CN107416207A - Unmanned plane rescue mode, unmanned plane and computer-readable recording medium - Google Patents
Unmanned plane rescue mode, unmanned plane and computer-readable recording medium Download PDFInfo
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- CN107416207A CN107416207A CN201710445354.0A CN201710445354A CN107416207A CN 107416207 A CN107416207 A CN 107416207A CN 201710445354 A CN201710445354 A CN 201710445354A CN 107416207 A CN107416207 A CN 107416207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0003—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiant heat transfer of samples, e.g. emittance meter
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Abstract
The invention discloses a kind of unmanned plane rescue mode, unmanned plane and computer-readable recording medium, unmanned plane rescue mode includes：The flight path that target device is sent is obtained, control unmanned plane is flown according to the flight path and opens the thermal infrared imager on unmanned plane, obtains the Infrared Thermogram of the flight path corresponding region of the thermal infrared imager shooting；Identify the temperature of object in the Infrared Thermogram；Detect whether the target object that temperature is in preset temperature range be present；If the target object that temperature is in preset temperature range be present, the positional information of the target object is obtained, and the target object location information is sent to target device, for notifying rescue personnel.By the present invention, when needing to that in complex area when rescue personnel enters line search, search time can be greatly reduced, increase the success rate of rescue action.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to unmanned plane rescue mode, unmanned plane and computer-readable deposit
Storage media.
Background technology
In recent years, we experienced some large-scale natural calamities, and life seems such fragility in face of natural calamity.
In rescue work after calamity, the search and rescue to indicator of trapped personnel are the matches with the time, more early discovery indicator of trapped personnel, then indicator of trapped personnel
The possibility being rescued is bigger.In search-and-rescue work of today, generally by rescue personnel or the rescue team of rescue dogs group
Carry out rescue work.But when often in face of the landform of some complicated danger, the development of rescue work can be obstructed, and causes to delay treasured
The expensive search and rescue time.
The content of the invention
It is a primary object of the present invention to provide a kind of unmanned plane rescue mode, unmanned plane and computer-readable storage medium
Matter, it is intended to which search-and-rescue work is difficult to the technical problem carried out in complex environment in the prior art for solution.
To achieve the above object, the present invention provides a kind of unmanned plane rescue mode, and the unmanned plane rescue mode includes：
The flight path that target device is sent is obtained, controls unmanned plane to be flown according to the flight path and opens nothing
Thermal infrared imager on man-machine, obtain the Infrared Thermogram of the flight path corresponding region of the thermal infrared imager shooting；
Identify the temperature of object in the Infrared Thermogram；
Detect whether the object that temperature is in preset temperature range be present；
If the target object that temperature is in preset temperature range be present, the positional information of the target object is obtained,
And send the target object location information to target device, for notifying rescue personnel.
Preferably, if the target object that temperature be present and be in preset temperature range, obtains the target object
Positional information, and the target object location information is sent to target device, for notifying rescue personnel to include：
If the target object that temperature is in preset temperature range be present, the contour feature of the target object is obtained；
The contour feature is contrasted with preset human body contour outline feature, obtains similar value；
Judge whether the similar value is more than predetermined threshold value；
If the similar value is more than predetermined threshold value, the target object location information is obtained, and by the target object
Positional information is sent to target device, for notifying rescue personnel.
Preferably, if the target object that temperature be present and be in preset temperature range, obtains the target object
Positional information, and the target object location information is sent to target device, for notifying to include after rescue personnel：
Obtain the video image of the target object region, and by the transmission of video images to target device.
Preferably, if the target object that temperature be present and be in preset temperature range, obtains the target object
Positional information, and the target object location information is sent to target device, for notifying also to include after rescue personnel：
The environmental information of current unmanned plane local environment is obtained, and the environmental information is sent to target device.
Preferably, it is described to detect whether to include after the target object that temperature is in preset temperature range being present：
If the target object that temperature is in preset temperature range be present, the unmanned plane during flying is controlled to the target
Object region, send video communication and ask to target device, asked receiving target device based on the video communication
During the License Info of feedback, establish video communication with the target device and be connected.
In addition, to achieve the above object, the present invention also provides a kind of unmanned plane, and the unmanned plane includes：Thermal infrared imager,
The unmanned plane rescue program that memory, processor and being stored in can be run on the memory and on the processor, wherein：
Thermal infrared imager, to shoot the Infrared Thermogram of the flight path corresponding region；
The unmanned plane realizes unmanned plane rescue mode as described above when rescuing program by the computing device
Step.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, it is characterised in that institute
State and unmanned plane rescue program is stored with computer-readable recording medium, the unmanned plane rescue program is real when being executed by processor
The step of showing unmanned plane rescue mode as described above.
