CN216443790U - Automatic fire monitoring system that cruises based on unmanned aerial vehicle - Google Patents
Automatic fire monitoring system that cruises based on unmanned aerial vehicle Download PDFInfo
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- CN216443790U CN216443790U CN202122457402.2U CN202122457402U CN216443790U CN 216443790 U CN216443790 U CN 216443790U CN 202122457402 U CN202122457402 U CN 202122457402U CN 216443790 U CN216443790 U CN 216443790U
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Abstract
The utility model discloses an automatic cruise fire monitoring system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a mechanical arm, a camera, a battery pack, a temperature sensor and a spraying mechanism, wherein the mechanical arm is arranged on the unmanned aerial vehicle; the automatic fire extinguishing device comprises an unmanned aerial vehicle, a camera, a temperature sensor, an arm, a battery assembly and a spraying mechanism, wherein the arm, the battery assembly and the spraying mechanism are respectively installed on the bottom surface of the unmanned aerial vehicle; be equipped with control module, data transmission module, picture transmission module, ranging module and RTK orientation module on the unmanned aerial vehicle, arm, camera, temperature sensor, solenoid valve, data transmission module, picture transmission module, ranging module and RTK orientation module all with control module electric connection.
Description
Technical Field
The utility model relates to the technical field of unmanned aerial vehicles, in particular to an automatic cruise fire monitoring system based on an unmanned aerial vehicle.
Background
In recent years, forest fires frequently occur in China, and the fires are sudden and extremely destructive, so that lives of people are seriously threatened, and great loss is caused to the economy of the society. Therefore, it is important for forestry to prevent a fire by detecting an abnormality in temperature in time and extinguishing the fire before it becomes larger.
The unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenient use and the like. Unmanned aerial vehicles can fly independently beyond visual range usually, can carry certain payload, carry out tasks such as reconnaissance, take photo by plane, control. The possibility of completing the task can be calculated according to various complex conditions such as weather, ground environment change, air obstacle position and the like at the time, and the task is automatically executed or abandoned.
The mainstream forestry fire monitoring mode in China is to establish a video monitoring system. The method is a simple extension of the traditional city monitoring, and the collected video images are gathered through microwaves and are monitored in a centralized manner manually; the manual monitoring easily causes eye fatigue, and the fire in the video is not easy to be detected, thereby causing the missing report; the monitoring center has more video circuits, manual monitoring cannot be carried out one by one, and missing reports are easily caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide an automatic cruise fire monitoring system based on an unmanned aerial vehicle, when the temperature is monitored to be abnormal, whether fire occurs or not is checked, and false fire report and missing report caused by the fact that the fire is checked and monitored only through naked eyes are avoided.
The technical scheme of the utility model is as follows: an automatic cruise fire monitoring system based on an unmanned aerial vehicle comprises the unmanned aerial vehicle, a mechanical arm, a camera, a battery pack, a temperature sensor and a spraying mechanism;
the spraying mechanism comprises a fixed rod, a hinge joint and a spraying pipe, one end of the fixed rod is connected with the bottom surface of the unmanned aerial vehicle, the other end of the fixed rod is connected with the hinge joint, one end of the spraying pipe is connected with the hinge joint, the other end of the spraying pipe is provided with a solenoid valve, the spraying pipe is filled with fire extinguishing materials, and the mechanical arm is used for controlling the orientation of the spraying pipe;
the unmanned aerial vehicle is provided with a control module, a data transmission module, a picture transmission module, a distance measurement module and an RTK positioning module, wherein the mechanical arm, the camera, the temperature sensor, the electromagnetic valve, the data transmission module, the picture transmission module, the distance measurement module and the RTK positioning module are all electrically connected with the control module, the battery component is used for supplying power to the unmanned aerial vehicle, the mechanical arm, the camera, the temperature sensor, the battery valve, the control module, the data transmission module, the picture transmission module, the distance measurement module and the RTK positioning module, the temperature sensor is used for detecting the ambient temperature and transmitting the ambient temperature to the control module, the camera is used for shooting the current environment and transmitting the current environment to the control module, the distance measurement module is used for keeping the distance between the unmanned aerial vehicle and an obstacle, the RTK positioning module is used for positioning the position of the unmanned aerial vehicle, the control module transmits data to an external monitoring end through the data transmission module, and the control module transmits images to the external monitoring end through the picture transmission module, the control module is used for controlling the mechanical arm and the electromagnetic valve to work.
Furthermore, the ranging module is a laser radar, and the laser radar is connected with the control module through an I2C bus. When unmanned aerial vehicle was flown at a higher speed, laser radar can provide higher accuracy, more stable altitude locking.
