2019-12-11 CN CN201922212823.1U patent/CN210835734U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862531A (en) * | 2020-07-28 | 2020-10-30 | 山东久晟电器设备有限公司 | AI lifesaving system and application thereof |
| CN111917508A (en) * | 2020-08-10 | 2020-11-10 | 中国人民解放军陆军工程大学 | Anti-interference communication model based on multiple antennas and dynamic spatial spectrum anti-interference method |
| CN112684414A (en) * | 2020-12-21 | 2021-04-20 | 广西大学 | Unmanned aerial vehicle counter-braking method and device |
| CN113790668A (en) * | 2021-07-26 | 2021-12-14 | 广东工业大学 | Intelligent cargo measuring system based on multi-rotor unmanned aerial vehicle |
| CN113790668B (en) * | 2021-07-26 | 2023-06-06 | 广东工业大学 | Intelligent cargo measurement system based on multi-rotor unmanned aerial vehicle |
| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
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