In the present embodiment, after unmanned plane during flying track is formulated, unmanned plane is flown according to flight path, is opened simultaneously
The Infrared Thermogram of preset thermal infrared imager shooting flight path corresponding region is opened, detects whether temperature be present according to Infrared Thermogram
Object of the degree in preset temperature range, when the object in preset temperature range be present, the position of the object is sent out
Target device is delivered to, for notifying rescue personnel.By the present embodiment, when needing to treating rescue personnel's progress in complex area
During search, this embodiment scheme can greatly reduce search time, increase the success rate of rescue action.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of unmanned plane one of the present invention；
Fig. 2 is the schematic diagram of a scenario of the embodiment of unmanned plane during flying track one；
Fig. 3 is the schematic diagram of a scenario that unmanned plane searches for object first embodiment；
Fig. 4 is the schematic diagram of a scenario that unmanned plane searches for object second embodiment；
Fig. 5 is the schematic flow sheet of unmanned plane rescue mode first embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in figure 1, Fig. 1 is the structural representation of the embodiment of unmanned plane one of the present invention.
As shown in figure 1, the unmanned plane can include：Processor 1001, such as CPU, camera device 1004, such as camera,
Thermal infrared imager 1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is used to realize between these components
Connection communication.Memory 1005 can be high-speed RAM memory or stable memory (non-volatile
), such as magnetic disk storage memory.Memory 1005 optionally can also be the storage dress independently of aforementioned processor 1001
Put.
Alternatively, unmanned plane can also include sensor, voicefrequency circuit, WiFi module etc..Wherein, sensor ratio such as light
Sensor, motion sensor and other sensors.Certainly, unmanned plane can also configure gyroscope, barometer, hygrometer, temperature
The other sensors such as meter, infrared ray sensor, will not be repeated here.
It will be understood by those skilled in the art that the unmanned plane structure shown in Fig. 1 does not form the restriction to unmanned plane, can
With including than illustrating more or less parts, either combining some parts or different parts arrangement.
As shown in figure 1, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network
Believe module and unmanned plane rescue program.
In the unmanned plane shown in Fig. 1, filming apparatus 1004 is mainly used in shooting picture；Thermal infrared imager 1003 is used to clap
Take the photograph the Infrared Thermogram of unmanned plane during flying track corresponding region；And processor 1001 can be used in calling memory 1005 storing
Unmanned plane rescue program, and perform following operate：
The flight path that target device is sent is obtained, controls unmanned plane to be flown according to the flight path and opens nothing
Thermal infrared imager on man-machine, obtain the Infrared Thermogram of the flight path corresponding region of the thermal infrared imager shooting；
Identify the temperature of object in the Infrared Thermogram；
Detect whether the object that temperature is in preset temperature range be present；
If the target object that temperature is in preset temperature range be present, the positional information of the target object is obtained,
And send the target object location information to target device, for notifying rescue personnel.
In the present embodiment, UAV is to utilize wireless remote control device and the program control provided for oneself referred to as " unmanned plane "
The not manned aircraft or fully or intermittently independently operated by car-mounted computer that device processed manipulates.In the present embodiment, nothing
Man-machine can be fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, unmanned airship, umbrella wing unmanned plane, flapping wing unmanned plane etc., not limit herein
System, is selected with specific reference to being actually needed.
In the present embodiment, thermal infrared imager is to receive the infrared of measured target using infrared detector and optical imagery object lens
The reflection of radiant energy distribution figure is on the light-sensitive element of infrared detector, so as to obtain Infrared Thermogram, this thermography with
The heat distribution field of body surface is corresponding.Generally thermal infrared imager is exactly that the invisible infrared energy for sending object changes
For visible thermal image.Different colours above thermal image represent the different temperatures of testee.
For example, in one embodiment, rescue personnel needs to scan for missing people in region 1, it is first determined nobody
The flight path of machine, can be that the flight path of unmanned plane is formulated so that unmanned plane is according to flight rail by no-manned machine distant control device
Mark independent navigation flies, and can also be by manually controlling unmanned plane during flying, is not limited herein.As shown in Fig. 2 Fig. 2 is
The schematic diagram of a scenario of the embodiment of unmanned plane during flying track one.Unmanned plane receives flight path, by A to B to C to D, and opens red
Outer thermal imaging system is shot to region corresponding to flight path.Thermal infrared imager is equipped on below unmanned aerial vehicle body, infrared thermal imagery
Instrument shooting angle can be vertically downward or horizontal direction deflects down certain angle and is not limited herein.
