WO2017080109A1 - Intelligent unmanned aerial vehicle system for remotely detecting target on basis of infrared - Google Patents

Intelligent unmanned aerial vehicle system for remotely detecting target on basis of infrared Download PDF

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Publication number
WO2017080109A1
WO2017080109A1 PCT/CN2016/071118 CN2016071118W WO2017080109A1 WO 2017080109 A1 WO2017080109 A1 WO 2017080109A1 CN 2016071118 W CN2016071118 W CN 2016071118W WO 2017080109 A1 WO2017080109 A1 WO 2017080109A1
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WIPO (PCT)
Prior art keywords
infrared
target
drone
solar
remote sensing
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PCT/CN2016/071118
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French (fr)
Chinese (zh)
Inventor
张贯京
陈兴明
葛新科
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深圳市易特科信息技术有限公司
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Publication of WO2017080109A1 publication Critical patent/WO2017080109A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/31—Supply or distribution of electrical power generated by photovoltaics

Definitions

  • the utility model relates to the technical field of unmanned aerial vehicle detection, in particular to an intelligent unmanned aerial vehicle system based on infrared remote detection target.
  • a drone is an unmanned aerial vehicle that is operated by a radio remote control device or its own program control device.
  • UAVs are divided into large unmanned aerial vehicles and small unmanned aerial vehicles. According to their functions, they can be divided into military and civilian.
  • military drones which played a big role in modern warfare.
  • Infrared sensors are the largest market share in infrared applications, and are widely used in both military and civilian fields, but infrared sensors are rarely used on drones.
  • Most of the existing drones only have satellite positioning and image aerial photography functions. They can only perform simple ground shooting and geographic location information positioning. They cannot be used to detect enemies in forests during military operations or to detect obstacles in urban operations. Enemy. Therefore, existing drones cannot meet the remote detection targets required for military use.
  • the main purpose of the utility model is to provide an intelligent drone system based on infrared remote detection target, which aims to solve the problem that the existing drone does not use infrared remote detection target.
  • the present invention provides an intelligent drone system based on an infrared remote detection target, the intelligent drone system including a drone and a rotating head mounted at the bottom of the drone, the rotating cloud
  • a remote infrared detecting device is installed in the station, and the remote infrared detecting device comprises a processing unit, an infrared sensor, a flight control unit and a positioning unit, and the infrared sensor, the flight control unit and the positioning unit are connected to the processing unit, wherein:
  • the infrared sensor is configured to detect infrared rays emitted from a target area, convert the heat radiation signal generated by the infrared rays into an infrared signal, and send the infrared signal to the processing unit;
  • the processing unit is configured to identify, according to a wavelength of the infrared signal, whether infrared rays detected by the infrared sensor are infrared rays emitted by a target object;
  • the processing unit starts the flight control unit to control the drone to hover over the target area, and activates the positioning unit to locate Geographic location information of the target object in the target area.
  • a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
  • the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
  • the remote infrared detecting device further comprises a communication unit connected to the processing unit, and the communication unit is configured to send the geographical location information of the target area to the remote command and control center.
  • a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
  • the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
  • the rotary pan/tilt head is a rotary pan/tilt head controlled by a stepping motor, and the pan-tilt head is used for controlling the infrared sensor in the remote infrared detecting device to perform 360-degree rotation to detect a target in the target area.
  • the infrared light emitted by the object is a rotary pan/tilt head controlled by a stepping motor, and the pan-tilt head is used for controlling the infrared sensor in the remote infrared detecting device to perform 360-degree rotation to detect a target in the target area.
  • the infrared light emitted by the object is a rotary pan/tilt head controlled by a stepping motor, and the pan-tilt head is used for controlling the infrared sensor in the remote infrared detecting device to perform 360-degree rotation to detect a target in the target area.
  • the infrared light emitted by the object is a rotary pan/tilt head controlled by
  • a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
  • the solar lens is a Fresnel lens system for collecting solar energy.
  • the solar cell converts solar energy concentrated by the solar lens into electrical energy and supplies power to the electric engine of the drone.
  • the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
  • the infrared receiving system employs an infrared receiving system of a transmissive optical system for receiving infrared rays emitted from a target area.
  • thermosensitive detecting element employs a thermistor for detecting a heat radiation signal generated by the infrared ray.
  • the signal conversion circuit is configured to convert the thermal radiation signal into an infrared signal output to the processing unit.
  • the intelligent drone system based on the infrared remote detection target of the present invention adopts the above technical solution, and achieves the following beneficial effects:
  • the UAV can be used to detect the target area according to the mounted infrared sensor.
  • the infrared signal patrols the target object remotely, and feeds back the position information of the target object to the remote command and control center. It can be used in military operations to remotely detect the enemy troops hidden in the forest or the soldiers who need to search and rescue, so as to meet the military operations.
