Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof
阅读说明:本技术 投放应急救援设备的无人机、系统及其人在回路投放方法 (Unmanned aerial vehicle and system for putting in emergency rescue equipment and people-in-loop putting method thereof ) 是由 李一波 张森悦 董鼎光 于鉴麟 龚鹏 于 2019-12-17 设计创作,主要内容包括:本申请涉及无人机技术领域,尤其涉及一种投放应急救援设备的无人机、系统及人在回路的投放方法,将第一视角无人机飞行和基于线路信息的无人机自主驾驶结合,实现了应急救援设备的远程投放,在整个投放过程中,投放人员并不是直接操控无人机,无人机实际上一直在飞控的控制下在自主飞行,实现了远距离的直视抵近现场投放,可以快速、全范围覆盖的投放应急救援设备,并且降低对应急救援设备投放的操作条件。(The utility model relates to an unmanned air vehicle technical field, especially, relate to an unmanned aerial vehicle of putting in emergency rescue equipment, system and people's input method in the return circuit, flight first visual angle unmanned aerial vehicle and unmanned aerial vehicle autonomous driving based on circuit information combine, the long-range input of emergency rescue equipment has been realized, at whole input in-process, input personnel is not directly control unmanned aerial vehicle, unmanned aerial vehicle is flying independently under the control of flight control in fact always, long-range direct-vision is to near on-the-spot input has been realized, can be quick, the input emergency rescue equipment of full coverage, and reduce the operating condition who corresponds the input of emergency rescue equipment.)
1. An unmanned aerial vehicle for putting in emergency rescue equipment is characterized by comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a cloud deck, an airborne camera and a first aid throwing cabin;
the cloud deck is fixedly installed on the unmanned aerial vehicle body, and the airborne camera is installed on the cloud deck and used for shooting pictures or videos;
emergency rescue equipment puts in cabin fixed mounting in the below of unmanned aerial vehicle body, its inside a plurality of independent spaces of separating through the baffle to set up corresponding hatch door for every independent space on the lateral wall or the bottom plate in emergency rescue equipment putting in cabin, every hatch door all sets up corresponding driving motor, in order to control the hatch door switching through respective driving motor.
2. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 1, wherein a corresponding hatch is provided in each of the separate spaces on the floor of the cabin for launching emergency rescue equipment.
3. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 2, wherein a launch opening is provided for each independent space on a bottom plate of the launch cabin for the emergency rescue equipment, cabin door slides are fixedly connected to two opposite sides of the launch opening, and two opposite sides of the cabin door are in plug-in connection with the two cabin door slides of each launch opening.
4. An unmanned aerial vehicle for launching emergency rescue equipment as claimed in claim 3, wherein the cabin door slides are recessed inward, the grooves of the two cabin door slides of each launch opening are arranged opposite to each other, and both sides of the cabin door are inserted into the grooves to be connected with the grooves of the cabin door slides in an inserting manner.
5. An unmanned aerial vehicle system for releasing emergency rescue equipment, comprising: the unmanned aerial vehicle for putting in emergency rescue equipment comprises a vehicle-mounted ground station system and the unmanned aerial vehicle for putting in emergency rescue equipment, wherein the vehicle-mounted ground station system is in communication connection with the unmanned aerial vehicle for putting in emergency rescue equipment.
6. An unmanned aerial vehicle system for delivering emergency rescue equipment as claimed in claim 5, wherein the vehicle-mounted ground station system comprises a ground station, a remote control device, a main display screen for displaying pictures or videos, and a secondary display screen for displaying paths, the ground station host, the remote control device, the main display screen and the secondary display screen are all vehicle-mounted devices, the ground station host is in communication connection with the unmanned aerial vehicle body, and the remote control device is in communication connection with the ground station host.
7. An unmanned aerial vehicle system for releasing emergency rescue equipment as claimed in claim 6, wherein the unmanned aerial vehicle is provided with a wireless communication device, and the wireless communication device is in communication connection with the vehicle-mounted ground station system to receive information sent by the vehicle-mounted ground station system or send information to the vehicle-mounted ground station system.
