CN212951165U

CN212951165U - Unmanned aerial vehicle search and rescue system based on infrared thermal imaging

Info

Publication number: CN212951165U
Application number: CN202021885609.9U
Authority: CN
Inventors: 陈思华; 刘平英; 徐创; 张钰龙; 孙如译; 郑翔宇; 解帅; 方苏苏
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2021-04-13
Anticipated expiration: 2030-09-02

Abstract

The utility model discloses an unmanned aerial vehicle search and rescue system based on infrared thermal imaging, including host system, GPS orientation module, data transmission module and the image acquisition module who is connected respectively with host system, wherein, the bottom of image acquisition module is installed and is stabilized the platform, and stabilized the platform and is connected to the unmanned aerial vehicle below through mechanical connecting rod; the image acquisition module is used for identifying the heat of the object, generating a heat map and outputting the heat map to the main control module; the GPS positioning module is used for positioning the position information of the unmanned aerial vehicle and outputting the position information to the main control module; and the main control module is used for processing the position information of the unmanned aerial vehicle and the heat map to obtain the positions of the stranded personnel, and transmitting the positions of the stranded personnel to the ground control center through the data transmission module. The utility model discloses can be used for natural disasters such as earthquake collapse of multiple occasion, the accurate position of finding the patient of discernment through infrared thermal imaging picture has improved the efficiency of searching for and rescuing greatly and has reduced wounded and search for and rescue personnel's secondary injury risk.

Description

Unmanned aerial vehicle search and rescue system based on infrared thermal imaging

Technical Field

The utility model relates to an intelligence search and rescue technical field, especially an unmanned aerial vehicle search and rescue system based on infrared thermal imaging.

Background

There are two main search and rescue methods today:

manual search: a large number of search and rescue personnel search in a sector back and forth mode in a disaster area, but the method consumes a large amount of manpower, is also unsafe for rescue personnel in a severe environment, has the possibility of manual omission, and has the advantage that a large amount of extra capital investment is not needed.

Machine search: nowadays, the pipeline robot is used to search for the handicapped person. The average growth rate of the pipeline robot in 2012 and 2019 in the market is kept around 26%. Although these machine searching methods greatly reduce the stress on human hands, since the machines still need rescuers to recognize the hand by experience, the intelligent recognition is lacked, and a great number of defects still exist.

Disclosure of Invention

The utility model aims to solve the technical problem that overcome prior art not enough and provide an unmanned aerial vehicle search and rescue system based on infrared thermal imaging, the utility model discloses can be accurate nimble search and rescue to calamity such as earthquake, improve the efficiency of search and rescue greatly and reduce patient and search and rescue team member injury.

The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:

according to the utility model provides an unmanned aerial vehicle search and rescue system based on infrared thermal imaging, including host system, the GPS orientation module, data transmission module and the image acquisition module that are connected respectively with host system, wherein, the bottom of image acquisition module is installed and is stabilized the platform, and the stabilized platform is connected to the unmanned aerial vehicle below through mechanical connecting rod;

the image acquisition module is used for identifying the heat of the object, generating a heat map and outputting the heat map to the main control module;

the GPS positioning module is used for positioning the position information of the unmanned aerial vehicle and outputting the position information to the main control module;

and the main control module is used for processing the position information of the unmanned aerial vehicle and the heat map to obtain the positions of the stranded personnel, and transmitting the positions of the stranded personnel to the ground control center through the data transmission module.

As a unmanned aerial vehicle search and rescue system further optimization scheme based on infrared thermal imaging, still include the automatic flight module of being connected with host system, the automatic flight module is ultrasonic detector, ultrasonic detector installs in unmanned aerial vehicle's every rotor the place ahead.

As an unmanned aerial vehicle searches for ands rescue system further optimization scheme based on infrared thermal imaging, image acquisition module is infrared camera.

As an unmanned aerial vehicle searches for ands rescue system further optimization scheme based on infrared thermal imaging, data transmission module is wireless transmission module.