Unmanned plane flies in flight path, while the infrared heat of thermal infrared imager captured in real-time flight path corresponding region
As figure, Infrared Thermogram intuitively represents the height of temperature with different colors.General warm tones is used for representing the high (ratio of temperature
As red, vehement white), cool tone represents that temperature is low (such as blueness, black), is examined according to the color of each object on Infrared Thermogram
Survey that (temperature range is configured according to actual conditions, as the present embodiment is in 35 DEG C to 42 DEG C of object with the presence or absence of temperature
In order to search people, then set according to human body temperature scope).If temperature is detected the presence of at 35 DEG C to 42 according to Infrared Thermogram
DEG C object, then according to the position of current unmanned plane, and the distance between unmanned plane and the object, conversion obtains the object
Position.The distance between unmanned plane and described object can be obtained with ultrasound examination.Ultrasonic ranging principle is to pass through ultrasound
Wave launcher launches ultrasonic wave to direction where the object, starts timing while emission time, ultrasonic wave passes in atmosphere
Sowing time encounters barrier and just returns to come immediately, and ultrasonic receiver receives back wave and just stops timing immediately.Ultrasonic wave is in air
In spread speed be v, and according to timer record measure transmitting and receive echo time difference △ t, so that it may to calculate
Distance S of the launch point away from barrier.For example, in one embodiment, implement as shown in figure 3, Fig. 3 is unmanned plane search object first
The schematic diagram of a scenario of example.The shooting angle of thermal infrared imager is vertically downward, according to ultrasound examination to unmanned plane with object
Distance is 30 meters, and unmanned plane current location is 120 ° of longitude, and 60 ° of latitude, height above sea level is 245 meters, then the object is calculated
Position be 120 ° of longitude, 60 ° of latitude, 215 meters of height above sea level.In another embodiment, as shown in figure 4, Fig. 4, which is unmanned plane, searches for thing
The schematic diagram of a scenario of body second embodiment.In the present embodiment, the shooting angle of thermal infrared imager is that level deflects down 30 °.
Using rescue center base position as origin, three-dimensional system of coordinate is established, unmanned plane coordinate position is (1200,1500,300),
According to ultrasound examination to unmanned plane with object distance be 100 meters, then the object is calculated relative to rescue center base
Position for (1500,250).After the position of the object is obtained, the object space is sent to target and set
Standby, target device can be the mobile terminal such as mobile phone that communication connection is established with unmanned plane, can also be computer, base station etc.,
For notifying rescue personnel.In the present embodiment, object temperature information can also be sent while object space is sent to mesh
Marking device, it can also be that open camera device shoots to object, shooting obtains picture or video is sent to target device.
In another alternative embodiment of the present invention, it can also be and arrived according to the color detection of each object on Infrared Thermogram
Exist temperature in 35 DEG C to 42 DEG C of object (temperature range is configured according to actual conditions, as the present embodiment be in order to
People is searched, then is set according to human body temperature scope), then judge to exist in the Infrared Thermogram of current thermal infrared imager shooting and treat
Rescue personnel, then unmanned plane during flying is controlled extremely to treat that rescue personnel differs 5m and (determines the value according to the build of unmanned plane, no with this
Can too far can not be too near) position, for example, control unmanned plane treats that rescue personnel direction is flown, while open ultrasonic ranging,
The environmental data of current environment is gathered when the distance of rescue personnel is in 5m when detecting that unmanned plane is same, for example, air humidity,
The data such as temperature, wind-force, the environmental data of collection is sent to target device.
In the present embodiment, after unmanned plane during flying track is formulated, unmanned plane is flown according to flight path, is opened simultaneously
The Infrared Thermogram of preset thermal infrared imager shooting flight path corresponding region is opened, detects whether temperature be present according to Infrared Thermogram
Object of the degree in preset temperature range, when the object in preset temperature range be present, the position of the object is sent out
Target device is delivered to, for notifying rescue personnel.By the present embodiment, when needing to treating rescue personnel's progress in complex area
During search, this embodiment scheme can greatly reduce search time, increase the success rate of rescue action.
Further, processor 1001 can call the unmanned plane that is stored in memory 1005 to rescue program, also perform with
Lower operation：
If the target object that temperature is in preset temperature range be present, the contour feature of the target object is obtained；
The contour feature is contrasted with preset human body contour outline feature, obtains similar value；
Judge whether the similar value is more than predetermined threshold value；
If the similar value is more than predetermined threshold value, the target object location information is obtained, and by the target object
Positional information is sent to target device, for notifying rescue personnel.