  • Remote target detection requirements are examples of the enemy troops hidden in the forest or the soldiers who need to search and rescue, so as to meet the military operations.
  • FIG. 1 is a schematic structural view of a preferred embodiment of an intelligent drone system based on infrared remote detection target of the present invention
  • FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of the remote infrared detecting device in the intelligent unmanned aerial vehicle system based on the infrared remote detecting target of the present invention
  • FIG. 3 is a simplified schematic diagram of a preferred embodiment of an infrared sensor in an intelligent drone system based on infrared remote detection target of the present invention.
  • FIG. 1 is a schematic structural diagram of a preferred embodiment of an intelligent drone system based on infrared remote detection target of the present invention.
  • the intelligent drone system 1 includes, but is not limited to, a drone 10 and a rotating pan/tilt head 30 disposed at the bottom of the drone 10, and the remote pan-tilt head 30 is equipped with remote infrared detection.
  • Device 20 The rotary pan/tilt head 30 is a rotary pan/tilt head controlled by a stepping motor for controlling the remote infrared detecting device 20 to perform 360-degree rotation to detect infrared rays emitted by a target object in a target area.
  • the drone 10 is an unmanned aerial vehicle operated by a radio remote control device or its own program control device, such as an unmanned helicopter, an unmanned fixed wing aircraft, an unmanned multi-rotor aircraft, an unmanned airship, and an unmanned umbrella. Wing machine and so on.
  • a solar lens 40 is disposed on each of the wings of the drone 10, and a solar cell 50 is disposed under each solar lens 40.
  • the solar lens 40 may be a Fresnel.
  • the solar cell 50 converts solar energy into electrical energy and continuously supplies power to the electric engine of the drone 10, which can meet the requirements of the drone 10 for long-distance flight.
  • FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of the remote infrared detecting device in the intelligent unmanned aerial vehicle system based on the infrared remote detecting target of the present invention.
  • the remote infrared detecting device 20 includes, but is not limited to, a processing unit 201, an infrared sensor 202, a flight control unit 203, a positioning unit 204, and a communication unit 205.
  • the infrared sensor 202, the flight control unit 203, the positioning unit 204, and the communication unit 205 are all connected to the processing unit 201.
  • the processing unit 201 is a microprocessor, a data processing chip, or a microcontroller (MCU) or the like having a data processing function.
  • the processing unit 201 is capable of determining a target object that emits infrared rays according to a wavelength of infrared rays.
  • the infrared sensor 202 is a sensor for detecting infrared rays emitted from a target object, and has the advantages of high sensitivity, and the wavelength of the infrared light is longer than the visible light and shorter than the electric wave.
  • infrared rays are emitted by hot objects.
  • all objects existing in nature such as human bodies, volcanoes, icebergs, etc., emit infrared rays, but their wavelengths differ depending on the temperature of their objects.
  • the body temperature of the human body is about 36 to 37 ° C, and the far-infrared rays with a peak value of 9 to 10 ⁇ m are emitted, and the object heated to 400 to 700 ° C can emit a peak of 3 to 5 ⁇ m.
  • the middle infrared is about 36 to 37 ° C, and the far-infrared rays with a peak value of 9 to 10 ⁇ m are emitted, and the object heated to 400 to 700 ° C can emit a peak of 3 to 5 ⁇ m.
  • the middle infrared is about 36 to 37 ° C, and the far-infrared rays with a peak value of 9 to 10 ⁇ m are emitted, and the object heated to 400 to 700 ° C can emit a peak of 3 to 5 ⁇ m.
  • the middle infrared is about 36 to 37 ° C, and the far-infrared rays with a peak value of 9 to 10 ⁇ m are emitted, and the object
  • the infrared sensor 202 is configured to detect infrared rays emitted from the target area, convert the heat radiation signal generated by the infrared rays into an infrared signal, and send the infrared signal to the processing unit 201.
  • FIG. 3 is a simplified schematic diagram of a preferred embodiment of the infrared sensor 202.
  • the infrared ray sensor 202 includes an infrared ray receiving system 2021, a thermal detection element 2022, and a signal conversion circuit 2023.
  • the infrared receiving system 2021 may employ an infrared receiving system of a transmissive optical system for receiving infrared rays emitted from a target area.
  • the thermistor detecting element 2022 can adopt a thermistor for detecting a heat radiation signal generated by infrared rays, and the most sensitive one of the thermistor is a thermistor, and the temperature of the thermistor is increased by the infrared radiation, and the resistance changes. This change may be larger or smaller, because the thermistor can be divided into a positive temperature coefficient thermistor and a negative temperature coefficient thermistor.
  • the signal conversion circuit 2023 is configured to convert the thermal radiation signal into an infrared signal output to the processing unit 201.
  • the processing unit 201 identifies, according to the wavelength of the infrared signal, whether the detected infrared ray is infrared ray emitted by the target object.
