CN109229378B - Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof - Google Patents
Mine disaster search and rescue and toxic and harmful gas monitoring system based on obstacle avoidance unmanned aerial vehicle and working method thereof Download PDFInfo
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- CN109229378B CN109229378B CN201810855338.3A CN201810855338A CN109229378B CN 109229378 B CN109229378 B CN 109229378B CN 201810855338 A CN201810855338 A CN 201810855338A CN 109229378 B CN109229378 B CN 109229378B
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
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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
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
本发明公开了一种基于避障无人机的矿难搜救与有毒有害气体监测系统及其工作方法，属于煤矿巷道应急搜救领域。本发明系统包含了用户监测端和无人机飞行平台两大部分。其中，用户监测端实现对无人机的有效控制及机载传感器采集信息回传，无人机飞行平台通过搭载仪器进行检测。当矿难发生后，搜救人员在最近安全区域启动本系统，在保障无人机安全飞行的前提下实时采集飞行区域附近图像信息、红外成像信息及有毒有害气体参数，并实时传回用户监测端。当监测到人体成像信息或有毒有害气体信息时，快速做出相应的搜救。本发明解决了传统无人车矿难搜救与巷道监测系统越障能力低、搜索速度慢、工作范围受空间限制的技术问题。
The invention discloses a mine disaster search and rescue and poisonous and harmful gas monitoring system based on an obstacle avoidance unmanned aerial vehicle and a working method thereof, belonging to the field of coal mine roadway emergency search and rescue. The system of the invention includes two parts: the user monitoring terminal and the UAV flight platform. Among them, the user monitoring terminal realizes the effective control of the UAV and the information collected by the airborne sensors is returned, and the UAV flight platform is detected by carrying instruments. When the mine accident occurs, the search and rescue personnel start the system in the nearest safe area, and under the premise of ensuring the safe flight of the UAV, the image information, infrared imaging information and toxic and harmful gas parameters near the flight area are collected in real time, and transmitted back to the user monitoring terminal in real time. When the human imaging information or toxic and harmful gas information is detected, the corresponding search and rescue will be made quickly. The invention solves the technical problems that the traditional unmanned vehicle mine disaster search and rescue and roadway monitoring system has low obstacle surmounting ability, slow search speed and limited working range.
Description
Technical Field
The invention belongs to the field of emergency search and rescue of coal mine tunnels, and particularly relates to a mine disaster search and rescue and toxic and harmful monitoring system based on an obstacle avoidance unmanned aerial vehicle and a working method thereof.
Background
The current commonly used mine disaster search and rescue and in-mine toxic and harmful gas monitoring systems mainly comprise: the traditional search and rescue and monitoring system has the technical problems of low obstacle crossing capability, low search speed, limited working range by space and the like, and is not beneficial to quick and effective search and rescue after mine accidents occur.
For example: after the mine disaster occurs, the search and rescue personnel and the search and rescue dogs can not directly enter the mine, the environment in the mine is unknown, and the safety of the search and rescue personnel and the search and rescue dogs can not be ensured; due to the limitation of complex in-mine environment and well depth, the handheld detector cannot detect the area beyond the detection range. In addition, the mobile robot detection system takes a ground mobile robot as a detection platform, carries various monitoring sensors, and realizes unmanned monitoring of the environment in the mine through wireless remote control.
However, the common in-mine ground detection robot cannot overcome large obstacles, has poor adaptability to in-mine forms, and cannot meet the search and rescue requirements of complex in-mine environments. Particularly, the ground detection robot cannot rapidly reach the mine disaster dangerous area due to severe in-mine shape destruction before rapid and effective in-mine search and rescue are carried out after a mine disaster occurs. The remote control obstacle avoidance unmanned aerial vehicle can overcome the problems, but is still limited by the length of the cable, the winding and other factors. In addition, the ground detection robot is low in searching speed, and is not beneficial to quick searching and rescuing of trapped personnel in the mine. Therefore, the common in-mine environment monitoring system cannot meet the specific application requirements in the fields of in-mine toxic and harmful gas monitoring, in-mine rapid and safe search and rescue and the like at the present stage.
At present, no similar method introduction is found in the core journal and the patent inquiry.