Further, the distance measuring module includes transversely keeps away barrier ultrasonic wave module and decides high ultrasonic wave module, transversely keeps away barrier ultrasonic wave module and decides high ultrasonic wave module and is connected with control module through I2C bus respectively, transversely keeps away the horizontal distance that the barrier module is used for keeping between unmanned aerial vehicle and the barrier, decides high ultrasonic wave module and is used for keeping the distance between unmanned aerial vehicle and the ground.
Further, still include light stream orientation module, light stream orientation module installs in unmanned aerial vehicle's bottom surface, and light stream orientation module passes through the I2C bus and is connected with control module.
And the remote controller is wirelessly connected with the control module.
Further, be equipped with pressure sensor in the injection pipe, pressure sensor and control module electric connection, pressure sensor is used for detecting the intraductal pressure of injection. The pressure sensor is used for detecting the pressure in the spraying pipe and reminding an operator to supplement the fire extinguishing substances in the spraying pipe.
Further, unmanned aerial vehicle includes fuselage, horn, brushless motor, motor cabinet and rotor, the one end and the fuselage of horn are connected, and the other end is connected with the motor cabinet, and brushless motor installs in the motor cabinet, and brushless motor's motor shaft is connected with the rotor, brushless motor and control module electric connection.
Furthermore, a lifting foot rest is arranged at the bottom of the machine body.
Further, still include a plurality of basic stations, a plurality of basic stations distribute on unmanned aerial vehicle's the route of cruising, are equipped with unmanned aerial vehicle landing stage on the basic station, are equipped with wireless charger on the unmanned aerial vehicle landing stage, and wireless charger is used for charging for battery pack. Through setting up the basic station for unmanned aerial vehicle can charge automatically, realizes full-automatic cruise.
Further, the external monitoring end comprises a display and a loudspeaker.
Above-mentioned automatic fire monitoring system that cruises based on unmanned aerial vehicle's theory of operation: unmanned aerial vehicle sets out from the basic station, fly along the route of cruising, temperature sensor on the unmanned aerial vehicle detects ambient temperature and transmits temperature information to control module, the transmission of rethread number passes the module and reaches external control end, when detecting that ambient temperature is greater than the setting value, the speaker sends the police dispatch newspaper, the camera is shot and is transmitted environmental information to control module to current environment, the transmission of rethread number passes the module and reaches external control end, whether external control end takes place the condition of a fire through the display screen confirmation, when taking place the condition of a fire, control module control arm snatchs injection pipe and aims at the point of a fire, control solenoid valve on the injection pipe is opened after that, make the intraductal fire extinguishing material of injection spray towards the point of a fire, when temperature sensor detects that ambient temperature resumes normally, control module control solenoid valve closes, unmanned aerial vehicle continues to cruise.
Compared with the prior art, the utility model has the following beneficial effects:
according to the automatic cruise fire monitoring system based on the unmanned aerial vehicle, the temperature sensor and the camera are arranged to detect the environment, so that working errors caused by long-time working fatigue of people can be greatly reduced, the efficiency of forestry fire monitoring is greatly improved, the unmanned aerial vehicle is matched with the spraying mechanism, the fire can be timely processed, and the fire spread is avoided.
Drawings
Fig. 1 is a schematic structural diagram of an automatic cruise fire monitoring system based on an unmanned aerial vehicle.
Fig. 2 is a left side view of the drone-based auto-cruise fire monitoring system of the present invention.
Fig. 3 is a bottom view of the drone-based auto-cruise fire monitoring system of the present invention.
Unmanned aerial vehicle 1, fuselage 11, horn 12, brushless motor 13, motor cabinet 14, rotor 15, the foot rest 16 that rises and falls, camera 2, battery pack 3, temperature sensor 4, spray mechanism 5, dead lever 51, articulated joint 52, injection pipe 53, ranging module 7, RTK orientation module 8, light stream orientation module 9.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1, the embodiment provides an automatic cruise fire monitoring system based on unmanned aerial vehicle, including unmanned aerial vehicle 1, arm, camera 2, battery pack 3, temperature sensor 4, spraying mechanism 5, remote controller and a plurality of basic stations.
As shown in fig. 1, the unmanned aerial vehicle includes fuselage 11, horn 12, brushless motor 13, motor cabinet 14 and rotor 15, and the one end and the fuselage of horn are connected, and the other end is connected with the motor cabinet, and brushless motor installs in the motor cabinet, and brushless motor's motor shaft is connected with the rotor, and the bottom of fuselage is equipped with the foot rest 16 that rises and falls.