8. The unmanned aerial vehicle system for releasing emergency rescue equipment as claimed in claim 7, wherein the wireless communication equipment is divided into wireless data transmitting/receiving equipment and wireless image transmitting/receiving equipment, and the wireless data transmitting/receiving equipment receives control information transmitted by remote control equipment of the vehicle-mounted ground station system and path information transmitted by a ground station host of the vehicle-mounted ground station system; the wireless image transmitting/receiving device transmits the picture or video information shot by the onboard camera to the vehicle-mounted ground station system to be displayed on a main display screen of the vehicle-mounted ground station system.
9. An unmanned aerial vehicle system for delivering emergency rescue equipment as claimed in claim 7, wherein the unmanned aerial vehicle body further comprises a controller, and the controller is connected with the wireless communication device.
10. An emergency rescue device putting method for people in a loop, which is applied to an unmanned aerial vehicle system of the emergency rescue device as claimed in any one of claims 5 to 9, and comprises the following steps:
step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering;
step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment;
s330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body;
step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system;
step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video;
step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment;
and step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for releasing emergency rescue equipment, a system and a person-in-loop releasing method thereof.
Background
In production and life, emergency accidents are likely to happen at any time, and after the emergency accidents happen, if the emergency accidents are not processed quickly, disasters can spread, so that greater economic losses are caused. At present, rescue workers generally transport emergency rescue equipment to a disaster area through ground transportation, but the transportation speed is slow and the emergency rescue equipment is difficult to reach the area with serious disaster; the emergency rescue equipment can be carried by the airplane, namely, the emergency rescue equipment is placed in the cabin of the airplane, and after a pilot flies into a rescue area by flying the airplane, the emergency rescue equipment is thrown out from the cabin of the airplane, so that a professional pilot is required, and the condition requirement is high.
Therefore, how to rapidly and fully release emergency rescue equipment and reduce the operating conditions for releasing the corresponding emergency rescue equipment is a technical problem which needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The application provides an unmanned aerial vehicle for releasing emergency rescue equipment, a system and a person-in-loop releasing method thereof, so that the emergency rescue equipment can be released quickly and in a full-range coverage manner, and the operating conditions of releasing corresponding emergency rescue equipment are reduced.
In order to solve the technical problem, the application provides the following technical scheme:
an unmanned aerial vehicle for delivering emergency rescue equipment, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a cloud deck, an airborne camera and a first aid throwing cabin; the cloud deck is fixedly installed on the unmanned aerial vehicle body, and the airborne camera is installed on the cloud deck and used for shooting pictures or videos; emergency rescue equipment puts in cabin fixed mounting in the below of unmanned aerial vehicle body, its inside a plurality of independent spaces of separating through the baffle to set up corresponding hatch door for every independent space on the lateral wall or the bottom plate in emergency rescue equipment putting in cabin, every hatch door all sets up corresponding driving motor, in order to control the hatch door switching through respective driving motor.
The unmanned aerial vehicle for releasing the emergency rescue equipment is characterized in that the bottom plate of the emergency rescue equipment releasing cabin is provided with a corresponding cabin door.
As above unmanned aerial vehicle of emergency rescue equipment of input, wherein, preferably, throw the mouth for every independent space has been seted up on the bottom plate of emergency rescue equipment input cabin, throws the equal fixedly connected with hatch door slide in the relative both sides of mouth, hatch door relative both sides and two hatch door slides plug-in connection of every throw the mouth.
According to the unmanned aerial vehicle for putting in emergency rescue equipment, preferably, the cabin door slide ways are inwards provided with grooves, the grooves of the two cabin door slide ways of each projection opening are oppositely arranged, and two sides of the cabin door are inserted into the grooves to be connected with the grooves of the cabin door slide ways in an inserting mode.
An unmanned aerial vehicle system for delivering emergency rescue equipment, comprising: the unmanned aerial vehicle of putting in emergency rescue equipment of on-vehicle ground station system and above-mentioned any, on-vehicle ground station system and the unmanned aerial vehicle communication connection who puts in emergency rescue equipment.
As above, the unmanned aerial vehicle system for releasing emergency rescue equipment, wherein preferably, the vehicle-mounted ground station system comprises a ground station, a remote control device, a main display screen for displaying pictures or videos and an auxiliary display screen for displaying paths, and the ground station host, the remote control device, the main display screen and the auxiliary display screen are all vehicle-mounted devices, the ground station host is in communication connection with the unmanned aerial vehicle body, and the remote control device is in communication connection with the ground station host.