In the present embodiment, the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default temperature
Object in the range of degree, with 35 DEG C to 42 DEG C of human body temperature that may be present for preset temperature range, the possible object is not necessarily
For people, it may be possible to other temperature are in 35 DEG C to 42 DEG C of object, then further open camera device and the object is shot,
Obtain shooting picture.By image recognition, the contour of object in picture is obtained, contour of object is entered with preset human body contour outline feature
Row contrast, preset human body contour outline feature mainly include head, trunk, four limbs, if for example, contour of object is special with preset human body contour outline
Sign is contrasted to obtain similar value as 75%, predetermined threshold value be 70% (threshold value can artificially be set, should not set it is too small, it is too small
Also unsuitable excessive then so that accuracy, because environment may be complicated, setting excessive can also reduce recognition accuracy), then this
When judge the object for human body, then by the position of current unmanned plane, unmanned plane be presently in environment environmental data such as wind-force,
The data such as temperature, air humidity are sent to target device, for notifying rescue personnel.It is also possible that control unmanned plane during flying is extremely
The object region, for example, flight, at a distance of 5m position, the position of now unmanned plane (can be obtained by GPS to the object
Take), the environmental data of unmanned plane local environment sent to target device.Control unmanned plane during flying to the object region can be with
It is：Navigation flight is carried out by target point of the object, during by ultrasound examination to the object at a distance of 5m, controls unmanned plane to hang
Stop, the function if unmanned plane does not hover, control unmanned plane drops to the position with the object at a distance of 5m.
In the present embodiment, when the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default
During object in temperature range, similarity of the contour of object with preset human body contour outline feature is further detected, when similarity is big
When predetermined threshold value, the positional information of the object is sent to target device, for notifying rescue personnel.By the present embodiment side
Case, first detect whether the object that temperature is in preset temperature range section be present, in the presence of, further by the contour of object
Contrasted with preset human body contour outline feature, obtain similar value, judged that the object is behaved when similar value is more than predetermined threshold value, add
The big accuracy of search.
Further, processor 1001 can call the unmanned plane that is stored in memory 1005 to rescue program, also perform with
Lower operation：
Obtain the video image of the target object region, and by the transmission of video images to target device.
In the present embodiment, the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default temperature
Object in the range of degree, then the preset camera device of unmanned plane is opened, object region is shot.For example, using object as
The center of circle, the region where radius 15m are shot, and obtain the video image of object region.It can also play simultaneously preset
Voice, such as " notified rescue personnel, please patient waiting " treat the mood of rescue personnel to pacify.One side target device is connecing
After receiving video image, determine band rescue personnel in video image be present, rescue plan can be formulated according to video image.It is another
Aspect, if according to video image, do not find to treat rescue personnel, be then probably unmanned plane identification error, then control unmanned plane weight
Work newly is begun search for, further improves the degree of accuracy of rescue work.
Further, processor 1001 can call the unmanned plane that is stored in memory 1005 to rescue program, also perform with
Lower operation：
The environmental information of current unmanned plane local environment is obtained, and the environmental information is sent to target device.
In the present embodiment, environmental information can be temperature, humidity, atmospheric pressure, intensity of illumination, rainfall, not limit herein
System, expand or reduce the content that environmental information includes with specific reference to actual conditions.
In the present embodiment, it can be in the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in
During object in preset temperature range, the environmental information that unmanned plane is presently in environment is obtained, it is also possible that control unmanned plane flies
Row is to the object region, for example, flying extremely with the object at a distance of 5m position.Unmanned plane during flying is controlled to object place
Region can be：Navigation flight is carried out by target point of the object, during by ultrasound examination to the object at a distance of 5m, is controlled
Unmanned plane hovers, the function if unmanned plane does not hover, and control unmanned plane drops to the position with the object at a distance of 5m.Can be in nothing
Man-machine upper setting harvester gathers environmental information, for example, thermometer be used for detection temperature, using photo resistance come detection light
Wind speed is detected according to intensity, using air velocity transducer.
In the present embodiment, when target device receives the environmental information of unmanned plane local environment, it is believed that the environment is believed
Cease for object local environment information, according to the pressing degree of the current rescue action of environmental information analysis, rescue meter corresponding to formulation
Draw, if for example, displays temperature is relatively low in environmental information, heat-preserving equipment can be carried and rescued.In the present embodiment, rescue personnel
The environmental information that can be received according to target device, corresponding rescue measure is taken, increase the success rate of rescue action.
Further, processor 1001 can call the unmanned plane that is stored in memory 1005 to rescue program, also perform with
Lower operation：
If the target object that temperature is in preset temperature range be present, the unmanned plane during flying is controlled to the target
Object region, send video communication and ask to target device, asked receiving target device based on the video communication
During the License Info of feedback, establish video communication with the target device and be connected.