Disclosure of Invention
The invention aims to provide a mine disaster search and rescue and toxic and harmful gas monitoring system and method based on an obstacle avoidance unmanned aerial vehicle, aiming at solving the problem that a common in-mine environment monitoring system cannot meet the specific requirements of the application such as in-mine toxic and harmful gas monitoring, in-mine rapid and safe search and rescue and the like at the present stage. The invention is realized as follows:
a mine disaster search and rescue and poisonous and harmful gas monitoring system based on an obstacle avoidance unmanned aerial vehicle comprises a user monitoring station 1 and an obstacle avoidance unmanned aerial vehicle search and rescue and poisonous and harmful gas monitoring flight platform 2;
the user monitoring station comprises a PC (personal computer) 1-1, a handheld terminal 1-2, a wireless modem 1-4 and an RC (remote control) controller 1-3;
the obstacle avoidance unmanned aerial vehicle flying search and rescue and toxic and harmful gas monitoring flying platform 2 comprises an unmanned aerial vehicle flying platform 2-1, a motor blade assembly 2-2, a navigation positioning and flight control integrated system 2-3, a toxic and harmful gas monitoring system 2-4, a remote control receiving and decoding system 2-5, a wireless communication system 2-6, an annular elastic protection frame 2-7, an obstacle avoidance subsystem 2-8, a visual navigation sensor 2-8-1, an ultrasonic positioning system 2-8-2, a camera assembly 2-9, a thermal imaging camera 2-9-1, a high-definition camera and searchlight 2-9-2, a double battery 2-10 and a landing support 2-11.
After the mine disaster occurs, the search and rescue personnel carry the user monitoring end 1 and the obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flying platform 2 to a safe area near the mine disaster, and start the unmanned aerial vehicle flying platform 2-1; after receiving a takeoff and destination instruction sent by a PC (personal computer) 1-1 of a user monitoring station through a wireless modem 1-4, an obstacle avoidance unmanned aerial vehicle starts a navigation and flight control integrated system 2-3 and an obstacle avoidance subsystem 2-8 to fly to a mine disaster area, wherein the obstacle avoidance subsystem 2-8 comprises a visual navigation sensor 2-8-1 and an ultrasonic positioning sensor 2-8-2. And (3) starting a toxic and harmful gas monitoring system 2-4 and a thermal imaging camera 2-9-1 to search and rescue and monitor toxic and harmful gas when the obstacle avoidance unmanned aerial vehicle flies to a detection area in the mine. The toxic and harmful gas monitoring system 2-4 can monitor, process and alarm gases such as hydrogen sulfide H2S, carbon monoxide CO, methane CH4 and the like in real time, and is packaged by an explosion-proof isolation board.
The obstacle avoidance unmanned aerial vehicle acquires thermal imaging information around a monitoring point, toxic and harmful gas monitoring parameters and parameters of flight search and rescue of the obstacle avoidance unmanned aerial vehicle and the motion state of a toxic and harmful gas monitoring platform, and transmits the parameters back to the user monitoring station 1 through a wireless communication system 2-6; the user monitoring station PC machine 1-1 carries out data processing analysis and information visualization processing, obtains three-dimensional position and attitude information and toxic and harmful gas parameters of the obstacle avoidance unmanned aerial vehicle flying search and rescue and toxic and harmful gas monitoring platform 2-1, and synchronously sends the information to the handheld terminal. Meanwhile, the PC 1-1 judges whether life signs exist or not, and if no life signs exist, the next destination instruction is sent through the wireless modem 1-4 to control the obstacle avoidance unmanned aerial vehicle to carry out flying search and rescue and the toxic and harmful gas monitoring platform 2 to move to the next search area; if the life signs exist, a search and rescue signal is sent out, and quick and safe rescue is carried out according to the collected toxic and harmful gas information. After the obstacle avoidance unmanned aerial vehicle performs flight search and rescue and the toxic and harmful gas monitoring platform 2 completes search and rescue and toxic and harmful gas monitoring in all search areas, the toxic and harmful gas monitoring system and the thermal imaging camera are closed for landing or returning.