As a further optimization scheme of unmanned aerial vehicle search and rescue system based on infrared thermal imaging, host system is STM32F103 control module, STM32F103 control module includes the STM32F103 chip, the image acquisition module, first to ninth electric capacity, first resistance, the second resistance, first crystal oscillator, second crystal oscillator and switch, wherein, the PA9 end of STM32F103 chip is connected with the transmitting terminal of image acquisition module, the PA10 end of STM32F103 chip is connected with the receiving terminal of image acquisition module, the earthing terminal ground connection of image acquisition module, the OSC _ IN/PDO end of STM32F103 chip and the one end of first crystal oscillator, the one end of first electric capacity is connected respectively, the OSC _ OUT/PD1 end of STM32F103 chip and the other end of first crystal oscillator, the one end of second electric capacity is connected respectively, the other end of second electric capacity and the other end of first electric capacity are connected respectively, the NRST end of STM32F103 chip and the one end of first electric capacity are connected respectively, One end of a ninth capacitor is connected with one end of a sixth capacitor, one end of a switch and one end of a second resistor respectively, the other end of the second resistor is connected with a 3.3V power supply, the other end of the switch is connected with the other end of the sixth capacitor, the other end of the ninth capacitor and the ground respectively, a VBAT end of an STM32F103 chip is connected with a VDD _ 1 end, a VDD _ 2 end, a VDD _ 3 end, a VDD _ 4 end and a 3.3V power supply respectively, a VDDA end of the STM32F103 chip is connected with one end of an eighth capacitor, the other end of the eighth capacitor is connected with a VSSA end of the STM32F103 chip, a PC14-OSC32-IN end of the STM32F103 chip is connected with one end of a second crystal oscillator, and a PC15-OSC32-OUT end of the STM32F103 chip is connected with the other end of the second crystal oscillator.

The utility model adopts the above technical scheme to compare with prior art, have following technological effect:

the utility model discloses can be used for natural disasters such as earthquake collapse of multiple occasion, the accurate position of finding the patient of discernment through infrared thermal imaging picture has improved the efficiency of searching for and rescuing greatly and has reduced wounded and search for and rescue personnel's secondary injury risk.

Drawings

Fig. 1 is a schematic view of a drone.

Fig. 2 is a schematic diagram of the system architecture.

Fig. 3 is a master control module.

FIG. 4 is a schematic diagram of the STM32F103 system.

The reference numerals in the figures are to be interpreted: 1-a rotor wing; 2-a main control module; 3-infrared camera stabilization platform; 4-infrared camera.

Detailed Description

The technical scheme of the utility model is further explained in detail with the attached drawings as follows:

an unmanned aerial vehicle search and rescue system based on infrared thermal imaging is a six-rotor unmanned aerial vehicle. As shown in fig. 1, an infrared camera 4 is mounted below the unmanned aerial vehicle. The infrared camera can identify the heat of the object and generate a heat map. Because of the difference in the heat quantity of the object, the difference in color can be clearly seen in the heat quantity diagram. The bottom of the infrared camera is provided with a stable platform. The infrared camera stabilized platform 3 is connected to the unmanned aerial vehicle below through mechanical connecting rod. The stabilized platform can make the camera can stably shoot, at the in-process that unmanned aerial vehicle flies or hovers, if unmanned aerial vehicle when the shake takes place because the influence of environmental factors such as air current, crosswind, can ensure that infrared camera is in stable state always to can discern comparatively clear complete calorimeter.

The utility model provides an unmanned aerial vehicle search and rescue system based on infrared thermal imaging, mainly includes host system 2, automatic flight module, GPS orientation module, data transmission module and image acquisition module, and the structure is as shown in figure 2. The main control module adopts ARM company's STM32F103 as the controller, as shown in FIG. 3, unmanned aerial vehicle positional information, the imaging information of shooting are analyzed and are handled by STM32F103, obtain stranded personnel's position, through wireless transmission to control terminal, STM32F103 plays the effect of industrial computer in entire system. FIG. 4 is a schematic diagram of an STM32F103 system, and an STM32F103 platform can control the flight attitude of an unmanned aerial vehicle, can determine the position information of a wounded person through a positioning module of the unmanned aerial vehicle, and is provided with an infrared camera for detecting a heat source of a searched area. STM32F103 control platform of flight end is interactive through wireless transmission with ground control center again, and control center's display screen can show unmanned aerial vehicle's positional information in real time, if find wounded then can send alarm information, reminds the search and rescue team to search and rescue.

