Multi-sensing-module-fused low-altitude security monitoring unmanned aerial vehicle system

Abstract

The invention provides a multi-sensing-module-fused low-altitude security and protection monitoring unmanned aerial vehicle system, and aims to solve the defects of low-altitude security and protection monitoring in the prior art. The system comprises a carbon fiber machine body shell, a control module is arranged above the carbon fiber machine body shell, and a visual sensing module, a camera module and a camera lens module are installed in a front-end groove hole; a situation awareness module is connected inside the unmanned aerial vehicle frame body module, and millimeter wave radars are mounted on two sides of the unmanned aerial vehicle frame body module through radar mounting frames. An oval hole is formed in a front plate of the carbon fiber machine body shell and used for installing an infrared thermal imager. The battery power supply module supplies power to the system, and the circuit board integrates a GPS module, an image transmission module and a plurality of functional modules. The rotorcrafts on the two sides are matched with brushless motors and propellers to achieve flight. Through multi-sensor fusion, monitoring areas can be sensed comprehensively, images and target distance information can be collected and transmitted to a ground control station, efficient low-altitude security and protection monitoring is achieved, and the system has the advantages of being high in integration level, high in protection performance and safe in data.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude security monitoring. Specifically, it relates to a low-altitude security monitoring drone system integrating multiple sensing modules. Background Art

[0002] In today's society, low-altitude security monitoring plays a crucial role in many fields, such as park security, construction site supervision, and border patrol scenarios. With the development of technology, drones have gradually become an important tool for low-altitude security monitoring due to their flexibility and maneuverability. However, existing low-altitude security monitoring drone systems still have many deficiencies in practical applications.

[0003] Existing drone systems lack efficient integration in structural design, and each functional module is often scattered, resulting in a relatively large overall volume of the drone, which is not convenient for carrying and rapid deployment. Moreover, the materials used are mostly ordinary metals or plastics, with a relatively large weight, which not only increases the energy consumption of the drone but also seriously affects its battery life and flight flexibility, making it difficult to meet the requirements of long-term and large-scale security monitoring.

[0004] Some drones do not pay enough attention to the protection of internal modules during design and lack effective buffering and shock-absorbing measures. During flight, due to vibration and collision factors, internal electronic devices are prone to failure, reducing the reliability and stability of the system and increasing the maintenance cost and usage risk.

[0005] Most existing security monitoring drones are only equipped with a single type of sensor, such as only using a visible light camera for monitoring. This single sensing method has obvious limitations. In adverse weather conditions (such as fog, rain, snow) or low light conditions, the imaging effect of the visible light camera will be severely affected, and it is impossible to clearly capture target information, resulting in monitoring blind spots and reducing the accuracy and reliability of security monitoring.

[0006] Even if some drones are equipped with multiple sensors, these sensors often work independently and lack an effective data fusion mechanism. The data collected by different sensors cannot be integrated and analyzed, making it impossible for the system to comprehensively and multi-level sense the monitored area, accurately judge the characteristics and behaviors of targets, and timely discover potential security hazards.

[0007] Existing drone systems have limited data storage capacity and cannot store a large amount of monitoring data for a long time. Moreover, they lack effective data analysis means and are difficult to extract valuable information from the massive data, which is not conducive to in-depth investigation and analysis of security incidents and cannot provide strong support for subsequent security decisions.

[0008] During data transmission, some drone systems do not encrypt the data, which easily leads to data being stolen or tampered with during transmission, posing serious data security risks and failing to meet the strict requirements for data confidentiality and integrity in the field of security monitoring.

[0009] The communication methods of some drone systems are relatively single, and the wireless communication signals are easily interfered by the outside world, resulting in unstable communication, data loss or transmission delay. This makes it impossible for the ground control station to obtain the status information and monitoring data of the drone in a timely and accurate manner, and it is also difficult to control the drone in real time and effectively, affecting the execution effect of the security monitoring task.