The invention provides a working method of a mine disaster search and rescue and toxic and harmful gas monitoring system based on an obstacle avoidance unmanned aerial vehicle, which comprises the following steps:
step a, carrying a user monitoring end and an obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flight platform by search and rescue personnel to a safe area near the occurrence of a mine disaster, and starting the unmanned aerial vehicle flight platform;
b, sending a take-off instruction, starting a navigation positioning and flight control integrated system and an obstacle avoidance subsystem, and controlling an RC (remote control) controller by an operator in combination with video information acquired by a high-definition camera and a searchlight and the obstacle avoidance subsystem to ensure that the unmanned aerial vehicle flies safely in a mine;
c, starting a toxic and harmful gas monitoring system and a thermal imaging camera, and enabling the unmanned aerial vehicle to search, advance and fly to a mine disaster area;
d, acquiring thermal imaging information around the mine disaster area, toxic and harmful gas parameters, obstacle avoidance unmanned aerial vehicle flight search and rescue, monitoring platform motion state parameters and other information in real time, and transmitting the information back to the user monitoring station;
e, processing and analyzing data to obtain in-mine thermal imaging information, toxic and harmful gas parameters and three-dimensional position and attitude information of the obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform;
f, after searching for a distance, if the image information displayed by the user monitoring station is weakened, immediately hovering/landing the unmanned aerial vehicle, carrying the user monitoring station by search personnel to move to a safe area near the hovering/landing of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to search forward again;
step g, firstly judging whether a toxic and harmful gas monitoring system gives an alarm, if so, rapidly reducing the cost and the concentration of the toxic and harmful gas in the air, then judging whether life signs exist, if so, sending a search and rescue signal by a user monitoring station, meanwhile, carrying out rescue by combining with the monitoring information of the toxic and harmful gas, and if not, continuing to carry out the steps d, e and f;
and step i, repeating the steps d, e, f and g until the whole search area is completed.
The invention provides a mine disaster search and rescue and toxic and harmful gas monitoring system based on an obstacle avoidance unmanned aerial vehicle and a working method thereof, and the system has the following advantages:
1. the obstacle avoidance unmanned aerial vehicle is used as a search and rescue and monitoring platform, and is used for omnibearing and rapid search and rescue of the in-mine environment after the mine disaster occurs, continuous multi-parameter information acquisition and data transmission, so that the safety problem of the in-mine search and rescue personnel during the information acquisition and the in-mine search and rescue of the complex in-mine environment after the mine disaster is solved. The unmanned aerial vehicle monitoring platform passes through wireless communication system and connects the control station, carries out real-time data transmission and communication, and the data transmission mode of wireless communication has avoided dragging the problem of flight platform through the cable when cable transmission data. In addition, carry on thermal imaging camera and carry out life detection, can realize the quick detection of buried personnel position in the mine disaster, do benefit to quick search and rescue.
2. The obstacle avoidance unmanned aerial vehicle is provided with a double-module intrinsic safety type battery, and the monitoring flight platform provides sufficient power supply. On the one hand, the cable length limitation and winding of the cable control unmanned aerial vehicle are avoided, and the problem that the space and the distance are limited when the obstacle avoidance unmanned aerial vehicle flies is solved. On the other hand, the problems of current, voltage, power consumption and the like of the single-module battery are reduced through the double-module intrinsic safety type battery, and the explosion-proof requirement is favorably met.
3. The flight platform is provided with a visual sensing navigation system and an ultrasonic echo positioning system to detect and avoid obstacles, and the safety of the flight platform is improved. The obstacle avoidance subsystem monitors the environmental information near the flight platform and senses obstacles, and the flight platform is controlled by the flight control system to avoid the obstacles in flight. In addition, still be furnished with the elasticity and protect the frame to unmanned aerial vehicle platform rotor, avoid damaging the flight platform by friction, collision.
Drawings
Fig. 1 is a schematic diagram of a mine disaster search and rescue and toxic and harmful gas monitoring system based on an obstacle avoidance unmanned aerial vehicle.
Fig. 2 is a schematic view of a structure of a flight search and rescue and monitoring platform of the obstacle avoidance unmanned aerial vehicle.
