CN212007102U - Gas leakage fire catching unmanned aerial vehicle intelligent monitoring and processing system based on FPGA and ARM - Google Patents

Abstract

The utility model discloses a gas leakage unmanned aerial vehicle intelligent monitoring and processing system that catches fire based on FPGA and ARM belongs to electronic information combination thing networking application. The system is used for carrying an FPGA development board, an ARM development board, a 4G communication module, an infrared sensor, an automatic control valve module and a Beidou positioning module on an unmanned aerial vehicle. Firstly, image data are collected through a CMOS image sensor and are stored into an SDRAM storage module after being processed by an FPGA chip; synchronously positioning by using a Beidou differential positioning module, and dynamically generating an operation safety boundary by using an embedded electronic fence software system; and then, the data are transmitted to the ARM chip and transmitted to the background server through the 4G wireless communication module, so that the data interaction is realized. The infrared sensing part collects the ignition point and carries out automatic fire extinguishing treatment by controlling the automatic control valve. For traditional monitoring devices, the utility model discloses intelligent degree is high, the practicality is strong, and is easy and simple to handle, and the flexibility is high.

Description

Gas leakage fire catching unmanned aerial vehicle intelligent monitoring and processing system based on FPGA and ARM

Technical Field

The utility model relates to an unmanned aerial vehicle intelligent monitoring and communication technology field, concretely relates to unmanned aerial vehicle intelligent monitoring and processing system catch fire is leaked in gas based on FPGA and ARM.

Background

China is a large country of mineral resources, benefits from abundant mineral resources, and has rapid industrial development. Since the seventies of the last century, various chemical plants have been pulled out of the ground, which drives the construction and development of peripheral areas and also continuously injects power for the economic soaring of China. However, most chemical raw materials are inflammable, and in recent years, fire disasters and explosion disasters caused by gas leakage are dull and worried. The fire caused by chemical gas leakage is serious, and the first and second chemical plant fires can generate a large amount of harmful gases such as sulfur dioxide, nitrogen dioxide, inhalable particles and the like, so that the chemical plant fires do harm to human health and cause air pollution. Secondly, cause the haze, the gas leaks to catch fire and is one of the main inducement reason that the haze produced. Thirdly, smoke caused by gas leakage and fire can fly by wind, so that visibility is reduced, and traffic accidents are caused. Meanwhile, other surrounding inflammable objects are ignited due to uncontrollable fire, and a large-area fire disaster is caused. Fifthly, the fire caused by large-area gas leakage can burn out the microorganisms on the ground surface, destroy the soil structure and ecological balance, cause the quality of the farmland to be reduced, and reduce the harvest. The hazards caused by a gas leakage fire have become a social and environmental concern to the public.

Traditional unmanned aerial vehicle monitored control system has only realized the function of control and has not carried out real-time effectual processing. In China, smoke and fire alarm sensors are mainly installed in various chemical plants, and manual fire fighting and relief work is started when smoke alarm and fire alarm are given out. However, the traditional alarm-rescue scheme still needs fire fighting deployment within a certain time, so that the possibility of delaying rescue exists, a large amount of manpower and material resources need to be consumed, and the safety of fire fighters is not absolutely guaranteed.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: current situation and internal gas leakage to present chemical plant's intensive distribution catch fire the processing technique real-time poor, the flow is loaded down with trivial details, the monitoring number of times is limited and there is the problem of potential safety hazard for the fire fighter, the utility model provides a gas leakage unmanned aerial vehicle intelligent monitoring and processing system that catches fire based on FPGA and ARM. The system has the advantages of being more convenient and faster, having higher flexibility, reducing the complexity of monitoring on fire caused by gas leakage, improving the speed of image processing, improving the measurement efficiency, reducing the rescue cost and reducing the potential safety hazard of fire fighters.