  • the target objects include, but are not limited to, soldiers who need to search and rescue, camouflage enemy forces hidden in the forest, and the like. Since the human body emits an infrared wavelength peak of 9 to 10 ⁇ m, when the wavelength of the infrared signal is between 9 and 10 ⁇ m, the processing unit 201 determines that the infrared ray is infrared light emitted by the human body.
  • the processing unit 201 activates the flight control unit 203 to control the drone 10 to hover over the target area, and activates the positioning unit 204 to accurately locate the target area.
  • the geographical location information of the target object including the latitude information and longitude information of the target object in the target area.
  • the positioning unit 204 is a Beidou positioning module or other chip with positioning function, which can accurately locate the geographical location information of the target object in the target area, including the latitude information and longitude information of the target object.
  • the positioning unit 204 is further configured to send the geographic location information of the target area to the remote command and control center through the communication unit 205, so that the remote command and control center grasps the target object in the target area in a first time (for example, an enemy in a military war or The specific location of the soldier who needs to search and rescue.
  • the communication unit 205 is a wireless communication interface with remote wireless communication functions, for example, a communication interface supporting communication technologies such as GSM, GPRS, CDMA, and WiMAX, and capable of wireless communication with the Beidou navigation system of the remote command and control center.
  • a communication interface supporting communication technologies such as GSM, GPRS, CDMA, and WiMAX, and capable of wireless communication with the Beidou navigation system of the remote command and control center.
  • the intelligent UAV system based on infrared remote detection target when the rotating pan/tilt head 30 and the infrared sensor 202 are installed, modularizes and interconnects each function, and takes off the drone 10 after everything is ready.
  • the drone 10 patrols the target area according to the mounted infrared sensor 202 and the positioning unit 204 (GPS positioning module or Beidou positioning module), and the infrared sensor 202 is in a continuous working state to detect the infrared signal of the target area, when the infrared sensor 202 detects
  • the position is acquired and a hovering signal is sent to the flight control module 203 to hover the drone 10, and the position information of the target object is fed back to the remote command and control center through the communication unit 205, thereby achieving remote command.
  • the control center can instantly grasp the specific location information of the target object.
  • the intelligent UAV system based on the infrared remote detection target of the utility model can be applied to detect enemy forces hidden in the forest or soldiers required to search and rescue in military operations, thereby meeting the remote target detection requirements of the military operations.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)

Abstract

An intelligent unmanned aerial vehicle system comprises an unmanned aerial vehicle (10) and a rotary cradle head (30) disposed on the bottom of the unmanned aerial vehicle (10). A remote infrared detection device (20) is mounted on the rotary cradle head (30). The remote infrared detection device (20) comprises a processing unit (201), an infrared sensor (202), a flight control unit (203), and a positioning unit (204). The infrared sensor (202) probes an infrared ray emitted from a target region and converts a thermal radiation signal generated by the infrared ray into an infrared signal. The processing unit (201) identifies, according to the wavelength of the infrared signal, whether the infrared ray is an infrared ray emitted by a target object, and when the infrared ray is an infrared ray emitted by the target object, the processing unit (201) starts the flight control unit (203) to control the unmanned aerial vehicle (10) to hover over the target region, and starts the positioning unit (204) to position geographical information of the target object in the target region.

Description

基于红外线远程侦测目标的智能无人机系统  Intelligent UAV system based on infrared remote detection target
技术领域Technical field
本实用新型涉及无人机侦测技术领域，尤其涉及一种基于红外线远程侦测目标的智能无人机系统。The utility model relates to the technical field of unmanned aerial vehicle detection, in particular to an intelligent unmanned aerial vehicle system based on infrared remote detection target.
背景技术Background technique
无人机是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。无人机分为大型无人机和小型无人机，按其功能可以分为军用和民用两类。在无人机产生之初，大部分都是军用无人机，在现代战争中发挥了很大的作用。红外线传感器是红外应用产品中市场份额最大的一块，在军民两个领域都有广泛的应用，但是红外线传感器在无人机上的应用比较少。现有的无人机上大多只是带有卫星定位和影像航拍功能，只可以进行简单地面拍摄和地理位置信息定位，而不能应用于军事行动中探测森林中的敌人，或者城市作战中探测障碍物后面的敌人。因此，现有的无人机不能满足军用所需的远程侦测目标。A drone is an unmanned aerial vehicle that is operated by a radio remote control device or its own program control device. UAVs are divided into large unmanned aerial vehicles and small unmanned aerial vehicles. According to their functions, they can be divided into military and civilian. At the beginning of the drone, most of them were military drones, which played a big role in modern warfare. Infrared sensors are the largest market share in infrared applications, and are widely used in both military and civilian fields, but infrared sensors are rarely used on drones. Most of the existing drones only have satellite positioning and image aerial photography functions. They can only perform simple ground shooting and geographic location information positioning. They cannot be used to detect enemies in forests during military operations or to detect obstacles in urban operations. Enemy. Therefore, existing drones cannot meet the remote detection targets required for military use.