[0010] Existing drone systems lack sufficient flexibility in control. They often can only fly along a preset fixed route and cannot be adjusted in real time according to the actual situation. When encountering emergencies or changes in monitoring requirements, they cannot change the flight route and monitoring strategy in a timely manner, making it difficult to adapt to the complex and changeable security monitoring environment. Therefore, we make improvements and propose a low-altitude security monitoring drone system with multi-sensor module fusion. Summary of the Invention

[0011] The purpose of the present invention is to address the problems raised in the current background technology. To achieve the above invention purpose, the present invention provides the following technical solutions: A low-altitude security monitoring drone system with multi-sensor module fusion, including a carbon fiber fuselage shell, and a control module arranged above the carbon fiber fuselage shell. A visual sensing module camera module is installed in the front slot of the control module. A camera lens module is fixed inside the cylinder of the visual sensing module camera module, and a protective film is covered on the lens of the camera lens module to protect the lens. A drone frame module is arranged below the carbon fiber fuselage shell, and a situation awareness module is electrically connected inside the drone frame module.

[0012] As a preferred technical solution of the present invention, radar mounting brackets are fixed on both sides of the drone frame module, and millimeter-wave radars are installed on the radar mounting brackets.

[0013] As a preferred technical solution of the present invention, a protective inner shell is connected between the carbon fiber fuselage shell and the drone frame module, and a battery power supply module is electrically connected to the tail of the drone frame module.

[0014] As a preferred technical solution of the present invention, a circuit board is electrically installed above the battery power supply module.

[0015] As a preferred technical solution of the present invention, a GPS module and a video transmission module are electrically installed at the lower right corner of the circuit board, and a port connection module is connected to the lower left corner. Conductive copper wires are provided inside the port connection module.

[0016] As a preferred technical solution of the present invention, a storage module is electrically installed at the upper right corner of the circuit board, and a data encryption module is electrically connected to the upper left corner symmetrical thereto.

[0017] As a preferred technical solution of the present invention, a wireless communication antenna is electrically installed on the rear edge of the circuit board, and a wireless communication module is installed on the top of the wireless communication antenna.

[0018] As a preferred technical solution of the present invention, an elliptical hole is provided on the front plate of the carbon fiber fuselage shell, an infrared thermal imager is installed in the elliptical hole, and the visual sensor module, the camera module, and the infrared thermal imager are connected to the image transmission module through a circuit line.

[0019] As a preferred technical solution of the present invention, rotorcrafts are respectively installed on both sides of the carbon fiber fuselage shell, and a brushless motor is fixed on the other end of the rotorcraft.

[0020] As a preferred technical solution of the present invention, a rotating shaft is embedded in the power output end of the brushless motor, and a propeller is embedded on the outer shaft of the rotating shaft.

[0021] Compared with the prior art, the invention has the following beneficial effects: the carbon fiber fuselage shell used in the invention has the characteristics of high strength and light weight. It can provide reliable physical protection for each module inside the drone to resist collisions and minor impacts during flight, and significantly reduce the overall weight of the drone. The lightweight design helps to improve the flight performance of the drone, such as increasing the endurance time and improving flight flexibility.

[0022] Each module is compactly integrated into the fuselage, such as the control module, visual sensor module, camera module, and situational awareness module, which are arranged in an orderly manner, realizing multiple functions in a limited space, reducing the size of the drone and facilitating carrying and deployment.

[0023] The system of the present invention integrates multiple sensors such as visual sensor module, camera module, millimeter wave radar, and infrared thermal imager. The visual sensor module, camera module and camera lens module can provide high-resolution visible light images during the day, clearly capture the appearance characteristics and behavior information of the target, and are suitable for scenes of personnel identification and object monitoring.

[0024] Millimeter-wave radar can monitor the distance, speed and angle of the target in real time, and can accurately detect the dynamic information of surrounding objects even in bad weather (such as fog, rain, snow) or low light conditions, effectively making up for the shortcomings of visual sensors in special environments.

[0025] Infrared thermal imagers utilize the infrared radiation characteristics of objects to detect hidden targets at night or in concealed environments, such as personnel lurking and equipment overheating. Through the fusion of multi-sensor data, the situation awareness module can comprehensively and multi-levelly perceive the monitored area, greatly improving the accuracy and reliability of security monitoring.

[0026] The circuit board of the present invention integrates functional modules such as a GPS module, an image transmission module, a storage module, and a data encryption module. The GPS module provides accurate positioning information for the drone, ensuring that it flies along a preset route and accurately feedbacks its current position, facilitating the ground control personnel to grasp the dynamics of the drone in real time.

