An intelligent MR rescue helmet with infrared thermal imager

Abstract

The present invention relates to the field of image and emergency rescue technology, and in particular to an intelligent MR rescue helmet with an infrared thermal imager, which comprises a binocular camera and an infrared thermal imager embedded on a helmet shell, an image detection unit and a perception unit arranged inside the helmet shell, an MR display system, a cable, and a handheld terminal; the binocular camera and the infrared thermal imager are connected to the image detection unit through a wire; the image detection unit is connected to the handheld terminal through a cable; the perception unit is connected to the handheld terminal through a cable; the MR display system is connected to the handheld terminal through a cable; the helmet has the advantages of strong functions and good adaptability, can enhance visibility in an environment in smoke at the scene, solve the problem of environmental perception of rescue personnel at the disaster scene, thereby ensuring life safety and improving search and rescue efficiency.

Description

[Technical field]

[0001] The invention relates to the technical field of images and emergency rescue, and in particular to an intelligent MR rescue helmet with an infrared thermal imager. [Background technology]

[0002] With the development of urbanization, people are increasingly concentrated in cities to live and work. At present, most areas in cities are full of high-rise buildings, crowded public places, and compact and complex buildings. In addition, the widespread use of energy such as electricity, oil, and natural gas, as well as changes in address structures, have increased the probability of various disasters and accidents, and the difficulty of rescue has also increased day by day. After a disaster occurs, rescue workers are needed to carry out rescue and relief to minimize the loss of life and property of people in the disaster. However, for rescue workers and commanders, it is urgent to perceive the sudden situation at the disaster site and understand the situation at the disaster site in order to protect the lives of rescue workers and make correct decisions. Helmets are one of the necessary equipment for rescue workers. Traditional rescue helmets have the following problems when used:

[0003] First, the traditional helmet only protects the rescuers' bodies and has a single function. It does not have a communication function, so the rescuers at the disaster site cannot form a whole and carry out orderly rescue work, thereby improving the rescue efficiency.

[0004] Second, traditional helmets do not have a positioning function, which means that the commander at the rescue site cannot optimize the dispatch according to the situation at the disaster site, better command the rescue personnel, and maximize the rescue of the disaster site and save lives and property safety under the premise of ensuring safety. If the positioning function is equipped, the environmental information of the disaster site and the location information of the rescuers can be understood in real time, providing sufficient information for the rescuers to make timely responses to potential dangers. [Summary of the invention]

[0005] The purpose of the present invention is to provide an intelligent MR rescue helmet with an infrared thermal imager in view of the defects and shortcomings of the prior art. The intelligent MR rescue helmet adopts an embedded infrared thermal imager, a visible light camera and various sensors, and can provide real-time MR display for the wearer while superimposing real-time maps and prompt information, and transmit disaster site information and personnel status information to the command end; it has the advantages of strong functions and good adaptability, can enhance visibility in the environment of the scene in the smoke, solve the problem of environmental perception of the disaster site of the rescue personnel, thereby ensuring life safety and improving search and rescue efficiency; it can implement the perception of the situation at the disaster site, including heat sources, smoke, rescue personnel status and location, on-site video, etc.; it also has information transmission function, especially video or image transmission in the case of complex buildings; it can improve the rescue efficiency and the effectiveness of on-site command while protecting the life safety of the rescue personnel.

[0006] The invention discloses an intelligent MR rescue helmet with an infrared thermal imager, which comprises

[0007] The binocular camera and infrared thermal imager embedded in the helmet shell,

[0008] The image detection unit and perception unit are placed inside the helmet shell.

[0009] MR display system,

[0010] cable,

[0011] and handheld terminal;

[0012] The binocular camera and the infrared thermal imager are connected to the image detection unit through wires; the image detection unit is connected to the handheld terminal through a cable; the perception unit is connected to the handheld terminal through a cable; and the MR display system is connected to the handheld terminal through a cable.