实用新型内容Utility model content
本实用新型的主要目的在于提供一种基于红外线远程侦测目标的智能无人机系统，旨在解决现有无人机没有利用红外线远程侦测目标的问题。The main purpose of the utility model is to provide an intelligent drone system based on infrared remote detection target, which aims to solve the problem that the existing drone does not use infrared remote detection target.
为实现上述目的，本实用新型提供了一种基于红外线远程侦测目标的智能无人机系统，该智能无人机系统包括无人机以及设置在无人机底部的旋转云台，该旋转云台中安装有远程红外侦测装置，所述远程红外侦测装置包括处理单元、红外线传感器、飞行控制单元以及定位单元，所述红外线传感器、飞行控制单元和定位单元连接至所述处理单元，其中：To achieve the above object, the present invention provides an intelligent drone system based on an infrared remote detection target, the intelligent drone system including a drone and a rotating head mounted at the bottom of the drone, the rotating cloud A remote infrared detecting device is installed in the station, and the remote infrared detecting device comprises a processing unit, an infrared sensor, a flight control unit and a positioning unit, and the infrared sensor, the flight control unit and the positioning unit are connected to the processing unit, wherein:
所述红外线传感器用于探测目标区域发射出的红外线，将所述红外线产生的热辐射信号转换为红外信号，并将该红外信号发送至所述处理单元；The infrared sensor is configured to detect infrared rays emitted from a target area, convert the heat radiation signal generated by the infrared rays into an infrared signal, and send the infrared signal to the processing unit;
所述处理单元用于根据所述红外信号的波长识别所述红外线传感器探测的红外线是否为目标对象发射的红外线；The processing unit is configured to identify, according to a wavelength of the infrared signal, whether infrared rays detected by the infrared sensor are infrared rays emitted by a target object;
当所述红外线传感器探测的红外线是目标对象发射的红外线时，所述处理单元启动所述飞行控制单元控制所述无人机悬停在所述目标区域的上空，并启动所述定位单元定位出目标区域中目标对象的地理位置信息。When the infrared ray detected by the infrared ray sensor is infrared ray emitted by the target object, the processing unit starts the flight control unit to control the drone to hover over the target area, and activates the positioning unit to locate Geographic location information of the target object in the target area.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述红外线传感器包括红外线接收系统、热敏检测元件和信号转换电路。Preferably, the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
优选的，所述远程红外侦测装置还包括一个连接至所述处理单元上的通讯单元，该通讯单元用于将所述目标区域的地理位置信息发送至远程指挥控制中心。Preferably, the remote infrared detecting device further comprises a communication unit connected to the processing unit, and the communication unit is configured to send the geographical location information of the target area to the remote command and control center.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述红外线传感器包括红外线接收系统、热敏检测元件和信号转换电路。Preferably, the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
优选的，所述旋转云台是一种由步进电机控制的旋转式云台，该旋转云台用于控制所述远程红外侦测装置中的红外线传感器进行360度转动来探测目标区域中目标对象发射的红外线。Preferably, the rotary pan/tilt head is a rotary pan/tilt head controlled by a stepping motor, and the pan-tilt head is used for controlling the infrared sensor in the remote infrared detecting device to perform 360-degree rotation to detect a target in the target area. The infrared light emitted by the object.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述太阳能透镜为一种菲涅尔透镜系统，用于聚集太阳光能。Preferably, the solar lens is a Fresnel lens system for collecting solar energy.
优选的，所述太阳能电池将所述太阳能透镜聚集的太阳光能转化成电能并为无人机的电动引擎供电。Preferably, the solar cell converts solar energy concentrated by the solar lens into electrical energy and supplies power to the electric engine of the drone.
优选的，所述红外线传感器包括红外线接收系统、热敏检测元件以及信号转换电路。Preferably, the infrared sensor includes an infrared receiving system, a thermal detecting element, and a signal conversion circuit.
优选的，所述红外线接收系统采用一种透射式光学系统的红外线接收系统，用于接收目标区域发射出的红外线。Preferably, the infrared receiving system employs an infrared receiving system of a transmissive optical system for receiving infrared rays emitted from a target area.
优选的，所述热敏检测元件采用一种热敏电阻，用于检测所述红外线产生的热辐射信号。Preferably, the thermosensitive detecting element employs a thermistor for detecting a heat radiation signal generated by the infrared ray.
优选的，所述信号转换电路用于将所述热辐射信号转换成红外信号输出至所述处理单元。Preferably, the signal conversion circuit is configured to convert the thermal radiation signal into an infrared signal output to the processing unit.