[0027] The image transmission module can transmit the image data collected by the visual sensing module's camera module and the infrared thermal imager to the ground control station in real time and stably, enabling the operator to timely obtain the latest situation of the monitored area. The storage module can locally store the collected data, facilitating subsequent playback and analysis, and providing strong evidence support for the investigation and handling of security incidents.

[0028] The data encryption module encrypts the transmitted and stored data, ensuring the security and privacy of the data, preventing the data from being stolen or tampered with during transmission, and meeting the strict requirements for data security in the field of security monitoring.

[0029] The wireless communication module of the present invention establishes a communication connection with the ground control station through a wireless communication antenna, realizing remote control and data interaction. The operator can adjust the flight route and sensor working mode of the drone in real time through the control station on the ground, flexibly responding to different security monitoring requirements.

[0030] The port connection module is internally provided with conductive copper wires, providing a wired connection method. In some special cases, such as when high-speed data transmission is required or in-depth debugging of the drone is needed, it can be connected to external devices through the port connection module, enhancing the scalability and flexibility of the system.

[0031] The battery power supply module of the present invention provides stable power supply for the drone, ensuring the normal operation of each module. A reasonable power management design helps to extend the service life of the battery and the flight duration of the drone, improving the practicality and working efficiency of the system.

[0032] The protective inner shell is connected between the carbon fiber fuselage shell and the drone frame module, playing a role of buffering and shock absorption, reducing the impact of vibrations generated during flight on the internal modules, protecting the stability and reliability of the internal electronic devices, and reducing the risk of equipment failure caused by vibrations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1Structural schematic diagram provided by the present invention;

[0034] Figure 2 Partial structural schematic diagram provided by the present invention;

[0035] Figure 3 Partial structural schematic diagram provided by the present invention;

[0036] Figure 4 Internal structural schematic diagram provided by the present invention;

[0037] Figure 5 Top view structural schematic diagram provided by the present invention.

[0038] Labels in the figure:

[0039] 1. Carbon fiber fuselage shell; 2. Control module; 3. Visual sensing module camera module; 4. Camera lens module; 5. UAV frame module; 6. Situation awareness module; 7. Radar mounting bracket; 8. Millimeter wave radar; 9. Protective inner shell; 10. Battery power supply module; 11. Circuit board; 12. GPS module; 13. Video transmission module; 14. Port connection module; 15. Storage module; 16. Data encryption module; 17. Wireless communication antenna; 18. Wireless communication module; 19. Infrared thermal imager; 20. Rotorcraft; 21. Brushless motor; 22. Rotating shaft; 23. Propeller. Specific implementation manners

[0040] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present invention.

[0041] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed present invention, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. It should be noted that, without conflict, the embodiments and the features and technical solutions in the embodiments of the present invention can be combined with each other. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0042] Embodiment 1: A low-altitude security monitoring UAV system with multi-sensor module fusion, including a carbon fiber fuselage shell 1, and a control module 2 arranged above the carbon fiber fuselage shell 1. A visual sensing module camera module 3 is installed in the front slot of the control module 2. A camera lens module 4 is fixed inside the cylinder of the visual sensing module camera module 3. A UAV frame module 5 is arranged below the carbon fiber fuselage shell 1. A situation awareness module 6 is electrically connected inside the UAV frame module 5. Radar mounting brackets 7 are fixed on both sides of the UAV frame module 5, and millimeter-wave radars 8 are installed on the radar mounting brackets 7.

[0043] A protective inner shell 9 is connected between the carbon fiber fuselage shell 1 and the UAV frame module 5. Among them, a battery power supply module 10 is electrically connected to the tail of the UAV frame module 5.

[0044] A circuit board 11 is electrically installed above the battery power supply module 10. A GPS module 12 and a video transmission module 13 are electrically installed at the lower right corner of the circuit board 11, while a port connection module 14 is connected to the lower left corner, and conductive copper wires are provided inside the port connection module 14. A storage module 15 is electrically installed at the upper right corner of the circuit board 11, and a data encryption module 16 is electrically connected to the symmetric upper left corner. A wireless communication antenna 17 is electrically installed on the tail edge of the circuit board 11, and a wireless communication module 18 is installed at the top of the wireless communication antenna 17.