The unmanned aerial vehicle system for releasing emergency rescue equipment as described above, wherein preferably, a wireless communication device is installed on the unmanned aerial vehicle body, and the wireless communication device is in communication connection with the vehicle-mounted ground station system to receive information sent by the vehicle-mounted ground station system or send information to the vehicle-mounted ground station system.
The unmanned aerial vehicle system for releasing emergency rescue equipment as described above, wherein preferably, the wireless communication equipment is divided into wireless data transmitting/receiving equipment and wireless image transmitting/receiving equipment, and the wireless data transmitting/receiving equipment receives control information sent by the remote control equipment of the vehicle-mounted ground station system and path information sent by the ground station host of the vehicle-mounted ground station system; the wireless image transmitting/receiving device transmits the picture or video information shot by the onboard camera to the vehicle-mounted ground station system to be displayed on a main display screen of the vehicle-mounted ground station system.
As above put in unmanned aerial vehicle system of emergency rescue equipment, wherein, preferably, the unmanned aerial vehicle body still has the controller, and the controller is connected with wireless communication equipment.
A people-in-loop emergency rescue equipment releasing method is applied to an unmanned aerial vehicle system of any one of the emergency rescue equipment, and comprises the following steps: step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering; step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment; s330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body; step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system; step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video; step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment; and step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
Compared with the background art, the unmanned aerial vehicle, the system and the method for releasing the emergency rescue equipment can rapidly release the emergency rescue equipment in a full-range coverage manner, reduce the operation conditions corresponding to the release of the emergency rescue equipment, and the vehicle-mounted ground station system can correspondingly move along with the unmanned aerial vehicle body, so that the unmanned aerial vehicle for releasing the emergency rescue equipment can be controlled in a short distance, operators are prevented from directly approaching the scene, and the operation safety is improved; still because unmanned aerial vehicle body and ground station host computer communication connection can fly through the air route that the unmanned aerial vehicle body can plan through the ground station host computer to operating personnel's professional requirement has been reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle system for launching emergency rescue equipment provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an emergency rescue device release cabin provided in an embodiment of the present application;
fig. 3 is a flowchart of a person-in-loop release method for applying an unmanned aerial vehicle system for releasing emergency rescue equipment provided in an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
Referring to fig. 1, fig. 1 is a schematic view of an unmanned aerial vehicle system for launching emergency rescue equipment according to an embodiment of the present application;
the application provides an unmanned aerial vehicle of emergency rescue equipment puts in, as shown in fig. 1, include: unmanned
Wherein,
Referring to fig. 2, fig. 2 is a schematic structural diagram of an emergency rescue device release cabin provided in the embodiment of the present application;
emergency rescue
Specifically, the interior of the emergency rescue
A projection opening is formed in each independent space on the bottom plate of the emergency rescue
Preferably, the space between every two adjacent partition plates inside the emergency rescue
With continued reference to fig. 1, the present application further provides an unmanned aerial vehicle system for delivering emergency rescue equipment, which includes a vehicle-mounted
Specifically, the
In addition, the
The ground station system of the unmanned aerial vehicle system for releasing the emergency rescue equipment is the vehicle-mounted equipment, so that the ground station system can correspondingly move along with the unmanned aerial vehicle body, the unmanned aerial vehicle for releasing the emergency rescue equipment can be controlled in a short distance, direct approach of operators to the site is avoided, and the operation safety is improved; the unmanned aerial vehicle body is in communication connection with the ground station host, so that the unmanned aerial vehicle body can fly by the air route planned by the ground station host, and the professional requirements of operators are reduced; in addition, still because the picture or the video of shooing are shown to the main display screen, vice display screen is used for showing the good route of ground station host computer planning, consequently operating personnel can more audio-visual contrast route and actual flight environment, is favorable to operating personnel to in time carry out the route adjustment according to actual flight environment, for example: adding, modifying and deleting path information.