[0013] Furthermore, the MR display system is composed of a left-eye MR eyeglass lens, a right-eye MR eyeglass lens, a eyeglass driving circuit 1, a eyeglass driving circuit 2, a LVDS conversion chip 1, a LVDS conversion chip 2, and an auxiliary controller; the auxiliary controller is connected to the eyeglass driving circuit 1 and the eyeglass driving circuit 2 through an IIC bus; the LVDS conversion chip 1 and the LVDS conversion chip 2 are respectively connected to the eyeglass driving circuit 1 and the eyeglass driving circuit 2 through cables.

[0014] Furthermore, the handheld terminal includes an ARM processor, an FPGA circuit, an image interface, a serial port configuration screen, a third LVDS conversion chip, a fourth LVDS conversion chip, a 4G memory chip and a peripheral circuit; the peripheral circuit includes a voice codec chip and a USB hub controller; one end of the ARM processor is electrically connected to the FPGA circuit, and the other end of the ARM processor is electrically connected to the voice codec chip, the 2G memory chip and the USB hub controller; the ARM processor is electrically connected to the image interface through the USB interface; the ARM processor is electrically connected to the auxiliary controller and the serial port configuration screen through the UART interface; the other end of the FPGA circuit is electrically connected to the third LVDS conversion chip, the fourth LVDS conversion chip and the 4G memory chip;

[0015] Furthermore, the MR display method of the MR display system adopts the following steps:

[0016] S1. The image detection module obtains visible light, infrared image signals and thermal imaging through buttons or command control on the handheld terminal; the visible light image uses a binocular camera, and the thermal imager uses an embedded miniature high-sensitivity thermal imager. Specifically, the binocular camera uses 5 million pixels, with a focal length of 9mm, and the thermal imager uses a long-wave infrared thermal imaging camera. The long-wave infrared thermal imaging camera used in this embodiment has 640x512 pixels, which can measure temperature and thermal images, and obtain the location of the fire source, vital signs, and safe passage information in smoke and dark environments;

[0017] S2, the sensing unit obtains environmental information, posture and vital signs information and forms a prompt information image signal in the handheld terminal;

[0018] In specific implementation, the sensing unit transmits the acquired information to the handheld terminal through a cable. After parsing, the handheld terminal compiles the position, posture and environmental information into text information without background and stores it.

[0019] S3, the handheld terminal synthesizes a map information signal according to the internally stored map or the real-time map transmitted by the command terminal;

[0020] In a specific implementation, the handheld terminal shrinks the text information, adds the display location, and then overlays it with the internally stored map or the image of the image sensing unit, and stores it in the memory for transmission to the MR display;

[0021] S4, setting the switching mode of MR display information by handheld, the display mode can be controlled by the command end through instructions, and the display mode is divided into infrared mode, visible light mode, prompt information mixed mode, map information mixed mode and no display mode; in this step, the image signal to be displayed stored in the memory is sent to the FPGA chip of the handheld end through the interface by the ARM processor chip of the handheld end, and after processing, it is divided into left and right frames of images and converted by the LVDS chip to the protocol, and then transmitted to the MR display system. The display mode of the display system is determined by the control command issued by the ARM of the handheld end;

[0022] S5. Rescuers can control the mode conversion of the MR display system through gestures, button switching, background control and voice recognition.

[0023] In this step, the ARM processor chip of the handheld terminal controls the mode of the MR display image according to the gesture recognition algorithm of the visible light image, the buttons of the handheld terminal, the voice recognition algorithm of the handheld terminal, or the wireless communication command from the command system.

[0024] S6. The handheld terminal transmits the image signal of any mode to the command terminal through wireless transmission according to the command, without being restricted by the display mode. Rescuers can choose to turn on or off the MR display according to the situation on the scene.

[0025] Further, in step S4, the display image is obtained by FPGA processing through the following steps, using the following steps:

[0026] S41, the ARM processor sends the image to be displayed to the FPGA chip through the LCD_RGB interface and caches it;

[0027] S42, the FPGA circuit corrects, stereoscopically converts, and color-converts the image to be displayed to meet the display requirements of the MR display system, then synthesizes the left and right frame images and accelerates the frame rate to 60 Hz.

[0028] S43, the FPGA circuit converts the converted left and right frame images into the interface standard of the MR display system through the LVDS conversion chip 7, and transmits them to the MR display system through the cable.