[0045] An elliptical hole is provided on the front plate of the carbon fiber fuselage shell 1, and an infrared thermal imager 19 is installed in the elliptical hole. The visual sensing module camera module 3 and the infrared thermal imager 19 are connected to the video transmission module 13 through circuit wires. Rotorcraft 20 are respectively installed on both sides of the carbon fiber fuselage shell 1. A brushless motor 21 is fixed at the other end of the rotorcraft 20. A rotating shaft 22 is embedded at the power output end of the brushless motor 21, and a propeller 23 is nested on the outer shaft of the rotating shaft 22.

[0046] Working principle of the low-altitude security monitoring UAV system with multi-sensor module fusion:

[0047] 1. Power drive: The battery power supply module 10 provides power support for the entire UAV system. It delivers the stored electrical energy to the circuit board 11, and the circuit board 11 reasonably distributes the electrical energy to each module.

[0048] After receiving the electrical energy from the circuit board 11, the brushless motor 21 starts to operate, and the rotating shaft 22 at its power output end rotates accordingly, driving the propeller 23 nested on the outer shaft of the rotating shaft 22 to rotate. The rotation of the propeller 23 generates lift, enabling the UAV to take off, hover, fly and land.

[0049] 2. Environmental perception: The visual sensing module camera module 3 takes pictures of the surrounding environment through the camera lens module 4 fixed inside its cylinder to obtain visible light image information.

[0050] The millimeter-wave radar 8 is installed on the radar mounting bracket 7, emits millimeter-wave signals and receives the reflected signals. By analyzing the time and frequency parameters of the signals, it measures the distance, speed and angle information of the target, and realizes the detection and positioning of surrounding objects.

[0051] The infrared thermal imager 19 is installed in the oval hole on the front panel of the carbon fiber fuselage shell 1. By detecting the infrared radiation emitted by the object, it generates a thermal imaging image, which can detect the thermal characteristics of the target at night or under low light conditions, and is used to monitor people, animals and heating objects.

[0052] The situation awareness module 6 is installed inside the drone frame module 5, collects and integrates data from multiple sensors such as the vision sensing module camera module 3, the millimeter-wave radar 8, and the infrared thermal imager 19, and comprehensively perceives and analyzes the situation around the drone.

[0053] 3. Data Processing and Storage: The image data obtained by the vision sensing module camera module 3 and the infrared thermal imager 19 is transmitted to the video transmission module 13 through circuit lines. At the same time, the data of the millimeter-wave radar 8 and the situation awareness module 6 are also transmitted to the circuit board 11 for processing.

[0054] The storage module 15 is used to store the data collected by various sensors and the processed information, which is convenient for subsequent viewing and analysis. The data encryption module 16 encrypts the transmitted and stored data to ensure the security and privacy of the data and prevent the data from being stolen or tampered with during the transmission process.

[0055] 4. Positioning and Communication: The GPS module 12 receives satellite signals to determine the geographical location information of the drone, providing support for the navigation and positioning of the drone.

[0056] The wireless communication module 18 communicates with the ground control station or other devices through the wireless communication antenna 17, sends out the data and status information collected by the drone, and at the same time receives the instructions from the ground control station to achieve remote control and data interaction. The port connection module 14 is internally provided with conductive copper wires, which can be used for wired connection with other devices to achieve data transmission and exchange, for example, when the drone needs to be debugged, upgraded or data backed up.

[0057] 5. Flight Control: The control module 2, as the core control unit of the drone, receives data from various sensors and instructions from the ground control station, and precisely controls the flight attitude, speed and altitude of the drone according to the preset algorithms and programs. It adjusts the rotation state of the propeller 23 by controlling the rotation speed and direction of the brushless motor 21, thereby realizing the stable flight and various flight actions of the drone.

[0058] 6. Protection Design: The carbon fiber fuselage shell 1 provides strong external protection for the drone, reduces the weight of the drone, and has good strength and corrosion resistance. The protective inner shell 9 is connected between the carbon fiber fuselage shell 1 and the drone frame module 5, playing a role in buffering and protecting the internal modules, and reducing the impact of vibrations and shocks that may be encountered during flight on the internal equipment.