In the present embodiment, when the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default
During object in temperature range, navigation flight is carried out by target point of the object, by ultrasound examination to the object apart
During 5m, control unmanned plane hovering, the function if unmanned plane does not hover, unmanned plane is controlled to drop to the position with the object at a distance of 5m
Put, and adjust camera device shooting angle, so that camera device can photograph the object.Video communication is sent to ask to target to set
It is standby, when receiving License Info of the target device based on video communication request feedback, establish video communication with target device and connect
Connect, so can carry out video calling with the rescue personnel at target device end for object.If object is rescued to treat rescue personnel
Personnel can clearly be seen this and treat rescue personnel, this treat rescue personnel also may be notified that the situation of rescue personnel itself, it is necessary to thing
Money etc., for rescue plan corresponding to rescue personnel's formulation.If the object is not to treat rescue personnel, the rescue at target device end
Personnel also can clearly be seen, then judges that current unmanned plane identifies mistake, control unmanned plane restarts search, on the one hand
The accuracy of rescue work is ensure that, on the other hand also improves the success rate of rescue work.
Reference picture 5, Fig. 5 are the schematic flow sheet of unmanned plane rescue mode first embodiment of the present invention.
In the present embodiment, unmanned plane rescue mode includes：
Step S10, obtains the flight path that target device is sent, and control unmanned plane is flown according to the flight path
And the thermal infrared imager on unmanned plane is opened, obtain the infrared of the flight path corresponding region that the thermal infrared imager is shot
Thermography；
Step S20, identify the temperature of object in the Infrared Thermogram；
Step S30, detect whether the target object that temperature is in preset temperature range be present；
Step S40, if the target object that temperature is in preset temperature range be present, obtain the position of the target object
Confidence is ceased, and the target object location information is sent to target device, for notifying rescue personnel.
In the present embodiment, UAV is to utilize wireless remote control device and the program control provided for oneself referred to as " unmanned plane "
The not manned aircraft or fully or intermittently independently operated by car-mounted computer that device processed manipulates.In the present embodiment, nothing
Man-machine can be fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, unmanned airship, umbrella wing unmanned plane, flapping wing unmanned plane etc., not limit herein
System, is selected with specific reference to being actually needed.
In the present embodiment, thermal infrared imager is to receive the infrared of measured target using infrared detector and optical imagery object lens
The reflection of radiant energy distribution figure is on the light-sensitive element of infrared detector, so as to obtain Infrared Thermogram, this thermography with
The heat distribution field of body surface is corresponding.Generally thermal infrared imager is exactly that the invisible infrared energy for sending object changes
For visible thermal image.Different colours above thermal image represent the different temperatures of testee.
For example, in one embodiment, rescue personnel needs to scan for missing people in region 1, it is first determined nobody
The flight path of machine, can be that the flight path of unmanned plane is formulated so that unmanned plane is according to flight rail by no-manned machine distant control device
Mark independent navigation flies, and can also be by manually controlling unmanned plane during flying, is not limited herein.As shown in Fig. 2 Fig. 2 is
The schematic diagram of a scenario of the embodiment of unmanned plane during flying track one.Unmanned plane receives flight path, by A to B to C to D, and opens red
Outer thermal imaging system is shot to region corresponding to flight path.Thermal infrared imager is equipped on below unmanned aerial vehicle body, infrared thermal imagery
Instrument shooting angle can be vertically downward or horizontal direction deflects down certain angle and is not limited herein.
Unmanned plane flies in flight path, while the infrared heat of thermal infrared imager captured in real-time flight path corresponding region
As figure, Infrared Thermogram intuitively represents the height of temperature with different colors.General warm tones is used for representing the high (ratio of temperature
As red, vehement white), cool tone represents that temperature is low (such as blueness, black), is examined according to the color of each object on Infrared Thermogram
Survey that (temperature range is configured according to actual conditions, as the present embodiment is in 35 DEG C to 42 DEG C of object with the presence or absence of temperature
In order to search people, then set according to human body temperature scope).If temperature is detected the presence of at 35 DEG C to 42 according to Infrared Thermogram
DEG C object, then according to the position of current unmanned plane, and the distance between unmanned plane and the object, conversion obtains the object
Position.The distance between unmanned plane and described object can be obtained with ultrasound examination.Ultrasonic ranging principle is to pass through ultrasound
Wave launcher launches ultrasonic wave to direction where the object, starts timing while emission time, ultrasonic wave passes in atmosphere
Sowing time encounters barrier and just returns to come immediately, and ultrasonic receiver receives back wave and just stops timing immediately.Ultrasonic wave is in air
In spread speed be v, and according to timer record measure transmitting and receive echo time difference △ t, so that it may to calculate
Distance S of the launch point away from barrier.For example, in one embodiment, implement as shown in figure 3, Fig. 3 is unmanned plane search object first
The schematic diagram of a scenario of example.The shooting angle of thermal infrared imager is vertically downward, according to ultrasound examination to unmanned plane with object
Distance is 30 meters, and unmanned plane current location is 120 ° of longitude, and 60 ° of latitude, height above sea level is 245 meters, then the object is calculated
Position be 120 ° of longitude, 60 ° of latitude, 215 meters of height above sea level.In another embodiment, as shown in figure 4, Fig. 4, which is unmanned plane, searches for thing
The schematic diagram of a scenario of body second embodiment.In the present embodiment, the shooting angle of thermal infrared imager is that level deflects down 30 °.