[0029] Furthermore, the sensing unit includes a 9-axis gyroscope, a vital sign sensor and a gas sensor.

[0030] Furthermore, the LVDS conversion chip 1 and the LVDS conversion chip 2 are high-speed LVDS chips, and the deserializer chip model is DS90UB926Q-Q1.

[0031] Furthermore, the glasses driving circuit 1 is an OVP0921 chip; and the glasses driving circuit 2 is an ISL97901 chip.

[0032] Furthermore, the ARM processor is a high-performance ARM processor with more than 2 cores, and the model is Samsung quad-core Cortex-A9 Exynos4412 processor.

[0033] Furthermore, the FPGA circuit is a high-performance, low-power FPGA chip with 300,000 gates and an I / O speed greater than 150 MHz, and the chip model is XC6SLX45T.

[0034] Furthermore, the LVDS conversion chip three and the LVDS conversion chip four are high-speed LVDS chips, and the encoder chip model is DS90UB925Q-Q1.

[0035] Furthermore, the voice codec chip is a WM8960 chip.

[0036] Furthermore, the USB hub controller is a GL850A chip with an embedded 8-bit RISC processor.

[0037] After adopting the above structure, the beneficial effects of the present invention are as follows: the intelligent MR rescue helmet with an infrared thermal imager described in the present invention adopts an embedded infrared thermal imager, a visible light camera and various sensors, which can provide real-time MR display for the wearer while superimposing real-time maps and prompt information, and transmit disaster site information and personnel status information to the command end; it has the advantages of strong functions and good adaptability, can enhance visibility in the environment of the scene in the smoke, solve the environmental perception problem of the disaster site of the rescue personnel, and thus ensure life safety and improve search and rescue efficiency; it can implement the perception of the situation at the disaster site, including heat sources, smoke, rescue personnel status and location, on-site video, etc.; it also has information transmission function, especially video or image transmission in the case of complex buildings; it can improve the rescue efficiency and the effectiveness of on-site command while protecting the life safety of the rescue personnel.

Brief Description of the Drawings

[0038] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application, but do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 It is a structural block diagram of the intelligent MR rescue helmet of the present invention;

[0040] Figure 2 is a schematic diagram of the structure of the MR display system in the present invention;

[0041] Figure 3 is a schematic diagram of the structure of the handheld terminal in the present invention;

[0042] Figure 4 is a schematic flow chart of the display method in the present invention;

[0043] Figure 5 yes Figure 4 Specific flow chart of step S4 in FIG. [Specific implementation method]

[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the illustrative embodiments and descriptions are only used to explain the present invention but are not intended to limit the present invention.

[0045] like Figure 1As shown, the smart MR rescue helmet with an infrared thermal imager described in this specific embodiment includes a handheld terminal z7, an image detection unit z3, a perception unit z4 and an MR display system z5; the handheld terminal is used to manage and control various information of the sensor; receives and parses the control instructions of the command system, and transmits the collected images, environment, vital signs and other information to the command system of the helmet; is responsible for processing the image information of the MR display system; the image detection unit includes an infrared thermal imager z2 and a visible light camera, the visible light camera is a binocular camera z1, which is used to collect images and thermal image information of the disaster site; the perception unit includes a 9-axis gyroscope, a vital sign sensor and a gas sensor, which are used to perceive environmental information, posture and vital sign information; the MR display system provides near-eye information display for rescue personnel, and can display images of the image detector, instructions of the command system, map information, etc.

[0046] Furthermore, the MR display system z5 is composed of a left-eye MR eyeglass z511, a right-eye MR eyeglass z512, an eyeglass drive circuit 1 z521, an eyeglass drive circuit 2 z522, an LVDS conversion chip 1 z531, an LVDS conversion chip 2 z532, and an auxiliary controller z54;

[0047] The auxiliary controller z54 is connected to the glasses driving circuit 1 z521 and the glasses driving circuit 2 z522 through the IIC bus to set the brightness, contrast and whether to display images of the glasses;

[0048] The LVDS conversion chip z531 and the LVDS conversion chip z532 are respectively connected to the glasses driving circuit z521 and the glasses driving circuit z522 through the cable Z6; the LVDS conversion chip z531 and the LVDS conversion chip z532 convert the LVDS image signal transmitted by the handheld terminal into an RGB signal and transmit it to the glasses driving circuit z521 and the glasses driving circuit z522; the glasses driving circuit z521 and the glasses driving circuit z522 respectively drive the left-eye MR glasses lens z511 and the right-eye MR glasses lens z512 to realize the display of the image.