相较于现有技术，本实用新型所述基于红外线远程侦测目标的智能无人机系统采用了上述技术方案，达到了如下有益效果：利用无人机依据搭载的红外线传感器能够探测目标区域的红外线信号对目标对象进行远程巡视，并对目标对象的位置信息反馈至远程指挥控制中心，应用于军事行动中能够远程探测隐蔽在森林中的敌军或者所需搜救的士兵，从而满足军队作战的远程目标探测需求。Compared with the prior art, the intelligent drone system based on the infrared remote detection target of the present invention adopts the above technical solution, and achieves the following beneficial effects: the UAV can be used to detect the target area according to the mounted infrared sensor. The infrared signal patrols the target object remotely, and feeds back the position information of the target object to the remote command and control center. It can be used in military operations to remotely detect the enemy troops hidden in the forest or the soldiers who need to search and rescue, so as to meet the military operations. Remote target detection requirements.
附图说明DRAWINGS
图1是本实用新型基于红外线远程侦测目标的智能无人机系统优选实施例的结构示意图；1 is a schematic structural view of a preferred embodiment of an intelligent drone system based on infrared remote detection target of the present invention;
图2是本实用新型基于红外线远程侦测目标的智能无人机系统中远程红外侦测装置优选实施例的内部结构示意图；2 is a schematic diagram showing the internal structure of a preferred embodiment of the remote infrared detecting device in the intelligent unmanned aerial vehicle system based on the infrared remote detecting target of the present invention;
图3是本实用新型基于红外线远程侦测目标的智能无人机系统中红外线传感器优选实施例的简易结构示意图。3 is a simplified schematic diagram of a preferred embodiment of an infrared sensor in an intelligent drone system based on infrared remote detection target of the present invention.
本实用新型目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The object, function, and advantages of the present invention will be further described with reference to the accompanying drawings.
具体实施方式detailed description
为更进一步阐述本实用新型为达成上述目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本实用新型的具体实施方式、结构、特征及其功效进行细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。The specific embodiments, structures, features and functions of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
如图1所示，图1是本实用新型基于红外线远程侦测目标的智能无人机系统优选实施例的结构示意图。在本实施例中，所述智能无人机系统1包括，但不仅限于，无人机10以及设置在无人机10底部的旋转云台30，该旋转云台30中安装有远程红外侦测装置20。所述旋转云台30为一种由步进电机控制的旋转式云台，用于控制所述远程红外侦测装置20进行360度转动来探测目标区域中目标对象发射的红外线。所述的无人机10是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器，例如无人直升机、无人固定翼机、无人多旋翼飞行器、无人飞艇、无人伞翼机等。As shown in FIG. 1 , FIG. 1 is a schematic structural diagram of a preferred embodiment of an intelligent drone system based on infrared remote detection target of the present invention. In this embodiment, the intelligent drone system 1 includes, but is not limited to, a drone 10 and a rotating pan/tilt head 30 disposed at the bottom of the drone 10, and the remote pan-tilt head 30 is equipped with remote infrared detection. Device 20. The rotary pan/tilt head 30 is a rotary pan/tilt head controlled by a stepping motor for controlling the remote infrared detecting device 20 to perform 360-degree rotation to detect infrared rays emitted by a target object in a target area. The drone 10 is an unmanned aerial vehicle operated by a radio remote control device or its own program control device, such as an unmanned helicopter, an unmanned fixed wing aircraft, an unmanned multi-rotor aircraft, an unmanned airship, and an unmanned umbrella. Wing machine and so on.
在本实施例中，所述无人机10的两侧机翼上分别设置有一个太阳能透镜40，每一个太阳能透镜40下方设置有一块太阳能电池50，该太阳能透镜40可以为一种菲涅尔透镜系统，用于聚集太阳光能。所述太阳能电池50将太阳光能转化为电能并持续为无人机10的电动引擎供电，可满足无人机10远距离飞行的要求。In this embodiment, a solar lens 40 is disposed on each of the wings of the drone 10, and a solar cell 50 is disposed under each solar lens 40. The solar lens 40 may be a Fresnel. A lens system for collecting solar energy. The solar cell 50 converts solar energy into electrical energy and continuously supplies power to the electric engine of the drone 10, which can meet the requirements of the drone 10 for long-distance flight.
如图2所示，图2是本实用新型基于红外线远程侦测目标的智能无人机系统中远程红外侦测装置优选实施例的内部结构示意图。在本实施例中，所述远程红外侦测装置20包括，但不仅限于，处理单元201、红外线传感器202、飞行控制单元203、定位单元204、以及通讯单元205。所述红外线传感器202、飞行控制单元203、定位单元204和通讯单元205均连接至处理单元201。As shown in FIG. 2, FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of the remote infrared detecting device in the intelligent unmanned aerial vehicle system based on the infrared remote detecting target of the present invention. In the embodiment, the remote infrared detecting device 20 includes, but is not limited to, a processing unit 201, an infrared sensor 202, a flight control unit 203, a positioning unit 204, and a communication unit 205. The infrared sensor 202, the flight control unit 203, the positioning unit 204, and the communication unit 205 are all connected to the processing unit 201.