Using rescue center base position as origin, three-dimensional system of coordinate is established, unmanned plane coordinate position is (1200,1500,300),
According to ultrasound examination to unmanned plane with object distance be 100 meters, then the object is calculated relative to rescue center base
Position for (1500,250).After the position of the object is obtained, the object space is sent to target and set
Standby, target device can be the mobile terminal such as mobile phone that communication connection is established with unmanned plane, can also be computer, base station etc.,
For notifying rescue personnel.In the present embodiment, object temperature information can also be sent while object space is sent to mesh
Marking device, it can also be that open camera device shoots to object, shooting obtains picture or video is sent to target device.
In another alternative embodiment of the present invention, it can also be and arrived according to the color detection of each object on Infrared Thermogram
Exist temperature in 35 DEG C to 42 DEG C of object (temperature range is configured according to actual conditions, as the present embodiment be in order to
People is searched, then is set according to human body temperature scope), then judge to exist in the Infrared Thermogram of current thermal infrared imager shooting and treat
Rescue personnel, then unmanned plane during flying is controlled extremely to treat that rescue personnel differs 5m and (determines the value according to the build of unmanned plane, no with this
Can too far can not be too near) position, for example, control unmanned plane treats that rescue personnel direction is flown, while open ultrasonic ranging,
The environmental data of current environment is gathered when the distance of rescue personnel is in 5m when detecting that unmanned plane is same, for example, air humidity,
The data such as temperature, wind-force, the environmental data of collection is sent to target device.
In the present embodiment, after unmanned plane during flying track is formulated, unmanned plane is flown according to flight path, is opened simultaneously
The Infrared Thermogram of preset thermal infrared imager shooting flight path corresponding region is opened, detects whether temperature be present according to Infrared Thermogram
Object of the degree in preset temperature range, when the object in preset temperature range be present, the position of the object is sent out
Target device is delivered to, for notifying rescue personnel.By the present embodiment, when needing to treating rescue personnel's progress in complex area
During search, this embodiment scheme can greatly reduce search time, increase the success rate of rescue action.
Further, in an alternate embodiment of the present invention, step S40 includes：
If the target object that temperature is in preset temperature range be present, the contour feature of the target object is obtained；
The contour feature is contrasted with preset human body contour outline feature, obtains similar value；
Judge whether the similar value is more than predetermined threshold value；
If the similar value is more than predetermined threshold value, the target object location information is obtained, and by the target object
Positional information is sent to target device, for notifying rescue personnel.
In the present embodiment, the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default temperature
Object in the range of degree, with 35 DEG C to 42 DEG C of human body temperature that may be present for preset temperature range, the possible object is not necessarily
For people, it may be possible to other temperature are in 35 DEG C to 42 DEG C of object, then further open camera device and the object is shot,
Obtain shooting picture.By image recognition, the contour of object in picture is obtained, contour of object is entered with preset human body contour outline feature
Row contrast, preset human body contour outline feature mainly include head, trunk, four limbs, if for example, contour of object is special with preset human body contour outline
Sign is contrasted to obtain similar value as 75%, predetermined threshold value be 70% (threshold value can artificially be set, should not set it is too small, it is too small
Also unsuitable excessive then so that accuracy, because environment may be complicated, setting excessive can also reduce recognition accuracy), then this
When judge the object for human body, then by the position of current unmanned plane, unmanned plane be presently in environment environmental data such as wind-force,
The data such as temperature, air humidity are sent to target device, for notifying rescue personnel.It is also possible that control unmanned plane during flying is extremely
The object region, for example, flight, at a distance of 5m position, the position of now unmanned plane (can be obtained by GPS to the object
Take), the environmental data of unmanned plane local environment sent to target device.Control unmanned plane during flying to the object region can be with
It is：Navigation flight is carried out by target point of the object, during by ultrasound examination to the object at a distance of 5m, controls unmanned plane to hang
Stop, the function if unmanned plane does not hover, control unmanned plane drops to the position with the object at a distance of 5m.