Fig. 3 is a flow chart of the mine disaster search and rescue and poisonous and harmful monitoring system based on the obstacle avoidance unmanned aerial vehicle.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
it should be noted that the inertial navigation system related to in the present invention is a typical navigation positioning system, the obstacle avoidance subsystem 2-8 and the navigation and flight control integrated system 2-3 are conventional devices, and the sensor in the environment monitoring subsystem 2-4 is also a typical measuring device, so the present invention does not describe the principle in detail;
the first embodiment is as follows:
the mine disaster search and rescue and toxic and harmful gas monitoring system based on the obstacle avoidance unmanned aerial vehicle comprises a user monitoring station 1 and an obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform 2, as shown in figure 1;
the user monitoring station comprises a PC (personal computer) 1-1, a handheld terminal 1-2, an RC (remote control) controller 1-3 and a wireless modem 1-4, wherein the handheld terminal 1-2 and the RC controller 1-3 are in wireless connection with the PC 1-1, and the PC 1-1 is in wireless connection with an obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform 2 through the wireless modem 1-4.
The obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform 2 comprises an unmanned aerial vehicle flying platform 2-1, a motor propeller blade assembly 2-2, a navigation and flight control integrated system 2-3, a toxic and harmful gas monitoring system 2-4, a remote control receiving and decoding system 2-5, a wireless communication system 2-6, an annular elastic protection frame 2-7, an obstacle avoidance subsystem 2-8, a visual navigation sensor 2-8-1, an ultrasonic positioning system 2-8-2, a camera assembly 2-9, a thermal imaging camera 2-9-1, a high-definition camera and searchlight 2-9-2, a double battery 2-10 and a landing support 2-11.
The number of the motor blade assemblies 2-2 is four, the four motor blade assemblies are arranged at four corners of an unmanned aerial vehicle frame, the annular elastic protection frame 2-7 surrounds the four motor blade assemblies 2-2 of the unmanned aerial vehicle, the battery 2-10 is arranged at the central middle position of an unmanned aerial vehicle flight platform 2-1, the navigation and flight control integrated system 2-3 is arranged at the central upper middle position of the unmanned aerial vehicle flight platform 2-1, the remote control receiving and decoding system 2-5 and the wireless communication system 2-6 are arranged at the upper central position of the unmanned aerial vehicle flight platform 2-1, the toxic and harmful gas monitoring system 2-4 is fixed above the remote control receiving and decoding system 2-5 and the wireless communication system 2-6 through four long hexagon screws, and the toxic and harmful gas monitoring system 2-4 can carry out H2S-H2, And (3) carrying out real-time monitoring treatment and alarm on gases such as carbon monoxide (CO), methane (CH 4) and the like, and packaging by adopting an explosion-proof isolation plate.
The obstacle avoidance subsystem 2-8 is installed on the frame and the lower position of the unmanned aerial vehicle flight platform 2-1, and the obstacle avoidance subsystem 2-8 comprises a visual navigation sensor 2-8-1 and an ultrasonic positioning sensor 2-8-2; the system is directly connected with an integrated navigation and flight control system of the obstacle avoidance unmanned aerial vehicle and is 2-3 connected with a user monitoring station 1 through a wireless communication system 2-6, the user monitoring station 1 monitors the attitude position of an unmanned aerial vehicle flight search and rescue and toxic and harmful gas monitoring platform 2 through the wireless communication system 2-6 and sends a control instruction, the obstacle avoidance unmanned aerial vehicle flight search and rescue and toxic and harmful gas monitoring platform 2 transmits acquired mine internal environment information parameters back to a PC (personal computer) 1-1 through wireless communication, and the PC 1-1 can process, analyze and visually process the mine internal environment information parameters in real time. In addition, the system can also communicate with a remote dispatching command center and the handheld terminal 1-2 by means of a wireless network or a mobile communication network. The thermal imaging camera 2-9-1 is installed at the lower part of the center of the unmanned aerial vehicle flying platform 2-1, and the obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform further comprises a floor stand 2-11.