As shown in fig. 1 and 2, arm (not shown), battery pack and spraying mechanism install respectively in unmanned aerial vehicle's bottom surface, camera and temperature sensor install in unmanned aerial vehicle's side, spraying mechanism includes dead lever 51, articulated joint 52 and injection pipe 53, the one end of dead lever is connected with unmanned aerial vehicle's bottom surface, the other end is connected with the articulated joint, the one end and the articulated joint of injection pipe are connected, the other end of injection pipe is equipped with the solenoid valve, the intussuseption of injection pipe is filled with fire extinguishing material, the arm is used for controlling the orientation of injection pipe. Be equipped with pressure sensor in the injection pipe, pressure sensor and control module electric connection, pressure sensor is used for detecting the pressure in the injection pipe. The pressure sensor is used for detecting the pressure in the spraying pipe and reminding an operator to supplement the fire extinguishing substances in the spraying pipe.
As shown in fig. 1, 2 and 3, the unmanned aerial vehicle is provided with a control module, a data transmission module, a map transmission module, a ranging module 7, an RTK positioning module 8 and an optical flow positioning module 9, the brushless motor, the mechanical arm, the camera, the temperature sensor, the solenoid valve, the data transmission module, the map transmission module, the ranging module, the optical flow positioning module and the RTK positioning module are electrically connected with the control module, the battery assembly is used for supplying power to the unmanned aerial vehicle, the mechanical arm, the camera, the temperature sensor, the battery valve and the modules, the optical flow positioning module is installed on the bottom surface of the unmanned aerial vehicle, the optical flow positioning module is connected with the control module through an I2C bus, the optical flow positioning module is used for stabilizing the unmanned aerial vehicle at a specific position, the temperature sensor is used for detecting the environmental temperature and transmitting the environmental temperature to the control module, the camera is used for shooting the current environment and transmitting the current environment to the control module, and the ranging module is used for keeping the distance between the unmanned aerial vehicle and an obstacle, the RTK positioning module is used for positioning the position of the unmanned aerial vehicle, the control module transmits data to the external monitoring terminal through the data transmission module, the control module transmits images to the external monitoring terminal through the image transmission module, and the control module is used for controlling the mechanical arm and the electromagnetic valve to work. The external monitoring terminal comprises a display and a loudspeaker.
A plurality of basic stations distribute on unmanned aerial vehicle's the route of cruising, are equipped with unmanned aerial vehicle landing gear on the basic station, are equipped with wireless charger on the unmanned aerial vehicle landing gear, and wireless charger is used for charging for battery pack. Through setting up the basic station for unmanned aerial vehicle can charge automatically, realizes full-automatic cruise.
In the embodiment, the automatic cruise fire monitoring system based on the unmanned aerial vehicle adopts a PIXHAWK flight control platform to realize the automatic cruise of the unmanned aerial vehicle in a defined area; simultaneously, also can control unmanned aerial vehicle through the remote controller, the remote controller passes through wireless connection with control module. The ranging module is a laser radar which is connected with the control module through an I2C bus. When unmanned aerial vehicle was flown at a higher speed, laser radar can provide higher accuracy, more stable altitude locking. The temperature sensor is connected with the control module through an I2C bus.
The RTK positioning module selects a Hersteller + RTK Rover mobile station and a Hersteller + RTK Base station. The RTK positioning module employs a carrier phase dynamic Real-Time difference technique, which is a Real Time Kinematic (RTK) technique. RTK can provide the three-dimensional coordinate of observation point in real time, sends the carrier phase that the base station adopted to the mobile station and solves the coordinate to solve for the difference, and the carrier phase that the mobile station received the GPS satellite is processed in real time, realizes giving centimetre level positioning result in real time.
Above-mentioned automatic fire monitoring system that cruises based on unmanned aerial vehicle's theory of operation: unmanned aerial vehicle sets out from the basic station, fly along the route of cruising, temperature sensor on the unmanned aerial vehicle detects ambient temperature and transmits temperature information to control module, the transmission of rethread number passes the module and reaches external control end, when detecting that ambient temperature is greater than the setting value, the speaker sends the police dispatch newspaper, the camera is shot and is transmitted environmental information to control module to current environment, the transmission of rethread number passes the module and reaches external control end, whether external control end takes place the condition of a fire through the display screen confirmation, when taking place the condition of a fire, control module control arm snatchs injection pipe and aims at the point of a fire, control solenoid valve on the injection pipe is opened after that, make the intraductal fire extinguishing material of injection spray towards the point of a fire, when temperature sensor detects that ambient temperature resumes normally, control module control solenoid valve closes, unmanned aerial vehicle continues to cruise.
Example 2
The difference of this embodiment and embodiment 1 lies in, the distance measuring module includes transversely keeps away barrier ultrasonic module and decides high ultrasonic module, transversely keeps away barrier ultrasonic module and decides high ultrasonic module and is connected with control module through I2C bus respectively, transversely keeps away the horizontal distance that the barrier module is used for keeping between unmanned aerial vehicle and the barrier, decides high ultrasonic module and is used for keeping the distance between unmanned aerial vehicle and the ground. Because laser radar cost is higher, the result of use is not good under reflection of light or printing opacity material, consequently under adverse circumstances, can select transversely to keep away barrier ultrasonic module and decide high ultrasonic module and carry out the range finding.