The technical scheme is as follows: for realizing the purpose of the utility model, the utility model adopts the technical proposal that:

an intelligent monitoring and processing system of a gas leakage fire catching unmanned aerial vehicle based on FPGA and ARM adopts the unmanned aerial vehicle as a carrying system platform, and carrying hardware comprises an ARM development board, an image processing unit, a communication unit, an infrared sensing unit, a positioning unit and an automatic control valve;

the ARM development board is used for receiving smoke data acquired by the infrared sensing unit and image data transmitted by the image processing unit and controlling the automatic control valve to be opened and closed according to the smoke data and the image data;

the image processing unit comprises a CMOS image sensor, an SDRAM (synchronous dynamic random access memory) and an FPGA (field programmable gate array) chip, the CMOS image sensor transmits acquired data to the FPGA, the FPGA chip is used for processing the acquired image data, the FPGA is connected with the ARM through an external bus, namely, the FPGA is mapped into a section of memory to access, the FPGA transmits the processed data to the ARM chip and stores the processed data into the SDRAM;

the communication unit adopts a 4G communication module, is used for being connected with the background server through a 4G network and is in data communication with the ARM chip through a USB interface;

the infrared sensing unit comprises an infrared sensor connected with the ARM and is used for collecting smoke data;

the positioning unit comprises a Beidou differential positioning module and a positioning antenna which are connected with the ARM;

the automatic control valve is used for receiving an enabling signal sent by the ARM and controlling the fire extinguishing device through the opening and closing valve;

the unmanned aerial vehicle adopts an electronic fence system and is used for dynamically generating a safety boundary in real time, receiving positioning information and hovering over a fuel gas leakage fire area according to the positioning information.

Further, in order to realize the utility model discloses a function of image information real-time processing and transmission utilizes the advantage of multichip, adopts ARM treater and programmable logic device FPGA 'S combination, and what ARM chooseed for use is SAMSUNG' S S5P6818 chip, and FPGA chooses for use the EP4CE30F23C8N of ring IV series as the image processing chip, can carry out the collection and the storage of high-speed data.

Further, in order to realize the function of wireless long-distance transmission of the utility model, the communication unit selects and uses the U8300C of Longshang technology as the 4G communication module; the communication module is full-network communication, is not limited by operators and has stable communication signals. The 4G transmission mode has stable performance and large transmitted data volume, and can realize the function of transmitting video images in real time.

The utility model discloses adopted the fence software system during the unmanned aerial vehicle operation, developments real-time generation safety boundary, the system design is multi-user platform, when keeping watch on a certain unmanned aerial vehicle operation control, shows this operation boundary and this unmanned aerial vehicle's flight orbit on electronic map. When monitoring that gas leakage catches fire, FPGA calculates that the area that gas leakage catches fire is when the controllable area scope of catching fire of settlement, according to big dipper orientation module's high accuracy locating information, hovers unmanned aerial vehicle in the upper air of the area that gas leakage catches fire, opens the automatic control valve and carries out the processing of putting out a fire, and the fire extinguishing agent that wherein adopts can be decided according to actual conditions.

The utility model discloses the theory of operation as follows: the method comprises the steps of firstly cruising a large-area working area, monitoring smoke through an ARM-controlled infrared sensor, and simultaneously storing data acquired by a CMOS image sensor. And when the smoke sensor detects smoke, the FPGA takes out the picture data from the SDRAM at the current time point according to the frame rate for processing. The treatment steps are as follows: firstly, white balance processing of converting an RGB space into a YCbCr color space is carried out on an image acquired by an unmanned aerial vehicle, meanwhile, blocking processing is carried out on the image, a dynamic threshold method is adopted to monitor a white point, and each pixel value of the image is adjusted through a Von Kries model. And then, enhancing the contrast of the image by using a coarse transmittance graph method based on a cost function, fusing the image, and performing color space conversion on the image, namely performing automatic color gradation processing on a V component in an HSV color space model to obtain a defogged image. Threshold values are set for the original image to distinguish the fire area from the non-fire area. And finally, calculating the fire area through binarization processing of the image and setting an area threshold value to judge whether the fire behavior of the fuel gas leakage fire is in a controllable range.

And the FPGA transmits the processed data to the ARM chip. The ARM processes the received smoke data and receives the image data transmitted by the FPGA chip, and controls the automatic control valve to be opened or closed according to the data, if the fire is within a controllable range, the ARM sends an enabling signal to the automatic control valve, and the fire extinguishing device is used for extinguishing the fire. The 4G communication module U8300C communicates with the ARM chip through a USB interface, and transmits data to the background server through the 4G module. And determining the position information of the fire place of the gas leakage through Beidou positioning.