[0059] Functions such as visual sensing module and millimeter-wave radar data fusion, Kalman filtering of GPS positioning data, and data encryption and storage are implemented in Python language. The relevant algorithms for some modules are as follows:

[0060] ```python

[0061] import numpy as np

[0062] from Crypto.Cipher import AES

[0063] from Crypto.Util.Padding import pad

[0064] 1. Weighted Average Method for Visual Sensing Module and Millimeter-Wave Radar Data Fusion

[0065] def sensor_fusion(vision_data, radar_data, vision_weight = 0.6, radar_weight = 0.4):

[0066] """

[0067] Fuse the data of the visual sensing module and the millimeter-wave radar

[0068] :param vision_data: Data of the visual sensing module

[0069] :param radar_data: Data of the millimeter-wave radar

[0070] :param vision_weight: Weight of the data of the visual sensing module

[0071] :param radar_weight: Weight of the data of the millimeter-wave radar

[0072] :return: Fused data

[0073] """

[0074] return vision_weight * np.array(vision_data) + radar_weight * np.array(radar_data)

[0075] 2. Kalman Filter for GPS Positioning Data

[0076] def kalman_filter(gps_data):

[0077] """

[0078] Perform Kalman filter on GPS positioning data

[0079] :param gps_data: GPS positioning data

[0080] :return: Filtered GPS positioning data

[0081] """

[0082] Initialize parameters

[0083] n = len(gps_data)

[0084] x = np.zeros(n)

[0085] P = np.zeros(n)

[0086] x[0] = gps_data[0]

[0087] P[0] = 1

[0088] Q = 0.01 # Process noise covariance

[0089] R = 0.1 # Measurement noise covariance

[0090] for i in range(1, n):

[0091] Prediction step

[0092] x_predict = x[i - 1]

[0093] P_predict = P[i - 1] + Q

[0094] Update step

[0095] K = P_predict / (P_predict + R)

[0096] x[i] = x_predict + K * (gps_data[i] - x_predict) P[i] = (1 - K) * P_predict

[0097] return x

[0098] 3. Data encryption and storage

[0099] def encrypt_data(data, key):

[0100] """

[0101] Encrypt the data

[0102] :param data: Data to be encrypted

[0103] :param key: Encryption key

[0104] :return: Encrypted data

[0105] """

[0106] cipher = AES.new(key.encode('utf8'), AES.MODE_CBC)

[0107] ciphertext = cipher.encrypt(pad(data.encode('utf8'), AES.block_size iv = cipher.iv

[0108] return iv + ciphertext

[0109] Example data

[0110] vision_data = [10, 20, 30]

[0111] radar_data = [12, 22, 32]

[0112] gps_data = [100, 101, 102, 103, 104]

[0113] data_to_encrypt = "Important monitoring data"

[0114] encryption_key = "abcdefghijklmnop"

[0115] Execute the algorithm

[0116] fused_data = sensor_fusion(vision_data, radar_data)

[0117] filtered_gps = kalman_filter(gps_data)

[0118] encrypted_data = encrypt_data(data_to_encrypt, encryption_key)

[0119] print("Fused data:", fused_data)

[0120] print("Filtered GPS data:", filtered_gps)

[0121] print("Encrypted data:", encrypted_data)

[0122] ```

[0123] Example 2: A low-altitude security monitoring UAV system with multi-sensor module fusion, for park security monitoring

[0124] 1. System assembly and debugging

[0125] Assemble each component of the carbon fiber fuselage shell 1, control module 2, vision sensing module camera module 3, and camera lens module 4 according to the design requirements. Ensure that the vision sensing module camera module 3 is accurately installed in the front slot of the control module 2, and the camera lens module 4 is firmly fixed inside the cylinder of the vision sensing module camera module 3.

[0126] Install the UAV frame module 5, and correctly electrically connect the situation awareness module 6 to the inside of the UAV frame module 5. Fix the radar mounting brackets 7 on both sides of the UAV frame module 5, and install the millimeter-wave radar 8.

[0127] Connect the protective inner shell 9 between the carbon fiber fuselage shell 1 and the UAV frame module 5, install the battery power supply module 10 and electrically connect it to the circuit board 11.