所述处理单元201是一种微处理器、数据处理芯片、或者具有数据处理功能的微控制器（MCU）等。所述处理单元201能够根据红外线的波长确定发射红外线的目标对象。The processing unit 201 is a microprocessor, a data processing chip, or a microcontroller (MCU) or the like having a data processing function. The processing unit 201 is capable of determining a target object that emits infrared rays according to a wavelength of infrared rays.
所述红外线传感器202是一种用于侦测目标对象发射出的红外线的传感器，具有灵敏度高等优点，红外线的波长比可见光长而比电波短。一般而言，红外线是由热物体放射出来，其实凡是存在于自然界的物体，如人体、火山、冰山等等物体全部都会放射出红外线，只是其波长因其物体的温度而有差异而已。人体的体温约为36～37°C，所放射出峰值为9～10μm的远红外线，另外加热至400～700°C的物体，可放射出峰值为3～5μm 的中间红外线。The infrared sensor 202 is a sensor for detecting infrared rays emitted from a target object, and has the advantages of high sensitivity, and the wavelength of the infrared light is longer than the visible light and shorter than the electric wave. In general, infrared rays are emitted by hot objects. In fact, all objects existing in nature, such as human bodies, volcanoes, icebergs, etc., emit infrared rays, but their wavelengths differ depending on the temperature of their objects. The body temperature of the human body is about 36 to 37 ° C, and the far-infrared rays with a peak value of 9 to 10 μm are emitted, and the object heated to 400 to 700 ° C can emit a peak of 3 to 5 μm. The middle infrared.
所述红外线传感器202用于探测目标区域发射出的红外线，将所述红外线产生的热辐射信号转换为红外信号，并将该红外信号发送至处理单元201。具体地，参考图3所示，图3是所述红外线传感器202优选实施例的简易结构示意图。在本实施例中，所述红外线传感器202包括红外线接收系统2021、热敏检测元件2022和信号转换电路2023。所述红外线接收系统2021可以采用一种透射式光学系统的红外线接收系统，用于接收目标区域发射出的红外线。所述热敏检测元件2022可以采用一种热敏电阻，用于检测红外线产生的热辐射信号，热敏元件应用最多的是热敏电阻，热敏电阻受到红外线辐射时温度升高，电阻发生变化，这种变化可能是变大也可能是变小，因为热敏电阻可分为正温度系数热敏电阻和负温度系数热敏电阻。所述信号转换电路2023用于将所述热辐射信号转换成红外信号输出至所述处理单元201。The infrared sensor 202 is configured to detect infrared rays emitted from the target area, convert the heat radiation signal generated by the infrared rays into an infrared signal, and send the infrared signal to the processing unit 201. Specifically, referring to FIG. 3, FIG. 3 is a simplified schematic diagram of a preferred embodiment of the infrared sensor 202. In the present embodiment, the infrared ray sensor 202 includes an infrared ray receiving system 2021, a thermal detection element 2022, and a signal conversion circuit 2023. The infrared receiving system 2021 may employ an infrared receiving system of a transmissive optical system for receiving infrared rays emitted from a target area. The thermistor detecting element 2022 can adopt a thermistor for detecting a heat radiation signal generated by infrared rays, and the most sensitive one of the thermistor is a thermistor, and the temperature of the thermistor is increased by the infrared radiation, and the resistance changes. This change may be larger or smaller, because the thermistor can be divided into a positive temperature coefficient thermistor and a negative temperature coefficient thermistor. The signal conversion circuit 2023 is configured to convert the thermal radiation signal into an infrared signal output to the processing unit 201.
所述处理单元201根据所述红外信号的波长识别所述探测的红外线是否为目标对象发射的红外线。所述目标对象包括，但不仅限于，需要搜救的士兵、伪装隐蔽在森林中的敌军等。由于人体发射出红外线波长峰值为9～10μm，因此当所述红外线信号的波长介于9～10μm时，所述处理单元201则确定所述红外线是人体发射的红外线。The processing unit 201 identifies, according to the wavelength of the infrared signal, whether the detected infrared ray is infrared ray emitted by the target object. The target objects include, but are not limited to, soldiers who need to search and rescue, camouflage enemy forces hidden in the forest, and the like. Since the human body emits an infrared wavelength peak of 9 to 10 μm, when the wavelength of the infrared signal is between 9 and 10 μm, the processing unit 201 determines that the infrared ray is infrared light emitted by the human body.