Has the advantages that: compared with the prior art, the technical scheme of the utility model following profitable technological effect has:

the utility model has the advantages of low cost, high performance, low power consumption and small volume, and strong human-computer interaction capability and transportability; the acquisition of high frame number images in a high-speed acquisition state is met; the positioning is accurate; the practicality is strong, easy and simple to handle, and the flexibility is high, and is more intelligent and accord with actual operation requirement.

The utility model discloses can catch fire the initial stage at gas leakage and carry out effectual calculation to the gas leakage area of catching fire to carry out high accuracy location to the place of catching fire through differential positioning, catch fire through intelligent fire extinguishing systems to gas leakage at last and carry out effectual processing of putting out a fire. The modern electronic technology, the sensor technology, the Beidou positioning technology, the 4G communication technology and the unmanned aerial vehicle rescue technology are combined, compared with the traditional monitoring rescue, the measurement process can be effectively simplified, the measurement efficiency is greatly improved, meanwhile, the rescue cost is reduced, and the potential safety hazard of fire fighters is avoided.

Drawings

Fig. 1 is a schematic view of the structure principle of the present invention;

FIG. 2 is a gas leak misfire image algorithm processing flow chart;

FIG. 3 is a schematic diagram of an ARM and FPGA interconnect design;

FIG. 4 is a pin connection diagram of SDRAM and FPGA;

FIG. 5 is a pin connection diagram of U8300C and ARM;

FIG. 6 is a pin connection portion of CMOS and FPGA.

Detailed Description

The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.

A gas leakage unmanned aerial vehicle intelligent monitoring and processing system that catches fire based on FPGA and ARM, figure 1 is system architecture principle schematic diagram, adopts unmanned aerial vehicle as the lift-launch system platform, including ARM, image processing unit, communication unit, infrared sensing unit, positioning unit and automatic control valve. The ARM development board is used for receiving smoke data collected by the infrared sensing unit and image data transmitted by the image processing unit and controlling the automatic control valve to be opened and closed according to the smoke data and the image data. The image processing unit comprises a CMOS image sensor, an SDRAM (synchronous dynamic random access memory) and an FPGA (field programmable gate array) chip, the CMOS image sensor transmits acquired data to the FPGA, the FPGA chip is used for processing the acquired image data, the FPGA and the ARM are connected through an external bus, the FPGA is mapped into a section of memory to be accessed, the FPGA transmits the processed data to the ARM chip, and the processed data are stored in the SDRAM. The communication unit adopts a 4G communication module, is used for being connected with the background server through a 4G network and is in data communication with the ARM chip through a USB interface; the infrared sensing unit comprises an infrared sensor connected with the ARM and is used for collecting smoke data. The positioning unit comprises a Beidou differential positioning module and a positioning antenna which are connected with the ARM. And the automatic control valve is used for receiving an enabling signal sent by the ARM and controlling the fire extinguishing device by opening and closing the valve. The unmanned aerial vehicle adopts an electronic fence system and is used for dynamically generating a safety boundary in real time, receiving positioning information and hovering over a fuel gas leakage fire area according to the positioning information.

In this embodiment, in order to realize the utility model discloses a function of image information real-time processing and transmission utilizes the advantage of multichip, adopts ARM treater and programmable logic device FPGA 'S combination, and what ARM chooseed for use is SAMSUNG' S S5P6818 chip, and FPGA chooses for use the EP4CE30F23C8N of ring IV series as the image processing chip, can carry out the collection and the storage of fast-speed data. In order to realize the function of wireless long-distance transmission, the communication unit selects U8300C of Longshang technology as a 4G communication module; the communication module is full-network communication, is not limited by an operator and has stable communication signals; the 4G transmission mode has stable performance and large transmitted data volume, and can realize the function of transmitting video images in real time.

The utility model discloses an unmanned aerial vehicle is catching fire when patrolling and voyaging to gas leakage, FPGA can gather farmland data storage to the SDRAM to CMOS image sensor, simultaneously real-time infrared sensor through ARM control leaks the ground gas and catches fire the situation and handles, when monitoring smog or ignition, can send an enabling signal and give the FPGA chip, FPGA handles the image of saving in the SDRAM to corresponding time point, and to handle good image data transmission to ARM, 4G module through ARM control sends image data and big dipper locating information to backend server, host computer through backend server shows in real time that gas leakage catches fire and goes smog image and big dipper location information of catching fire.