[0049] Further, the handheld terminal includes an ARM processor z71, an FPGA circuit z72, an image interface z73, a serial port configuration screen z74, a LVDS conversion chip three z75, a LVDS conversion chip four z77, a 4G memory chip z76 and a peripheral circuit; the peripheral circuit includes a voice codec chip and a USB hub controller; one end of the ARM processor z71 is electrically connected to the FPGA circuit z72, and the other end of the ARM processor z71 is electrically connected to the voice codec chip, the 2G memory chip, and the USB hub controller; the ARM processor z71 is electrically connected to the image interface z73 through the USB interface; the ARM processor z71 is electrically connected to the auxiliary controller z54 and the serial port configuration screen z74 through the UART interface; the other end of the FPGA circuit z72 is electrically connected to the LVDS conversion chip three z75, the LVDS conversion chip four z77 and the 4G memory chip z76;

[0050] As a preferred embodiment of the present invention, the LVDS conversion chip z531 and the LVDS conversion chip z532 are high-speed LVDS chips, and the deserializer chip model is DS90UB926Q-Q1.

[0051] As a preferred embodiment of the present invention, the glasses driving circuit one z521 is an OVP0921 chip; the glasses driving circuit two z522 is an ISL97901 chip.

[0052] As a preferred embodiment of the present invention, the ARM processor z71 is a high-performance ARM processor with more than 2 cores, and its model is Samsung quad-core Cortex-A9 Exynos4412 processor.

[0053] As a preferred embodiment of the present invention, the FPGA circuit z72 is a high-performance, low-power FPGA chip with 300,000 gates and an I / O speed greater than 150 MHz, and the chip model is XC6SLX45T.

[0054] As a preferred embodiment of the present invention, the LVDS conversion chip three z75 and the LVDS conversion chip four z77 are high-speed LVDS chips, and the encoder chip model is DS90UB925Q-Q1.

[0055] As a preferred embodiment of the present invention, the voice codec chip is a WM8960 chip.

[0056] As a preferred embodiment of the present invention, the USB hub controller is a GL850A chip with an embedded 8-bit RISC processor.

[0057] The working principle of the present invention is as follows:

[0058] like Figure 1As shown, it is a structural block diagram of an intelligent MR rescue helmet with an infrared thermal imager;

[0059] The intelligent MR rescue helmet with infrared thermal imager of the embodiment of the present invention comprises a binocular camera z1 and an infrared thermal imager z2 embedded in the helmet shell z00, an image detection unit z3 and a sensing unit z4 arranged inside the helmet shell, an MR display system z5, a connecting cable z6 and a handheld terminal z7;

[0060] Among them, binocular camera z1 and infrared thermal imager z2 are embedded in the helmet shell z00; image detection unit z3 and perception unit z4 are placed inside the helmet shell; binocular camera z1 and infrared thermal imager z2 are connected to image detection unit z3 through wires; the image detection unit z3 is connected to handheld terminal z7 through cable z6; the perception unit z4 is connected to handheld terminal z7 through cable z6; the MR display system z5 is connected to handheld terminal z7 through cable z6. The image signals collected by binocular camera z1 and infrared thermal imager z2 are synthesized by image detection unit z3 and transmitted to handheld terminal z7 by cable z6 to complete image collection; handheld terminal z7 transmits the collected images to MR display system z5 and the command end of the helmet through cable z6 or antenna according to the set display mode and working mode. MR display system z5 will display thermal images, visible light images, map information and prompt command information as needed.

[0061] Continue to refer Figure 2 In this embodiment, the MR display system z5 is composed of left and right MR glasses z511, z512, glasses driving circuits z521, z522, LVDS conversion chips z531, z532 and an auxiliary controller z54.