On the basis, the unmanned aerial vehicle
Unmanned
In addition, the unmanned aerial vehicle system for releasing the emergency rescue equipment further comprises a battery pack, wherein the part of the battery pack, which is arranged on the unmanned
Fig. 3 is a flowchart of a person-in-loop release method for applying an unmanned aerial vehicle system for releasing emergency rescue equipment provided in an embodiment of the present application;
the application also provides a method for releasing the emergency rescue equipment in the human-in-circuit, and an unmanned aerial vehicle system for releasing the emergency rescue equipment comprises the following steps:
step S310, after an unmanned aerial vehicle system for releasing emergency rescue equipment is started, the unmanned aerial vehicle body keeps hovering;
hovering means that the unmanned aerial vehicle body keeps the flight state of the space position basically unchanged at a certain height, at the moment, no path information exists, and the controller of the unmanned aerial vehicle body automatically controls the unmanned aerial vehicle body to ascend and keep hovering to wait for receiving the path information.
And the operator uses the remote control equipment to plan an initial path on the ground station host according to the destination of the task, and then the ground station host sends the initial path information to the controller of the unmanned aerial vehicle body. Step S320, controlling the unmanned aerial vehicle body to fly from a hovering state according to the path information received by the wireless communication equipment;
the controller of unmanned aerial vehicle body is according to the path information that wireless communication equipment received, and the unmanned aerial vehicle body begins to carry out autonomic flight from the state of hovering.
The path information refers to path planning information and includes a whole flight path formed by a series of coordinate points. The ground station host of the vehicle-mounted ground station system sends the information to the controller of the unmanned aerial vehicle body through the wireless communication equipment, and in the autonomous flight process, the controller receives the path information to control the unmanned aerial vehicle body to track planned flight path running through comparing the position, the course angle and the distance and the direction of a coordinate point on the flight path according to an algorithm written in advance in the unmanned aerial vehicle body controller. In addition, still show this route information at the vice display screen of on-vehicle ground station system to the audio-visual route that the unmanned aerial vehicle body will fly of demonstration of operating personnel.
S330, shooting pictures or videos by an airborne camera fixedly installed on the unmanned aerial vehicle body in the flying process of the unmanned aerial vehicle body;
because the unmanned aerial vehicle body carries the flight of airborne camera, consequently the airborne camera can carry out picture or video shooting to the position that unmanned aerial vehicle body flight in-process can be surveyed.
Step S340, sending the shot picture or video to the vehicle-mounted ground station system through the wireless communication equipment, and displaying the picture or video on a main display screen of the vehicle-mounted ground station system;
the received picture or video of main display screen display show to show in real time, so that operating personnel observes the environment that unmanned aerial vehicle body flies in real time, can in time adjust the flight path who plans according to real-time flight environment, and continue to show the path information who has adjusted on the vice display screen of ground station system.
Step S350, controlling the unmanned aerial vehicle body to continuously fly according to the adjusted path information received by the wireless communication equipment, wherein the adjusted path information is adjusted according to the previous path information and the shot picture or video;
the ground station host changes the current path information according to the operation command of the remote control device, displays the changed path information on the auxiliary display screen, and sends the changed path information to the controller of the unmanned aerial vehicle body. The controller of unmanned aerial vehicle body is according to the route information, and control unmanned aerial vehicle body flies along the route that plans.
Step S360, controlling a cabin door of an emergency rescue equipment throwing cabin fixedly installed below the unmanned aerial vehicle body to open after the cabin door reaches a target position in the flying process according to the adjusted path information so as to throw emergency rescue equipment;
in the route information flight in-process after according to the adjustment, after the unmanned aerial vehicle body waited to reach the target location, operating personnel used remote control equipment to send the input command, ground station host computer sent the input command for the controller of unmanned aerial vehicle body, controller control driving machine corotation or reversal, opened the hatch door that emergency rescue equipment put in the cabin to put in the emergency rescue equipment put in the cabin emergency rescue equipment.
And step S370, after the flight task is finished, controlling the unmanned aerial vehicle body to hover or return.
In the application, when an unmanned aerial vehicle system for putting emergency rescue equipment is in a working state, the unmanned aerial vehicle body is prevented from being directly controlled, and an operator can change the path planning of the unmanned aerial vehicle body according to a displayed picture or video to control the unmanned aerial vehicle body to fly autonomously; in addition, an operator can control the unmanned aerial vehicle body to release emergency rescue equipment according to the environment information received by the remote control equipment, so that the release of the rescue equipment is realized at a long distance, the manpower, the financial resources and the material resources are saved to a greater extent, and the rescue cost is reduced; meanwhile, the response speed is high, the requirement on professional operators is low, the operation is fast, and the rescue efficiency is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
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