[0128] Install the GPS module 12, video transmission module 13, port connection module 14, storage module 15, data encryption module 16, wireless communication antenna 17, and wireless communication module 18 at the corresponding positions on the circuit board 11.

[0129] Install the infrared thermal imager 19 in the oval hole on the front plate of the carbon fiber fuselage shell 1, and connect the vision sensing module camera module 3 and the infrared thermal imager 19 to the video transmission module 13 through circuit wires.

[0130] Install the rotorcraft 20, brushless motor 21, rotating shaft 22, and propeller 23 to complete the assembly of the entire UAV system. Conduct a comprehensive debugging of the system to check whether the working status and communication connections of each module are normal.

[0131] 2. Task Planning

[0132] According to the layout and security requirements of the park, the ground control station sends instructions to the control module 2 of the UAV through the wireless communication module 18 to plan the flight route of the UAV. The flight route covers the main entrances and exits, parking lots, and key positions in public areas of the park.

[0133] Set the flight altitude of the UAV to 2030 meters and the flight speed to 2030 kilometers per hour to ensure that clear monitoring information within the park can be obtained.

[0134] 3. Data Collection and Transmission

[0135] After the UAV takes off, the vision sensing module camera module 3 captures visible light images within the park in real time through the camera lens module 4, and the infrared thermal imager 19 detects the infrared radiation of objects within the park and generates thermal imaging images. The millimeter-wave radar 8 detects the surrounding environment to obtain distance, speed, and angle information of the target. The situation awareness module 6 collects and integrates the data of these sensors.

[0136] The image data captured by the vision sensing module camera module 3 and the infrared thermal imager 19 is transmitted to the video transmission module 13 through circuit lines. The video transmission module 13 processes the data and sends it to the ground control station through the wireless communication module 18 and the wireless communication antenna 17. At the same time, the GPS module 12 provides the position information of the UAV in real time and transmits it to the ground control station as well.

[0137] 4. Data Processing and Analysis

[0138] After the ground control station receives the data transmitted by the UAV, it processes and analyzes the image and radar data. Through image recognition technology, it identifies people, vehicles, and abnormal objects within the park. It uses thermal imaging data to monitor whether there are abnormal heat sources, such as overheating of electrical equipment.

[0139] The storage module 15 stores the collected data for subsequent viewing and analysis. The data encryption module 16 encrypts the transmitted and stored data to ensure data security.

[0140] 5. Early Warning and Response

[0141] If the analysis system of the ground control station detects abnormal situations, such as unauthorized personnel entering the park or vehicles parked illegally, it immediately issues a warning signal. The security personnel take corresponding measures according to the warning information, such as sending instructions to the UAV through the wireless communication module 18 to make it go to the abnormal area for detailed monitoring.

[0142] Workflow of the low-altitude security monitoring UAV system with multi-sensor module fusion: Turn on the battery power supply module 10 to supply power to the entire UAV system. The battery power supply module 10 delivers power to the circuit board 11 to activate each module on the circuit board. The GPS module 12 on the circuit board 11 starts to obtain the current geographical location information of the UAV. The storage module 15 and the data encryption module 16 are initialized to prepare for data storage and encryption. The video transmission module 13, the port connection module 14, and the wireless communication module 18 start self-checking and initialization. The control module 2 receives the location information from the GPS module 12 and performs flight path planning and attitude adjustment calculations. The situation awareness module 6 starts to work, collecting the situation information of the UAV's surrounding environment to ensure flight safety. The brushless motor 21 of the rotorcraft 20 starts, and the rotating shaft 22 drives the propeller 23 to start rotating to prepare for the takeoff of the UAV. The camera lens module 4 of the camera module 3 of the visual sensing module starts to work to collect visual images of the low-altitude area. The infrared thermal imager 19 collects infrared thermal imaging data of the target area through the oval hole on the front plate of the carbon fiber fuselage shell 1. The millimeter-wave radar 8 detects the targets around the UAV through the radar mounting bracket 7 to obtain the distance and speed information of the targets. The data collected by the camera module 3 of the visual sensing module and the infrared thermal imager 19 are transmitted to the video transmission module 13 through the circuit line. The data collected by the situation awareness module 6 and the millimeter-wave radar 8 are transmitted to the control module 2 for processing and analysis. The control module 2 integrates the processed data, stores a part of the data in the storage module 15, and encrypts the other part of the data through the data encryption module 16 and then transmits it to the ground control center through the wireless communication module 18 and the wireless communication antenna 17. The control module 2 adjusts the flight attitude and path of the UAV in real time according to the data of the situation awareness module 6 and the millimeter-wave radar 8 to avoid obstacles. The GPS module 12 continuously provides location information to ensure that the UAV flies according to the predetermined path. When the task is completed or the instruction from the ground control center is received, the control module 2 controls the brushless motor 21 of the rotorcraft 20 to decelerate to make the UAV land safely. Turn off the battery power supply module 10 to stop supplying power to the circuit board 11 and other modules, and the entire UAV system stops working.