As shown IN fig. 4, the main control module is an STM32F103 control module, the STM32F103 control module includes an STM32F103 chip, an image capture module, first to ninth capacitors C1-C9, a first resistor R1, a second resistor R2, a first crystal oscillator Y1, a second crystal oscillator Y2 and a switch RST1, wherein a PA9 of the STM32F103 chip is connected to a transmitting terminal of the image capture module J4, a PA10 of the STM32F103 chip is connected to a receiving terminal of the image capture module, a ground terminal of the image capture module is grounded, an OSC _ IN/PDO terminal of the STM32F103 chip is connected to one end of the first crystal oscillator Y1 and one end of the first capacitor, an OSC _ OUT/PD1 of the STM32F103 chip is connected to one end of the first crystal oscillator Y1 and one end of the second capacitor, the other end of the second capacitor is connected to the other end of the first capacitor, the ground terminal of the STM32F103 chip is connected to the first capacitor, an NRST of the first resistor st of the first crystal oscillator Y1 and the first capacitor, the second capacitor is connected to the other end of the first capacitor, One end of a switch and one end of a second resistor are respectively connected, the other end of the second resistor is connected with a 3.3V power supply, the other end of the switch is respectively connected with the other end of a sixth capacitor, the other end of a ninth capacitor and the ground, a VBAT end of an STM32F103 chip is respectively connected with a VDD _ 1 end, a VDD _ 2 end, a VDD _ 3 end, a VDD _ 4 end and the 3.3V power supply, a VDDA end of the STM32F103 chip is connected with one end of an eighth capacitor, the other end of the eighth capacitor is connected with a VSSA end of the STM32F103 chip, a PC 14-539 2-IN end of the STM32F103 chip is connected with one end of a second crystal Y2, and a PC 15-32-OUT end of the STM32F103 chip is connected with the other end of the second crystal Y2.

The utility model provides an unmanned aerial vehicle search and rescue system's automatic flight gesture of module control unmanned aerial vehicle that flies based on infrared thermal imaging, according to search and rescue regional map to search and rescue regional marginal unmanned aerial vehicle's departure point establishes cartesian three-dimensional rectangular coordinate system as the initial point, so each point in search and rescue region can both show through a coordinate, also can generate the directed path between every two points of course. According to the planned path, a corresponding directed path can be found in the coordinate system, and the directed path is the flight path of the unmanned aerial vehicle. When the unmanned aerial vehicle needs to move, the operation of the six paths of PWM square waves of the control motor is generated through the main control chip, and the motor can drive the rotor wing 1 to rotate. First, six rotors rotate with the same frequency and bring lift for unmanned aerial vehicle, make it can rise to certain height. When the vehicle needs to move forward or turn, the differential speed can be formed by only changing the rotating speed of one or more motors, so that the forward movement or the turning can be controlled.

The unmanned aerial vehicle can automatically avoid obstacles during automatic flight. An ultrasonic detector is installed in front of each rotor of the unmanned aerial vehicle, so that the ultrasonic detector is arranged at intervals of 60 degrees in the body of the unmanned aerial vehicle. Unmanned aerial vehicle is at the in-process of flight, constantly detects to the place ahead barrier, in case detect the place ahead have the barrier and when the distance is less than the threshold value that sets for, judges both sides 60 degrees directions have or not the barrier, if not then turn to the flight, if have the barrier then continue to increase the angle and judge, so just can make unmanned aerial vehicle initiatively avoid the barrier flight.

Unmanned aerial vehicle's GPS orientation module can fix a position unmanned aerial vehicle. Every unmanned aerial vehicle all installs GPS location, can monitor every unmanned aerial vehicle's location at control center, if find wounded at the in-process of flight, then unmanned aerial vehicle chance flies directly over it, to the coordinate in the xoy plane in the three-dimensional cartesian coordinate system both be stranded personnel's position this moment.