当所述红外线传感器感测的红外线是目标对象发射的红外线时，所述处理单元201启动飞行控制单元203控制无人机10悬停在目标区域上空，并启动定位单元204精确定位出目标区域中目标对象的地理位置信息，包括目标区域中目标对象所在的纬度信息和经度信息。When the infrared ray sensed by the infrared ray sensor is infrared ray emitted by the target object, the processing unit 201 activates the flight control unit 203 to control the drone 10 to hover over the target area, and activates the positioning unit 204 to accurately locate the target area. The geographical location information of the target object, including the latitude information and longitude information of the target object in the target area.
所述定位单元204是一种北斗定位模块或其它具有定位功能的芯片，能够精确定位出目标区域中目标对象的地理位置信息，包括目标对象所在的纬度信息和经度信息。该定位单元204还用于通过通讯单元205将目标区域的地理位置信息发送至远程指挥控制中心上，使得远程指挥控制中心在第一时间内掌握目标区域中目标对象（例如军事战争中敌军或者需要搜救的士兵）的具体位置。所述通讯单元205为一种具有远程无线通讯功能的无线通讯接口，例如支持GSM、GPRS、CDMA以及WiMAX等通讯技术的通讯接口，能够与远程指挥控制中心的北斗导航系统进行无线通讯。The positioning unit 204 is a Beidou positioning module or other chip with positioning function, which can accurately locate the geographical location information of the target object in the target area, including the latitude information and longitude information of the target object. The positioning unit 204 is further configured to send the geographic location information of the target area to the remote command and control center through the communication unit 205, so that the remote command and control center grasps the target object in the target area in a first time (for example, an enemy in a military war or The specific location of the soldier who needs to search and rescue. The communication unit 205 is a wireless communication interface with remote wireless communication functions, for example, a communication interface supporting communication technologies such as GSM, GPRS, CDMA, and WiMAX, and capable of wireless communication with the Beidou navigation system of the remote command and control center.
本实用新型所述的基于红外线远程侦测目标的智能无人机系统，当安装好旋转云台30和红外线传感器202，将各个功能模块化并相互连接，一切准备就绪后起飞无人机10，无人机10依据搭载的红外线传感器202和定位单元204（GPS定位模块或北斗定位模块）对目标区域进行巡视，红外线传感器202处于持续工作状态来探测目标区域的红外线信号，当红外线传感器202探测到目标对象的红外线信号时，获取其位置并发送悬停信号至飞行控制模块203使无人机10悬停，同时通过通讯单元205将目标对象的位置信息反馈至远程指挥控制中心，从而达到远程指挥控制中心能够即时掌握目标对象的具体地位置信息。本实用新型所述基于红外线远程侦测目标的智能无人机系统能够应用于军事行动中探测隐蔽在森林中的敌军或者所需搜救的士兵，从而满足军队作战的远程目标探测需求。The intelligent UAV system based on infrared remote detection target according to the present invention, when the rotating pan/tilt head 30 and the infrared sensor 202 are installed, modularizes and interconnects each function, and takes off the drone 10 after everything is ready. The drone 10 patrols the target area according to the mounted infrared sensor 202 and the positioning unit 204 (GPS positioning module or Beidou positioning module), and the infrared sensor 202 is in a continuous working state to detect the infrared signal of the target area, when the infrared sensor 202 detects When the infrared signal of the target object is obtained, the position is acquired and a hovering signal is sent to the flight control module 203 to hover the drone 10, and the position information of the target object is fed back to the remote command and control center through the communication unit 205, thereby achieving remote command. The control center can instantly grasp the specific location information of the target object. The intelligent UAV system based on the infrared remote detection target of the utility model can be applied to detect enemy forces hidden in the forest or soldiers required to search and rescue in military operations, thereby meeting the remote target detection requirements of the military operations.
以上仅为本实用新型的优选实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效功能变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention. Any equivalent structure or equivalent function transformation made by the description of the present invention and the contents of the drawings may be directly or indirectly applied to other related The technical fields are all included in the scope of patent protection of the present invention.