As mentioned above, the present invention can be realized well, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. An automatic cruise fire monitoring system based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a mechanical arm, a camera, a battery assembly, a temperature sensor and a spraying mechanism;
the spraying mechanism comprises a fixed rod, a hinge joint and a spraying pipe, one end of the fixed rod is connected with the bottom surface of the unmanned aerial vehicle, the other end of the fixed rod is connected with the hinge joint, one end of the spraying pipe is connected with the hinge joint, the other end of the spraying pipe is provided with a solenoid valve, the spraying pipe is filled with fire extinguishing materials, and the mechanical arm is used for controlling the orientation of the spraying pipe;
the unmanned aerial vehicle is provided with a control module, a data transmission module, a picture transmission module, a distance measurement module and an RTK positioning module, wherein the mechanical arm, the camera, the temperature sensor, the electromagnetic valve, the data transmission module, the picture transmission module, the distance measurement module and the RTK positioning module are all electrically connected with the control module, the battery component is used for supplying power to the unmanned aerial vehicle, the mechanical arm, the camera, the temperature sensor, the battery valve, the control module, the data transmission module, the picture transmission module, the distance measurement module and the RTK positioning module, the temperature sensor is used for detecting the ambient temperature and transmitting the ambient temperature to the control module, the camera is used for shooting the current environment and transmitting the current environment to the control module, the distance measurement module is used for keeping the distance between the unmanned aerial vehicle and an obstacle, the RTK positioning module is used for positioning the position of the unmanned aerial vehicle, the control module transmits data to an external monitoring end through the data transmission module, and the control module transmits images to the external monitoring end through the picture transmission module, the control module is used for controlling the mechanical arm and the electromagnetic valve to work.
2. An unmanned aerial vehicle-based auto-cruise fire monitoring system as claimed in claim 1, wherein the ranging module is a lidar connected to the control module via an I2C bus.
3. The unmanned aerial vehicle-based automatic cruise fire monitoring system of claim 1, wherein the ranging module comprises a transverse obstacle avoidance ultrasonic module and a height determination ultrasonic module, the transverse obstacle avoidance ultrasonic module and the height determination ultrasonic module are respectively connected with the control module through an I2C bus, the transverse obstacle avoidance module is used for keeping a horizontal distance between the unmanned aerial vehicle and an obstacle, and the height determination ultrasonic module is used for keeping a distance between the unmanned aerial vehicle and the ground.
4. The unmanned-aerial-vehicle-based auto-cruise fire monitoring system of claim 1, further comprising an optical-flow positioning module mounted to the underside of the unmanned aerial vehicle, the optical-flow positioning module connected to the control module via an I2C bus.
5. An unmanned aerial vehicle-based auto-cruise fire monitoring system as claimed in claim 1, further comprising a remote controller, the remote controller being wirelessly connected to the control module.
6. The unmanned-aerial-vehicle-based auto-cruise fire monitoring system of claim 1, wherein a pressure sensor is disposed in the injection pipe, the pressure sensor is electrically connected to the control module, and the pressure sensor is used for detecting pressure in the injection pipe.
7. The unmanned aerial vehicle-based automatic cruise fire monitoring system of claim 1, wherein the unmanned aerial vehicle comprises a body, a horn, a brushless motor, a motor base and a rotor, one end of the horn is connected with the body, the other end of the horn is connected with the motor base, the brushless motor is mounted on the motor base, a motor shaft of the brushless motor is connected with the rotor, and the brushless motor is electrically connected with the control module.
8. An unmanned-aerial-vehicle-based auto-cruise fire monitoring system according to claim 7, wherein a landing foot rest is provided at a bottom of the fuselage.
9. The unmanned aerial vehicle-based auto-cruise fire monitoring system of claim 1, further comprising a plurality of base stations distributed on the cruising route of the unmanned aerial vehicle, the base stations having unmanned aerial vehicle landing stages with wireless chargers for charging battery packs.
10. The unmanned-aerial-vehicle-based auto-cruise fire monitoring system of claim 1, wherein the external monitoring terminal comprises a display and a speaker.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122457402.2U CN216443790U (en) | 2021-10-12 | 2021-10-12 | Automatic fire monitoring system that cruises based on unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122457402.2U CN216443790U (en) | 2021-10-12 | 2021-10-12 | Automatic fire monitoring system that cruises based on unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN216443790U true CN216443790U (en) | 2022-05-06 |
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| CN202122457402.2U Expired - Fee Related CN216443790U (en) | 2021-10-12 | 2021-10-12 | Automatic fire monitoring system that cruises based on unmanned aerial vehicle |
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- 2021-10-12 CN CN202122457402.2U patent/CN216443790U/en not_active Expired - Fee Related
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Granted publication date: 20220506 |