FIG. 2 is a flow chart of image processing by the FPGA when smoke or a fire point is detected. Although it is not necessary to process every second of image, the process still needs to process a large amount of data, which puts high demands on hardware in case of guaranteeing real-time. The FPGA chip of EP4CE30F23C8N model of cycle IV series adopted by the system has powerful parallel processing function, rich resources and sufficient pins, and is very suitable for carrying out complex image processing work. And the FPGA module is used for respectively carrying out white balance processing, image fusion, HSV space conversion and V component automatic color gradation processing on the image acquired by the CMOS so as to obtain a restored image, namely the image without smoke.

FIG. 3 is an interconnect scheme for an ARM processor and an FPGA. ARM processor has integrateed abundant and has divided into and establish the interface outward, the system adopts ARM CPU external bus interface, connects ARM and FPGA through the external bus mode promptly, and one section memory that maps into the system with FPGA visits. The DATA lines DATA [0:31], address lines ADDR [1:4], read-write signals nOE, nWE and chip select signals nGCS3 of the S5P6818 core processor external bus of SAMSUNG company used in the system are connected to the I/O pins of the FPGA.

And fig. 4 shows the pin connection part of the FPGA chip and the SDRAM. SD _ CLK is connected to PIN _ U1 of the FPGA. The SD _ CKE is a clock signal of 25MHz frequency, and is connected to PIN _ V2 of the FPGA as a clock enable signal of the SDRAM. SD _ CS, SD _ WE, SD _ CAS, SD _ RAS are all active low, connected to PIN _ P5, PIN _ N5, PIN _ P7, PIN _ P6, respectively. P _ A0-P _ A11 are respectively address inputs of SDRAM, and are respectively connected with PIN _ R5, PIN _ T5, PIN _ T4, PIN _ T3, PIN _ V3, PIN _ V4, PIN _ AA1, PIN _ Y1, PIN _ Y2, PIN _ W1, PI N _ R7 and PIN _ W2 of the FPGA. BA0 and BA1 are signal enables for SDRAM, connected to PIN _ P4 and PIN _ P3 of the FPGA, respectively. The pins of DQ 0-DQ 15 are parallel bidirectional data buses, and the image data used by the system is RGB565, i.e. P-D0-P-D15 are respectively connected with P-L7, P-L6, P-M7, P-M6, P-M5, P-M4, P-M3, P-N7, P-R1, P-R2, P-P1, P-P2, P-N1, P-N2, P-M1 and P-M2 of the FPGA.

FIG. 5 is a pin connection diagram of U8300C module chip of 4G, and U8300C is connected with the S5P6818 main control chip through a USB interface. Wherein U8300C is connected with the SIM card through the USIM interface. The USIM _ DATA, USIM _ VCC, USIM _ CLK, USIM _ RESET are respectively connected with the SIM _ DATA, SIM _ VCC, SIM _ CLK, SIM _ RST on S5P6818, and respectively realize the functions of DATA interaction, power supply to the SIM card, and supply and RESET of a working clock. The MCU _ GPIO1 is connected to the MCU _ CAM1_ D3 pin on the S5P6818 ARM development board. In order to ensure the normal operation of the U8300C, a single power supply mode is also needed.

Fig. 6 shows the pin connection part of the CMOS camera and the FPGA chip EP4CE30F23C 8N. Needs to be supplied with a stable voltage of 3.3V. The CMOS SCL inputs a clock signal of 24MHz, and is connected with PIN _ B2 of the FPGA chip. PCLK is a clock enable signal, which specifies the minimum time interval for image processing, and PIN _ D2, which connects to the FPGA chip. HREF and VSYNC are line signals and field signals respectively, line signals are generated when one line of image data is acquired, field signals are generated when one frame of image data is acquired, and the line signals, the field signals HREF and VSYNC are respectively connected with PIN _ C1 and PIN _ C2. The CMOS D0 to CMOS D7 are data bits and are connected to PIN _ H7, PIN _ H8, PIN _ G3, PIN _ G4, PIN _ G5, PIN _ F1, PIN _ F2, and PIN _ E1, respectively. The CMOS SDA is a data enable signal, connected to PIN _ B1 of the FPGA chip.