[0143] Embodiment 3: A low-altitude security monitoring UAV system with multi-sensor module fusion, for security monitoring of construction sites

[0144] 1. System preparation

[0145] Assemble and debug the UAV according to the above system assembly method. According to the environmental characteristics of the construction site, adjust the flight parameters of the UAV, such as reducing the flight speed to obtain clearer images and adjusting the flight altitude to adapt to the terrain and building height of the construction site.

[0146] 2. Flight mission execution

[0147] Plan the flight route of the drone so that it covers all construction areas, material stacking areas, and personnel activity areas of the construction site. After the drone takes off, each sensor starts to work. The visual sensing module's camera module 3 captures images of the construction progress and personnel operations, and the infrared thermal imager 19 detects whether there are potential fire hazards, such as abnormal heating of electrical equipment. The millimeter-wave radar 8 monitors the movement of objects within the construction site, and the situation awareness module 6 integrates the sensor data.

[0148] 3. Data feedback and management

[0149] The image transmission module 13 transmits the captured images and data to the ground control station in real time. Construction management personnel can view the real-time situation of the construction site through the monitoring interface of the ground control station. The data stored in the storage module 15 can be used for subsequent construction progress analysis and safety assessment.

[0150] 4. Safety guarantee and emergency handling

[0151] When safety hazards are detected, such as workers not wearing safety helmets or abnormal building structures, the ground control station issues a warning. Construction management personnel can take timely measures according to the warning information, such as notifying on-site personnel to make rectifications. In case of emergencies, such as fires or collapses, the drone can continue to monitor in the air, providing real-time on-site information for emergency rescue.

[0152] Embodiment 4: A low-altitude security monitoring drone system with multi-sensor module fusion, border patrol security monitoring

[0153] 1. System adaptation and deployment

[0154] Considering the complex environment in the border area, optimize the performance of the drone. Select a high-resolution camera lens module 4 and a highly sensitive infrared thermal imager 19 to meet the monitoring requirements under long-distance and low-light conditions. Adjust the detection range and accuracy of the millimeter-wave radar 8 to better monitor the activities of personnel and vehicles in the border area.

[0155] Set up a ground control station at a suitable location near the border and establish a stable communication connection with the drone through the wireless communication module 18.

[0156] 2. Patrol task implementation

[0157] Plan the border patrol route of the drone so that it flies along the border line. After the drone takes off, each sensing module starts to work. The visual sensing module's camera module 3 and the infrared thermal imager 19 conduct full-round image acquisition of the border area, and the millimeter-wave radar 8 monitors the activities of targets near the border in real time. The situation awareness module 6 analyzes and processes the sensor data to judge whether there are abnormal situations of illegal border crossings.

[0158] 3. Real-time Data Monitoring and Command

[0159] The operators of the ground control station monitor the data transmitted back by the UAV in real time, and judge the security situation of the border through image and radar information. Once an abnormal situation is detected, the border patrol personnel will be immediately notified to go to the relevant location for handling. At the same time, the historical data stored in the storage module 15 can be used for subsequent intelligence analysis and border security assessment.

[0160] 4. Communication and Cooperative Operations

[0161] The wireless communication module 18 is not only used for communication with the ground control station, but also can share data and conduct cooperative operations with other border monitoring devices and patrol vehicles. For example, when the UAV discovers an abnormal target, it can transmit the location and feature information of the target to the nearby patrol vehicle in real time, enabling it to quickly reach the scene for disposal.