Example two:
mine disaster search and rescue and poisonous and harmful gas monitoring system operation flow based on obstacle avoidance unmanned aerial vehicle:
after the mine disaster occurs, the search and rescue personnel carry the user monitoring end 1 and the obstacle avoidance unmanned aerial vehicle and the toxic and harmful gas monitoring flight platform 2 to the nearest safe area of the mine disaster. Starting a takeoff device of the obstacle avoidance unmanned aerial vehicle to ensure that the unmanned aerial vehicle takes off normally; after receiving the takeoff and destination instructions sent by the PC 1-1 of the user monitoring station through the wireless modem 1-3 under the condition of confirming that the takeoff environment is good, the obstacle avoidance unmanned aerial vehicle flight search and rescue and monitoring platform 2 starts a navigation and flight control integrated system 2-3 and an obstacle avoidance subsystem 2-8 to fly to a mine hole destination, 4 motor blade assemblies 2-2 receive control signals transmitted by the navigation and flight control integrated system 2-3 to drive the obstacle avoidance unmanned aerial vehicle flight search and rescue and monitoring platform 2 to fly to a preset monitoring area, the obstacle avoidance subsystem 2-8 consisting of a visual sensor 2-8-1 and an ultrasonic positioning system 2-8-2 monitors environmental information around the unmanned aerial vehicle and senses obstacles, avoiding obstacles in flight through a navigation and flight control integrated system 2-3 control platform;
the obstacle avoidance unmanned aerial vehicle flies for search and rescue and the toxic and harmful gas monitoring flying platform 2 flies to a detection area in a mine, and a toxic and harmful gas monitoring system 2-4 and a thermal imaging camera 2-9 are started for search and rescue and toxic and harmful gas monitoring; the obstacle avoidance unmanned aerial vehicle flying search and rescue and toxic and harmful gas monitoring flying platform 2 collects thermal imaging information around a search area, toxic and harmful gas parameters and obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform motion 2 state parameters, a system data collecting and storing module is started, data collecting and pre-storing are carried out on the toxic and harmful gas parameters, image information and unmanned aerial vehicle flying monitoring platform 2 body motion parameters in a mine, and the toxic and harmful gas parameters, the image information and the unmanned aerial vehicle flying monitoring platform 2 body motion parameters are transmitted back to the user monitoring station 1 through a wireless communication system 2-6;
the user monitoring station PC 1-1 performs data processing analysis and information visualization processing to obtain three-dimensional position and attitude information, in-mine thermal imaging information and toxic and harmful gas parameters of the obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform 2, and synchronously transmits the information to the handheld terminal 1-2; the PC 1-1 judges whether life signs exist or not, and if no life signs exist, the next destination instruction is sent through the wireless modem 1-3 to control the obstacle avoidance unmanned aerial vehicle to carry out flight search and rescue and the toxic and harmful gas monitoring flight platform 2 to move to the next search area; if the life signs exist, sending a search and rescue signal, and rescuing according to the acquired environmental information; after the obstacle avoidance unmanned aerial vehicle performs flight search and rescue and the toxic and harmful gas monitoring flight platform 2 completes safe and effective search and rescue and monitoring in all search areas, the toxic and harmful gas monitoring system 2-4 and the thermal imaging camera 2-9-1 are closed, and the unmanned aerial vehicle returns to the home; and when the unmanned aerial vehicle flies to the sky above the apron, closing the navigation and flight control integrated system 2-3 and the obstacle avoidance subsystem 2-8, and closing the unmanned aerial vehicle device after the unmanned aerial vehicle safely lands.
Example three:
a, carrying a user monitoring end (1) and an obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flight platform (2) by search and rescue personnel to a safe area near a mine disaster, and starting the unmanned aerial vehicle flight platform (2-1);
b, sending a take-off instruction, starting a navigation positioning and flight control integrated system (2-3) and an obstacle avoidance subsystem (2-8), and controlling an RC controller (1-3) by an operator in combination with video information acquired by a high-definition camera and a searchlight (2-9-2) and the obstacle avoidance subsystem (2-8) to ensure that the unmanned aerial vehicle flies safely in a mine;
c, starting a toxic and harmful gas monitoring system (2-4) and a thermal imaging camera (2-9), and enabling the unmanned aerial vehicle to search, advance and fly to a mine disaster area;
d, collecting thermal imaging information around the mine disaster area, toxic and harmful gas parameters, obstacle avoidance unmanned aerial vehicle flight search and rescue and monitoring platform (2) motion state parameters and other information in real time, and transmitting the information back to the user monitoring station (1);
e, data processing and analysis are carried out, and in-mine thermal imaging information, toxic and harmful gas parameters and three-dimensional position and attitude information of the obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform (2) are obtained;
f, after searching for a distance, if the image information displayed by the user monitoring station is weakened, immediately hovering/landing the unmanned aerial vehicle, carrying the user monitoring station by search personnel to move to a safe area near the hovering/landing of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to search forward again;
step g, firstly judging whether a toxic and harmful gas monitoring system (2-4) gives an alarm, if so, rapidly reducing the cost and the concentration of the toxic and harmful gas in the air, then judging whether a life sign exists, if so, sending a search and rescue signal by a user monitoring station (1), meanwhile, carrying out rescue by combining with the monitoring information of the toxic and harmful gas, and if not, continuing the steps d, e and f;
and step i, repeating the steps d, e, f and g until the whole search area is completed.