In the present embodiment, when the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default
During object in temperature range, similarity of the contour of object with preset human body contour outline feature is further detected, when similarity is big
When predetermined threshold value, the positional information of the object is sent to target device, for notifying rescue personnel.By the present embodiment side
Case, first detect whether the object that temperature is in preset temperature range section be present, in the presence of, further by the contour of object
Contrasted with preset human body contour outline feature, obtain similar value, judged that the object is behaved when similar value is more than predetermined threshold value, add
The big accuracy of search.
Further, in an alternate embodiment of the present invention, include after step S40：
Obtain the video image of the target object region, and by the transmission of video images to target device.
In the present embodiment, the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default temperature
Object in the range of degree, then the preset camera device of unmanned plane is opened, object region is shot.For example, using object as
The center of circle, the region where radius 15m are shot, and obtain the video image of object region.It can also play simultaneously preset
Voice, such as " notified rescue personnel, please patient waiting " treat the mood of rescue personnel to pacify.One side target device is connecing
After receiving video image, determine band rescue personnel in video image be present, rescue plan can be formulated according to video image.It is another
Aspect, if according to video image, do not find to treat rescue personnel, be then probably unmanned plane identification error, then control unmanned plane weight
Work newly is begun search for, further improves the degree of accuracy of rescue work.
Further, in another alternative embodiment of the present invention, also include after step S40：
The environmental information of current unmanned plane local environment is obtained, and the environmental information is sent to target device.
In the present embodiment, environmental information can be temperature, humidity, atmospheric pressure, intensity of illumination, rainfall, not limit herein
System, expand or reduce the content that environmental information includes with specific reference to actual conditions.
In the present embodiment, it can be in the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in
During object in preset temperature range, the environmental information that unmanned plane is presently in environment is obtained, it is also possible that control unmanned plane flies
Row is to the object region, for example, flying extremely with the object at a distance of 5m position.Unmanned plane during flying is controlled to object place
Region can be：Navigation flight is carried out by target point of the object, during by ultrasound examination to the object at a distance of 5m, is controlled
Unmanned plane hovers, the function if unmanned plane does not hover, and control unmanned plane drops to the position with the object at a distance of 5m.Can be in nothing
Man-machine upper setting harvester gathers environmental information, for example, thermometer be used for detection temperature, using photo resistance come detection light
Wind speed is detected according to intensity, using air velocity transducer.
In the present embodiment, when target device receives the environmental information of unmanned plane local environment, it is believed that the environment is believed
Cease for object local environment information, according to the pressing degree of the current rescue action of environmental information analysis, rescue meter corresponding to formulation
Draw, if for example, displays temperature is relatively low in environmental information, heat-preserving equipment can be carried and rescued.In the present embodiment, rescue personnel
The environmental information that can be received according to target device, corresponding rescue measure is taken, increase the success rate of rescue action.
Further, in an alternate embodiment of the present invention, include after step S30：
If the target object that temperature is in preset temperature range be present, the unmanned plane during flying is controlled to the target
Object region, send video communication and ask to target device, asked receiving target device based on the video communication
During the License Info of feedback, establish video communication with the target device and be connected.
In the present embodiment, when the Infrared Thermogram shot by thermal infrared imager, detect the presence of temperature and be in default
During object in temperature range, navigation flight is carried out by target point of the object, by ultrasound examination to the object apart
During 5m, control unmanned plane hovering, the function if unmanned plane does not hover, unmanned plane is controlled to drop to the position with the object at a distance of 5m
Put, and adjust camera device shooting angle, so that camera device can photograph the object.Video communication is sent to ask to target to set
It is standby, when receiving License Info of the target device based on video communication request feedback, establish video communication with target device and connect
Connect, so can carry out video calling with the rescue personnel at target device end for object.If object is rescued to treat rescue personnel
Personnel can clearly be seen this and treat rescue personnel, this treat rescue personnel also may be notified that the situation of rescue personnel itself, it is necessary to thing
Money etc., for rescue plan corresponding to rescue personnel's formulation.If the object is not to treat rescue personnel, the rescue at target device end
Personnel also can clearly be seen, then judges that current unmanned plane identifies mistake, control unmanned plane restarts search, on the one hand
The accuracy of rescue work is ensure that, on the other hand also improves the success rate of rescue work.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with unmanned plane rescue program, unmanned plane rescue program realizes that unmanned plane as described above is rescued when being executed by processor
The step of helping method.