Claims (14)

  1. 一种基于红外线远程侦测目标的智能无人机系统，其特征在于，所述智能无人机系统包括无人机、设置在无人机底部的旋转云台，该旋转云台中安装有远程红外侦测装置，所述远程红外侦测装置包括处理单元、红外线传感器、飞行控制单元以及定位单元，所述红外线传感器、飞行控制单元和定位单元连接至所述处理单元，其中： An intelligent drone system based on infrared remote detection target, characterized in that the intelligent drone system comprises a drone, a rotating cloud platform disposed at the bottom of the drone, and the remote cloud is installed in the rotating cloud platform a detecting device, the remote infrared detecting device comprises a processing unit, an infrared sensor, a flight control unit and a positioning unit, wherein the infrared sensor, the flight control unit and the positioning unit are connected to the processing unit, wherein:
    所述红外线传感器用于探测目标区域发射出的红外线，将所述红外线产生的热辐射信号转换为红外信号，并将该红外信号发送至所述处理单元；The infrared sensor is configured to detect infrared rays emitted from a target area, convert the heat radiation signal generated by the infrared rays into an infrared signal, and send the infrared signal to the processing unit;
    所述处理单元用于根据所述红外信号的波长识别所述红外线传感器探测的红外线是否为目标对象发射的红外线；The processing unit is configured to identify, according to a wavelength of the infrared signal, whether infrared rays detected by the infrared sensor are infrared rays emitted by a target object;
    当所述红外线传感器探测的红外线是目标对象发射的红外线时，所述处理单元启动所述飞行控制单元控制所述无人机悬停在所述目标区域的上空，并启动所述定位单元定位出目标区域中目标对象的地理位置信息。When the infrared ray detected by the infrared ray sensor is infrared ray emitted by the target object, the processing unit starts the flight control unit to control the drone to hover over the target area, and activates the positioning unit to locate Geographic location information of the target object in the target area.
  2. 如权利要求1所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The infrared remote sensing target-based intelligent drone system according to claim 1, wherein each of the two sides of the drone is provided with a solar lens, and each solar lens is provided with a piece below the solar lens. Solar battery.
  3. 如权利要求1所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述红外线传感器包括红外线接收系统、热敏检测元件和信号转换电路。The infrared remote sensing target-based intelligent drone system according to claim 1, wherein the infrared sensor comprises an infrared receiving system, a thermal detecting element, and a signal converting circuit.
  4. 如权利要求1所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述远程红外侦测装置还包括一个连接至所述处理单元上的通讯单元，该通讯单元用于将目标区域的地理位置信息发送至远程指挥控制中心。The infrared remote sensing target-based intelligent drone system according to claim 1, wherein the remote infrared detecting device further comprises a communication unit connected to the processing unit, wherein the communication unit is used for Send geographic location information for the target area to the remote command and control center.
  5. 如权利要求4所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The infrared remote sensing target-based intelligent drone system according to claim 4, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
  6. 如权利要求4所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述红外线传感器包括红外线接收系统、热敏检测元件和信号转换电路。The infrared remote sensing target-based intelligent drone system according to claim 4, wherein the infrared sensor comprises an infrared receiving system, a thermal detecting element, and a signal converting circuit.
  7. 如权利要求1所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述旋转云台是一种由步进电机控制的旋转式云台，该旋转云台用于控制所述远程红外侦测装置中的红外线传感器进行360度转动来探测目标区域中目标对象发射的红外线。The infrared remote sensing target-based intelligent drone system according to claim 1, wherein the rotary pan/tilt is a rotary pan/tilt controlled by a stepping motor, and the rotary pan/tilt is used for controlling The infrared sensor in the remote infrared detecting device performs 360-degree rotation to detect infrared rays emitted by the target object in the target area.
  8. 如权利要求7所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The infrared remote sensing target-based intelligent drone system according to claim 7, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each solar lens. Solar battery.
  9. 如权利要求8所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述太阳能透镜为一种菲涅尔透镜系统，用于聚集太阳光能。The infrared remote sensing target-based intelligent drone system according to claim 8, wherein the solar lens is a Fresnel lens system for collecting solar energy.
  10. 如权利要求9所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述太阳能电池将所述太阳能透镜聚集的太阳光能转化成电能并为无人机的电动引擎供电。The infrared remote sensing target-based intelligent drone system according to claim 9, wherein the solar cell converts solar energy collected by the solar lens into electrical energy and supplies power to the electric engine of the drone .
  11. 如权利要求7所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述红外线传感器包括红外线接收系统、热敏检测元件和信号转换电路。The infrared remote sensing target-based intelligent drone system according to claim 7, wherein the infrared sensor comprises an infrared receiving system, a thermal detecting element, and a signal converting circuit.
  12. 如权利要求11所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述红外线接收系统采用一种透射式光学系统红外线接收系统，用于接收目标区域发射出的红外线。 The infrared remote sensing target-based intelligent drone system according to claim 11, wherein the infrared receiving system adopts a transmissive optical system infrared receiving system for receiving infrared rays emitted from a target area.
  13. 如权利要求12所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述热敏检测元件采用一种热敏电阻，用于检测所述红外线产生的热辐射信号。The infrared remote sensing target-based intelligent drone system according to claim 12, wherein the thermal detecting element uses a thermistor for detecting a heat radiation signal generated by the infrared ray.
  14. 如权利要求13所述的基于红外线远程侦测目标的智能无人机系统，其特征在于，所述信号转换电路用于将所述热辐射信号转换成红外信号输出至所述处理单元。The infrared remote sensing target-based intelligent drone system according to claim 13, wherein the signal conversion circuit is configured to convert the thermal radiation signal into an infrared signal output to the processing unit.
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