The specific work flow chart of the invention comprises the following processes:
step 3, starting a toxic and harmful gas monitoring system 2-4 and a thermal imaging camera 2-9, searching by an unmanned aerial vehicle, advancing and flying to a mine disaster area, and entering step 4;
step 4, starting a system data acquisition and storage module, acquiring and pre-storing in-mine thermal imaging image information, toxic and harmful gas parameters and body motion parameters by the obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flight platform 2, transmitting measurement data back to the user monitoring terminal 1 and the handheld terminal 1-2 through the wireless communication system 2-6, and entering step 5;
step 5, firstly, judging whether the concentration of the toxic and harmful gas exceeds the standard by the toxic and harmful gas monitoring system 2-4, if so, quickly reducing the components and the concentration of the toxic and harmful gas in the air, and if not, entering step 6;
step 6, the user monitoring station 1 receives in-mine thermal imaging image information sent back by the obstacle avoidance unmanned aerial vehicle and the toxic and harmful gas monitoring flight platform 2 through the wireless communication system 2-6 to judge whether life signs exist or not, if yes, the user monitoring station 1 sends out a search and rescue signal, and meanwhile quick rescue is carried out by combining with the toxic and harmful gas monitoring information; if no life signs exist, continuing the steps 3, 4 and 5;
step 7, after searching for a distance, if the image information displayed by the user monitoring station is weakened, the unmanned aerial vehicle is immediately hovered/landed, the search and rescue personnel carries the user monitoring station to move forward to a safety area near the hovering/landing of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to search forward again; judging whether the search of all the areas is finished or not, if not, repeating the steps 3, 4, 5 and 6 until the whole search area is finished, and entering the step 8;
step 8, the obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flying platform 2 closes the toxic and harmful gas monitoring system 2-4 and the thermal imaging camera 2-9-1, and returns to the home; and when the unmanned aerial vehicle flies to the sky above the apron, closing the navigation and flight control integrated system 2-3 and the obstacle avoidance subsystem 2-8, and closing the unmanned aerial vehicle device after the unmanned aerial vehicle safely lands.
Claims (1)
1. The utility model provides a mine disaster search and rescue and poisonous and harmful gas monitoring system based on keep away barrier unmanned aerial vehicle which characterized in that: the system comprises a user monitoring station (1) and an obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flight platform (2);
the user monitoring station comprises a PC (personal computer) machine (1-1), a handheld terminal (1-2), a wireless modem (1-4) and an RC (remote control) controller (1-3); the handheld terminal (1-2) and the RC controller (1-3) are in wireless connection with the PC (1-1), and the PC (1-1) is in wireless connection with the obstacle avoidance unmanned aerial vehicle flying search and rescue and the toxic and harmful gas monitoring flying platform (2) through the wireless modem (1-4);
the obstacle avoidance unmanned aerial vehicle flying search and rescue and toxic and harmful gas monitoring flying platform (2) comprises an unmanned aerial vehicle flying platform (2-1), a motor blade assembly (2-2), a navigation positioning and flight control integrated system (2-3), a toxic and harmful gas monitoring system (2-4), a remote control receiving and decoding system (2-5), a wireless communication system (2-6) and an annular elastic protective frame (2-7), the system comprises an obstacle avoidance subsystem (2-8), a visual navigation sensor (2-8-1), an ultrasonic positioning system (2-8-2), a camera assembly (2-9), a thermal imaging camera (2-9-1), a high-definition camera and searchlight (2-9-2), double batteries (2-10) and a floor stand (2-11);