Each embodiment base of the specific embodiment of computer-readable recording medium of the present invention with above-mentioned unmanned plane rescue mode
This is identical, will not be described here.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions are make it that it is each that unmanned plane performs the present invention
Method described in embodiment.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of unmanned plane rescue mode, it is characterised in that the unmanned plane rescue mode includes：
The flight path that target device is sent is obtained, controls unmanned plane to be flown according to the flight path and opens unmanned plane
On thermal infrared imager, obtain the Infrared Thermogram of the flight path corresponding region of thermal infrared imager shooting；
Identify the temperature of object in the Infrared Thermogram；
Detect whether the target object that temperature is in preset temperature range be present；
If the target object that temperature is in preset temperature range be present, the positional information of the target object is obtained, and will
The target object location information is sent to target device, for notifying rescue personnel.
2. unmanned plane rescue mode as claimed in claim 1, it is characterised in that temperature if described be present and be in preset temperature model
Interior target object is enclosed, then obtains the positional information of the target object, and the target object location information is sent to mesh
Marking device, for notifying rescue personnel to include：
If the target object that temperature is in preset temperature range be present, the contour feature of the target object is obtained；
The contour feature is contrasted with preset human body contour outline feature, obtains similar value；
Judge whether the similar value is more than predetermined threshold value；
If the similar value is more than predetermined threshold value, the target object location information is obtained, and by the target object location
Information is sent to target device, for notifying rescue personnel.
3. unmanned plane rescue mode as claimed in claim 1, it is characterised in that temperature if described be present and be in preset temperature model
Interior target object is enclosed, then obtains the positional information of the target object, and the target object location information is sent to mesh
Marking device, for notifying to include after rescue personnel：
Obtain the video image of the target object region, and by the transmission of video images to target device.
4. unmanned plane rescue mode as claimed in claim 1, it is characterised in that temperature if described be present and be in preset temperature model
Interior target object is enclosed, then obtains the positional information of the target object, and the target object location information is sent to mesh
Marking device, for notifying also to include after rescue personnel：
The environmental information of current unmanned plane local environment is obtained, and the environmental information is sent to target device.
5. unmanned plane rescue mode as claimed in claim 1, it is characterised in that described to detect whether that temperature be present is in default
Include after target object in temperature range：
If the target object that temperature is in preset temperature range be present, the unmanned plane during flying is controlled to the target object
Region, send video communication and ask to target device, video communication request feedback is based on receiving target device
License Info when, establish video communication with the target device and be connected.
6. a kind of unmanned plane, it is characterised in that the unmanned plane includes：Thermal infrared imager, memory, processor and it is stored in institute
The unmanned plane rescue program that can be run on memory and on the processor is stated, wherein：
Thermal infrared imager, to shoot the Infrared Thermogram of the flight path corresponding region；
The unmanned plane realizes following steps when rescuing program by the computing device：
The flight path that target device is sent is obtained, controls unmanned plane to be flown according to the flight path and opens unmanned plane
On thermal infrared imager, obtain the Infrared Thermogram of the flight path corresponding region of thermal infrared imager shooting；
Identify the temperature of object in the Infrared Thermogram；
Detect whether the object that temperature is in preset temperature range be present；
If the target object that temperature is in preset temperature range be present, the positional information of the target object is obtained, and will
The target object location information is sent to target device, for notifying rescue personnel.
7. unmanned plane as claimed in claim 6, it is characterised in that when the unmanned plane rescues program by the computing device
Also realize following steps：
If the target object that temperature is in preset temperature range be present, the contour feature of the target object is obtained；
The contour feature is contrasted with preset human body contour outline feature, obtains similar value；
Judge whether the similar value is more than predetermined threshold value；
If the similar value is more than predetermined threshold value, the target object location information is obtained, and by the target object location
Information is sent to target device, for notifying rescue personnel.
8. unmanned plane as claimed in claim 6, it is characterised in that when the unmanned plane rescues program by the computing device
Also realize following steps：
Obtain the video image of the target object region, and by the transmission of video images to target device.
9. unmanned plane as claimed in claim 6, it is characterised in that when the unmanned plane rescues program by the computing device
Also realize following steps：
The environmental information of current unmanned plane local environment is obtained, and the environmental information is sent to target device.
10. a kind of computer-readable recording medium, it is characterised in that be stored with unmanned plane on the computer-readable recording medium
Program is rescued, the unmanned plane rescue program realizes nobody as any one of claim 1 to 5 when being executed by processor
The step of machine rescue mode.
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| CN111540166A (en) * | 2020-05-09 | 2020-08-14 | 重庆工程学院 | Unmanned aerial vehicle night search system and method based on deep learning |
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