Claims (3)

1. Gas leakage unmanned aerial vehicle intelligent monitoring and processing system that catches fire based on FPGA and ARM, its characterized in that: an unmanned aerial vehicle is used as a carrying system platform and comprises an ARM development board, an image processing unit, a communication unit, an infrared sensing unit, a positioning unit and an automatic control valve;

the ARM development board is used for receiving smoke data acquired by the infrared sensing unit and image data transmitted by the image processing unit and controlling the automatic control valve to be opened and closed according to the smoke data and the image data;

the image processing unit comprises a CMOS image sensor, an SDRAM and an FPGA chip, the CMOS image sensor transmits acquired data to the FPGA, the FPGA chip is used for processing the acquired image data, the FPGA and the ARM are connected through an external bus, the FPGA transmits the processed data to the ARM chip, and the processed data are stored in the SDRAM;

the communication unit adopts a 4G communication module, is used for being connected with the background server through a 4G network and is in data communication with the ARM chip through a USB interface;

the infrared sensing unit comprises an infrared sensor connected with the ARM and is used for collecting smoke data;

the positioning unit comprises a Beidou differential positioning module and a positioning antenna which are connected with the ARM;

the automatic control valve is used for receiving an enabling signal sent by the ARM and controlling the fire extinguishing device through the opening and closing valve;

the unmanned aerial vehicle adopts an electronic fence system and is used for dynamically generating a safety boundary in real time, receiving positioning information and hovering over a fuel gas leakage fire area according to the positioning information.

2. The FPGA and ARM-based intelligent monitoring and processing system for the gas leakage fire unmanned aerial vehicle as claimed in claim 1, wherein: an S5P6818 chip is selected for the ARM, an EP4CE30F23C8N chip is selected for the FPGA, and a U8300C chip is selected for the communication unit.

3. The FPGA and ARM-based intelligent monitoring and processing system for the gas leakage fire unmanned aerial vehicle as claimed in claim 2, wherein: DATA lines DATA [0:31], address lines ADDR [1:4], read-write signals nOE, nWE and chip selection signals nGCS3 of an S5P6818 external bus are connected to an I/O pin of the FPGA;

the SD _ CLK of the SDRAM is connected with the PIN _ U1 of the FPGA; the SD _ CKE is connected with the PIN _ V2 of the FPGA; BA0 and BA1 are respectively connected with PIN _ P4 and PIN _ P3 of the FPGA; SD _ CS, SD _ WE, SD _ CAS and SD _ RAS of the SDRAM are respectively connected with PIN _ P5, PIN _ N5, PIN _ P7 and PIN _ P6 of the FPGA; p _ A0-P _ A11 of the SDRAM are respectively connected with PIN _ R5, PIN _ T5, PIN _ T4, PIN _ T3, PIN _ V3, PIN _ V4, PIN _ AA1, PIN _ Y1, PIN _ Y2, PIN _ W1, PIN _ R7 and PIN _ W2 of the FPGA; P-D0-P-D15 of the SDRAM are respectively connected with P-L7, P-L6, P-M7, P-M6, P-M5, P-M4, P-M3, P-N7, P-R1, P-R2, P-P1, P-P2, P-N1, P-N2, P-M1 and P-M2 of the FPGA;

the U8300C is connected with the S5P6818 main control chip through a USB interface; U8300C is connected with the SIM card through a USIM interface; the USIM _ DATA, USIM _ VCC, USIM _ CLK and USIM _ RESET are respectively connected with SIM _ DATA, SIM _ VCC, SIM _ CLK and SIM _ RST of the S5P6818 chip; the MCU _ GPIO1 is connected with an MCU _ CAM1_ D3 pin on an S5P6818 ARM development board;

the CMOS is connected with the pins of the FPGA chip EP4CE30F23C 8N: a clock signal PIN SCL of the CMOS is connected with PIN _ B2 of the FPGA; the clock enable signal PIN PCLK of the CMOS is connected with PIN _ D2; the row signal and field signal PINs HREF and VSYNC of the CMOS are respectively connected with PIN _ C1 and PIN _ C2 of the FPGA; D0-D7 of the CMOS are respectively connected with PIN _ H7, PIN _ H8, PIN _ G3, PIN _ G4, PIN _ G5, PIN _ F1, PIN _ F2 and PIN _ E1 of the FPGA; the data enable signal SDA of the CMOS is connected to PIN _ B1 of the FPGA.

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