the number of the motor blade assemblies (2-2) is four, the four motor blade assemblies are assembled on four end corners of an unmanned aerial vehicle frame, the annular elastic protection frame (2-7) surrounds the four motor blade assemblies (2-2) of the unmanned aerial vehicle, and the double batteries (2-10) are installed in the middle of the center of the unmanned aerial vehicle flight platform (2-1)The device comprises a navigation and flight control integrated system (2-3) arranged at the middle position above the center of an unmanned aerial vehicle flight platform (2-1), a remote control receiving and decoding system (2-5) and a wireless communication system (2-6) arranged at the upper position above the center of the unmanned aerial vehicle flight platform (2-1), a toxic and harmful gas monitoring system (2-4) fixed above the remote control receiving and decoding system (2-5) and the wireless communication system (2-6) through four long hexagon screws, and the toxic and harmful gas monitoring system (2-4) can monitor hydrogen sulfide H2S, CO and CH4The gas is monitored, processed and alarmed in real time, and is packaged by an explosion-proof isolation plate;
the obstacle avoidance subsystem (2-8) is installed below the frame of the unmanned aerial vehicle flight platform (2-1), and the obstacle avoidance subsystem (2-8) comprises a visual navigation sensor (2-8-1) and an ultrasonic positioning sensor (2-8-2); the system is characterized in that the system is directly connected with an obstacle avoidance unmanned aerial vehicle navigation and flight control integrated system (2-3) and is connected with a user monitoring station (1) through a wireless communication system (2-6), the user monitoring station monitors the attitude position of an unmanned aerial vehicle flight search and rescue and toxic and harmful gas monitoring flight platform (2) through the wireless communication system (2-6) and sends a control instruction, the obstacle avoidance unmanned aerial vehicle flight search and rescue and toxic and harmful gas monitoring flight platform (2) transmits collected mine internal environment information parameters back to a PC (1-1) through wireless communication, the PC (1-1) carries out real-time processing analysis and visual processing, and in addition, the system can also communicate with a remote dispatching command center and a handheld terminal (1-2) through a wireless network or a mobile communication network; the thermal imaging camera (2-9-1) is arranged at the lower part of the center of the unmanned aerial vehicle flying platform (2-1);
the working method of the mine disaster search and rescue and toxic and harmful gas monitoring system based on the obstacle avoidance unmanned aerial vehicle comprises the following steps:
step (a): the search and rescue personnel carry the user monitoring end and the obstacle avoidance unmanned aerial vehicle search and rescue and toxic and harmful gas monitoring flight platform to a safe area near the mine disaster occurrence area, and start the unmanned aerial vehicle flight platform;
step (b): sending a take-off instruction, starting a navigation positioning and flight control integrated system and an obstacle avoidance subsystem, and controlling an RC controller by an operator in combination with video information acquired by a high-definition camera and a searchlight and the obstacle avoidance subsystem to ensure that the unmanned aerial vehicle flies safely in a mine;
step (c): starting a toxic and harmful gas monitoring system and a thermal imaging camera, and searching and advancing by an unmanned aerial vehicle and flying to a mine disaster area;
step (d): collecting information such as thermal imaging information around a mine disaster area, toxic and harmful gas parameters, obstacle avoidance unmanned aerial vehicle flight search and rescue and monitoring platform motion state parameters and the like in real time, and transmitting the information back to a user monitoring station;
a step (e): data processing and analysis are carried out, and in-mine thermal imaging information, toxic and harmful gas parameters and three-dimensional position and attitude information of the obstacle avoidance unmanned aerial vehicle flying search and rescue and monitoring platform are obtained;
step (f): after searching for a certain distance, if the image information displayed by the user monitoring station is weakened, the unmanned aerial vehicle is immediately hovered/landed, the search and rescue personnel carries the user monitoring station to move forward to a safety area near the hovering/landing of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to move forward again;
step (g): firstly, judging whether a toxic and harmful gas monitoring system gives an alarm, if so, quickly reducing the cost and the concentration of the toxic and harmful gas in the air, then judging whether life signs exist, if so, sending a search and rescue signal by a user monitoring station, meanwhile, carrying out rescue by combining with the monitoring information of the toxic and harmful gas, and if not, continuing the steps (d), (e) and (f);
step (i): repeating the steps (d), (e), (f) and (g) until the whole search area is completed.
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