[0062] The auxiliary controller z54 is connected to the glasses driving circuits z521 and z522 through the IIC bus to set the brightness, contrast and whether to display images of the glasses; the LVDS conversion chips z531 and z532 convert the LVDS image signals transmitted by the handheld into RGB signals and transmit them to the glasses driving circuits z521 and z522. The glasses driving circuits respectively drive the left and right MR glasses z511 and z512 to display the images.

[0063] Specifically, during the specific implementation, the LVDS conversion chips z531 and z532 are both high-speed LVDS chips. The specific implementation time uses the DS90UB926Q-Q1 deserializer chip to recover the video signals of the left and right eyes respectively, wherein each LVDS recovers 8-bit RGB data, 3 video control signals and 4 synchronous IIS audio signals, and extracts the clock signal from the high-speed serial data stream to achieve a transmission rate of 1080p and 60 frames per second. The glasses driving circuits z521 and z522 can use OVP0921 and ISL97901 to provide video signals and LED backlight driving for the left and right MR glasses z511 and z512 respectively.

[0064] like Figure 3 In this embodiment, the handheld terminal z7 is composed of an ARM processor z71, a serial port configuration screen z74, LVDS conversion chips z75 and z77, a memory chip z76 and other interface circuits.

[0065] Among them, the ARM processor z71 is connected to the image interface z74 through the USB interface, and controls the image detection unit z3 to obtain thermal images and visible light images. After the background separation and information fusion processing, the acquired images are controlled by the LCD_RGB, CMA_DCMI, and UART interfaces and transmitted to the display storage composed of the FPGA circuit z72.

[0066] Among them: ARM processor z71 is connected to image interface z73 through USB interface, controls image detection unit z3 to obtain thermal image and visible light image. After background separation and information fusion processing, the acquired image is controlled by LCD_RGB, CMA_DCMI and UART interface and transmitted to display storage composed of FPGA circuit z72.

[0067] Among them: FPGA circuit z72, LVDS conversion chip three z75, LVDS conversion chip four z77, and memory chip z76 constitute the display adapter of MR display system z5. The image signal transmitted by ARM processor z71 is first stored in 4G memory chip z76, and FPGA circuit z72 synthesizes the stored image into left and right frames and accelerates the frame rate to 60Hz. FPGA circuit z72 then corrects, stereoscopically converts, and color-converts the synthesized image to meet the display needs of MR display system z5. Finally, the left and right frame images converted by FPGA circuit z72 are converted into the interface standard of MR display system z5 through LVDS conversion chip three z75 and LVDS conversion chip four z77, and transmitted to MR display system z5 by cable z6.

[0068] Specifically, the ARM processor z71 is a high-performance ARM processor with more than 2 cores during the specific implementation. The Samsung quad-core Cortex-A9Exynos4412 processor is used to realize image acquisition, perception unit signal processing, display information overlay, communication control and command parsing, wherein the image acquisition is 60 frames / s, the perception unit signal includes environmental information, vital signs and position posture, the display information includes map storage, call and overlay, and the communication and command control is responsible for mode switching and command and control command parsing. The peripheral circuit stereo codec of the ARM processor z71 at the specific implementation time adopts the WM8960 chip, and uses low-power oversampling digital interpolation and extraction filters to realize stereo 24-bit Σ-Δ ADC and DAC; the USB hub controller adopts the GL850A chip with an embedded 8-bit RISC processor.

[0069] Specifically, during the specific implementation, the FPGA circuit z72 is a high-performance, low-power FPGA chip with 300,000 gates and an I / O speed greater than 150MHz. During the specific implementation, the XC6SLX45T chip is used to realize multi-voltage, differential pair data transmission at a rate of 300Mb / s, and the DDR3 data rate is 600Mb / s. The LVDS conversion chips z75 and z77 are both high-speed LVDS chips. During the specific implementation, the DS90UB925Q-Q1 encoder chip is used to perform parallel-to-serial conversion on the left and right eye video signals respectively, and convert 8-bit RGB data, 3 video control signals, and 4 synchronous IIS audio signals into high-speed serial data streams.