Data transmission module can be wireless transmission module, adopts SIM900A, communicates with STM32F103 through the serial ports, transmits unmanned aerial vehicle's coordinate position information and the information that the image acquisition module gathered.

The image acquisition module adopts an infrared camera module, acquires a heat map through an infrared camera, and then processes and segments the heat map to obtain the position of the wounded required to be searched. For an infrared camera, a heat map can be generated, and colors can be different due to different heat. The normal human body temperature is about 36 ℃, but the temperature threshold value is set to be 30-40 ℃ in consideration of the buried depth, the vital signs of a patient and the noise interference problem of a real environment, if an area within the temperature is found, the alignment is segmented and the edge of the area is detected, so that the position of the wounded can be accurately found. The image acquisition module can sort the search and rescue sequence of the patients. Due to the difference in the human body temperature, different color regions can be detected in the thermal map. However, if the wounded person gets hot due to wound infection, the body temperature of the patient is high, and thus the body temperature thereof is close to 40 degrees celsius; and if the vital signs of the patient are weak, the temperature of the human body is low, and the body temperature is close to 30 ℃. For the above two wounded persons, the first aid should be given priority.

The utility model discloses an unmanned aerial vehicle search and rescue system based on infrared imaging can effectual improvement earthquake, collapse the efficiency of searching and rescuing in the calamity such as waiting.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle search and rescue system based on infrared thermal imaging is characterized by comprising a main control module, a GPS positioning module, a data transmission module and an image acquisition module, wherein the GPS positioning module, the data transmission module and the image acquisition module are respectively connected with the main control module;

2. The unmanned aerial vehicle search and rescue system based on infrared thermal imaging of claim 1, further comprising an automatic flight module connected with the main control module, wherein the automatic flight module is an ultrasonic detector, and the ultrasonic detector is installed in front of each rotor of the unmanned aerial vehicle.

3. The unmanned aerial vehicle search and rescue system based on infrared thermal imaging as claimed in claim 1, wherein the image acquisition module is an infrared camera.

4. The unmanned aerial vehicle search and rescue system based on infrared thermal imaging as claimed in claim 1, wherein the data transmission module is a wireless transmission module.

5. The unmanned aerial vehicle search and rescue system based on infrared thermal imaging as claimed IN claim 1, wherein the main control module is an STM32F103 control module, the STM32F103 control module includes an STM32F103 chip, an image acquisition module, first to ninth capacitors, a first resistor, a second resistor, a first crystal oscillator, a second crystal oscillator, and a switch, wherein a PA9 terminal of the STM32F103 chip is connected to a transmitting terminal of the image acquisition module, a PA10 terminal of the STM32F103 chip is connected to a receiving terminal of the image acquisition module, a ground terminal of the image acquisition module is grounded, an OSC _ IN/PDO terminal of the STM32F103 chip is connected to one end of the first crystal oscillator and one end of the first capacitor, an OSC _ OUT/PD1 terminal of the STM32F103 chip is connected to the other end of the first crystal oscillator and one end of the second capacitor, the other end of the second capacitor is connected to the other end of the first capacitor, and the NRST terminal of the STM32F103 chip is connected to one end of the first resistor, One end of a ninth capacitor is connected with one end of a sixth capacitor, one end of a switch and one end of a second resistor respectively, the other end of the second resistor is connected with a 3.3V power supply, the other end of the switch is connected with the other end of the sixth capacitor, the other end of the ninth capacitor and the ground respectively, a VBAT end of an STM32F103 chip is connected with a VDD _ 1 end, a VDD _ 2 end, a VDD _ 3 end, a VDD _ 4 end and a 3.3V power supply respectively, a VDDA end of the STM32F103 chip is connected with one end of an eighth capacitor, the other end of the eighth capacitor is connected with a VSSA end of the STM32F103 chip, a PC14-OSC32-IN end of the STM32F103 chip is connected with one end of a second crystal oscillator, and a PC15-OSC32-OUT end of the STM32F103 chip is connected with the other end of the second crystal oscillator.