[0070] like Figure 4 , is a flow chart of the display method of the intelligent MR rescue helmet with infrared thermal imager in the present invention, the MR display method comprises steps S1 to S6:

[0071] S1, the image detection module obtains visible light, infrared image signals and thermal imaging through buttons or command control on the handheld terminal;

[0072] The visible light image of this embodiment adopts a binocular camera, and the thermal imager adopts an embedded miniature high-sensitivity thermal imager. Specifically, the binocular camera adopts 5 million pixels and a focal length of 9mm, and the thermal imager adopts a long-wave infrared (LWIR) thermal imaging camera. The long-wave infrared (LWIR) thermal imaging camera used in this embodiment has 640x512 pixels, which can measure temperature and thermal images, and obtain the location of the fire source, vital signs, and safe passage information in smoke and dark environments.

[0073] S2, the sensing unit obtains environmental information, posture and vital signs information and forms a prompt information image signal in the handheld terminal;

[0074] In specific implementation, the sensing unit transmits the acquired information to the handheld terminal through a cable. After parsing, the handheld terminal compiles the position, posture and environmental information into text information without background and stores it.

[0075] S3, the handheld terminal synthesizes a map information signal according to the internally stored map or the real-time map transmitted by the command terminal;

[0076] In specific implementation, the handheld terminal shrinks the text information, adds the display location, and then overlays it with the internally stored map or the image of the image perception unit, and stores it in the memory for transmission to the MR display.

[0077] S4. Set the switching mode of MR display information by handheld. The display mode can be controlled by the command end through instructions. The display mode is divided into infrared mode, visible light mode, prompt information mixed mode, map information mixed mode and no display mode. In this step, the image signal to be displayed stored in the memory is sent to the FPGA chip of the handheld end through the interface by the ARM processor chip of the handheld end. After processing, it is divided into left and right frames of images and converted by the LVDS chip. The protocol is transmitted to the MR display system. The display mode of the display system is determined by the control command issued by the ARM of the handheld end.

[0078] In step S4, Figure 5 As shown, through the following steps S41-S43, the display image is obtained by FPGA processing:

[0079] S41, the ARM processor sends the image to be displayed to the FPGA chip through the LCD_RGB interface and caches it;

[0080] S42, the FPGA circuit corrects, stereoscopically converts, and color-converts the image to be displayed to meet the display requirements of the MR display system, then synthesizes the left and right frame images and accelerates the frame rate to 60 Hz.

[0081] S43, the FPGA circuit converts the converted left and right frame images into the interface standard of the MR display system through the LVDS conversion chip 7, and transmits them to the MR display system through the cable.

[0082] S5. Rescuers can control the mode conversion of the MR display system through gestures, button switching, background control and voice recognition.

[0083] In this step, the ARM processor chip of the handheld terminal controls the mode of the MR display image according to the gesture recognition algorithm of the visible light image, the buttons of the handheld terminal, the voice recognition algorithm of the handheld terminal, or the wireless communication command from the command system.

[0084] S6. The handheld terminal transmits the image signal of any mode to the command terminal through wireless transmission according to the command, without being restricted by the display mode. Rescuers can choose to turn on or off the MR display according to the situation on the scene.

[0085] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An intelligent MR rescue helmet with an infrared thermal imager, characterized in that: It includes a binocular camera and an infrared thermal imager embedded in the helmet shell, an image detection unit and a perception unit placed inside the helmet shell, an MR display system, a cable and a handheld terminal; The binocular camera and the infrared thermal imager are connected to the image detection unit through wires; the image detection unit is connected to the handheld terminal through a cable; the perception unit is connected to the handheld terminal through a cable; and the MR display system is connected to the handheld terminal through a cable; The MR display method of the MR display system adopts the following steps: S1. The image detection module obtains visible light, infrared image signals and thermal imaging through buttons or command control on the handheld terminal; the visible light image uses a binocular camera, and the thermal imager uses an embedded micro high-sensitivity thermal imager; S2, the sensing unit obtains environmental information, posture and vital signs information and forms a prompt information image signal in the handheld terminal; S3, the handheld terminal synthesizes a map information signal according to the internally stored map or the real-time map transmitted by the command terminal; S4. Setting the switching mode of MR display information by handheld operation. The display mode is controlled by the command end through commands. The display modes are divided into infrared mode, visible light mode, prompt information mixed mode, map information mixed mode and no display mode. S5, rescuers control the mode conversion of the MR display system through gestures, key switching, background control and voice recognition; S6. The handheld terminal transmits the image signal of any mode to the command terminal through wireless transmission according to the command, without being restricted by the display mode. The rescue personnel can choose to turn on or off the MR display according to the situation on the scene.

2. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: In step S2, the sensing unit transmits the acquired information to the handheld terminal via a cable. After parsing, the handheld terminal compiles the position, posture and environment information into text information without background and stores it.

3. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: In step S3, the handheld terminal shrinks the text information, adds the display location, and then overlays it with the internally stored map or the image of the image sensing unit, and stores it in the memory for transmission to the MR display.

4. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: In step S4, the image signal to be displayed stored in the memory is sent by the ARM processor chip of the handheld terminal to the FPGA chip of the handheld terminal through the interface. After processing, it is divided into left and right frames of images and the LVDS chip performs protocol conversion and transmits it to the MR display system. The display mode of the display system is determined by the control command issued by the ARM of the handheld terminal.

5. The intelligent MR rescue helmet with infrared thermal imager according to claim 4, characterized in that: In step S4, the display image is obtained by FPGA processing through the following steps: S41, the ARM processor sends the image to be displayed to the FPGA chip through the LCD_RGB interface and caches it; S42, the FPGA circuit corrects, stereoscopically converts, and color-converts the image to be displayed to meet the display requirements of the MR display system, then synthesizes the left and right frame images, and accelerates the frame rate to 60 Hz; S43, the FPGA circuit converts the converted left and right frame images into the interface standard of the MR display system through the LVDS conversion chip, and transmits them to the MR display system through the cable.

6. The intelligent MR rescue helmet with infrared thermal imager according to claim 4, characterized in that: In step S5, the ARM processor chip of the handheld terminal controls the mode of the MR display image according to the gesture recognition algorithm of the visible light image or the buttons of the handheld terminal or the voice recognition algorithm of the handheld terminal or the wireless communication command from the command system.

7. The intelligent MR rescue helmet with infrared thermal imager according to claim 1, characterized in that: The MR display system consists of a left-eye MR eyeglass lens, a right-eye MR eyeglass lens, a eyeglass driving circuit 1, a eyeglass driving circuit 2, a LVDS conversion chip 1, a LVDS conversion chip 2, and an auxiliary controller; the auxiliary controller is connected to the eyeglass driving circuit 1 and the eyeglass driving circuit 2 through an IIC bus; the LVDS conversion chip 1 and the LVDS conversion chip 2 are respectively connected to the eyeglass driving circuit 1 and the eyeglass driving circuit 2 through cables.

8. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: The handheld terminal includes an ARM processor, an FPGA circuit, an image interface, a serial port configuration screen, a third LVDS conversion chip, a fourth LVDS conversion chip, a 4G memory chip and a peripheral circuit; the peripheral circuit includes a voice codec chip and a USB hub controller; one end of the ARM processor is electrically connected to the FPGA circuit, and the other end of the ARM processor is electrically connected to the voice codec chip, the 2G memory chip and the USB hub controller; the ARM processor is electrically connected to the image interface through the USB interface; the ARM processor is electrically connected to the auxiliary controller and the serial port configuration screen through the UART interface; the other end of the FPGA circuit is electrically connected to the third LVDS conversion chip, the fourth LVDS conversion chip and the 4G memory chip.

9. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: The sensing unit includes a 9-axis gyroscope, a vital sign sensor and a gas sensor.

10. The intelligent MR rescue helmet with an infrared thermal imager according to claim 1, characterized in that: The binocular camera uses 5 million pixels and a focal length of 9mm; the infrared thermal imager uses a 640x512 pixel long-wave infrared thermal imaging camera to measure temperature and thermal images.

Images