[0162] Workflow of the low-altitude security monitoring UAV system with multi-sensor module fusion: Turn on the battery power supply module 10 to power the entire UAV system. The battery power supply module 10 delivers power to the circuit board 11 to activate each module on the circuit board. The GPS module 12 on the circuit board 11 starts to obtain the current geographical location information of the UAV. The storage module 15 and the data encryption module 16 are initialized to prepare for data storage and encryption. The video transmission module 13, the port connection module 14, and the wireless communication module 18 start self-checking and initialization. The control module 2 receives the position information from the GPS module 12 and performs flight path planning and attitude adjustment calculations. The situation awareness module 6 starts to work, collects the situation information of the UAV's surrounding environment, and provides guarantee for flight safety. The brushless motor 21 of the rotorcraft 20 starts, and the rotating shaft 22 drives the propeller 23 to start rotating to prepare for the takeoff of the UAV. The camera lens module 4 of the camera module 3 in the visual sensing module starts to work to collect visual images of the low-altitude area. The infrared thermal imager 19 collects infrared thermal imaging data of the target area through the oval hole in the front plate of the carbon fiber fuselage shell 1. The millimeter-wave radar 8 detects the targets around the UAV through the radar mounting bracket 7 to obtain the distance and speed information of the targets. The data collected by the camera module 3 in the visual sensing module and the infrared thermal imager 19 are transmitted to the video transmission module 13 through the circuit line. The data collected by the situation awareness module 6 and the millimeter-wave radar 8 are transmitted to the control module 2 for processing and analysis. The control module 2 integrates the processed data. Part of the data is stored in the storage module 15, and the other part of the data is encrypted by the data encryption module 16 and then transmitted to the ground control center through the wireless communication module 18 and the wireless communication antenna 17. The control module 2 adjusts the flight attitude and path of the UAV in real time according to the data of the situation awareness module 6 and the millimeter-wave radar 8 to avoid obstacles. The GPS module 12 continuously provides position information to ensure that the UAV flies according to the predetermined path. When the task is completed or the instruction from the ground control center is received, the control module 2 controls the brushless motor 21 of the rotorcraft 20 to decelerate, so that the UAV lands safely. Turn off the battery power supply module 10 to stop supplying power to the circuit board 11 and other modules, and the entire UAV system stops working.

[0163] The above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation manners. Therefore, any modification or substitution to the present invention; and all technical solutions and their improvements that do not depart from the spirit and scope of the invention are covered by the scope of the claims of the present invention.

Claims

1. A low-altitude security monitoring UAV system with multi-sensor module fusion, comprising a carbon fiber fuselage shell (1) and a control module (2) arranged above the carbon fiber fuselage shell (1), characterized in that, A vision sensing module camera module (3) is installed in the front slot of the control module (2). A camera lens module (4) is fixed inside the cylinder of the vision sensing module camera module (3). A drone frame module (5) is arranged below the carbon fiber fuselage shell (1). A situation awareness module (6) is electrically connected inside the drone frame module (5).

2. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 1, characterized in that, Radar mounting brackets (7) are fixed on both sides of the drone frame module (5). A millimeter wave radar (8) is installed on the radar mounting brackets (7).

3. A low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 2, characterized in that, A protective inner shell (9) is connected between the carbon fiber fuselage shell (1) and the drone frame module (5). A battery power supply module (10) is electrically connected to the tail of the drone frame module (5).

4. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 3, characterized in that, A circuit board (11) is electrically installed above the battery power supply module (10).

5. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 4, characterized in that, A GPS module (12) and a video transmission module (13) are electrically installed at the lower right corner of the circuit board (11). A port connection module (14) is connected to the lower left corner. Conductive copper wires are provided inside the port connection module (14).

6. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 5, characterized in that, A storage module (15) is electrically installed at the upper right corner of the circuit board (11). A data encryption module (16) is electrically connected to the upper left corner symmetric to it.

7. The low-altitude security monitoring drone system with multi-sensor module fusion according to claim 6, characterized in that, A wireless communication antenna (17) is electrically installed on the tail edge of the circuit board (11). A wireless communication module (18) is installed at the top of the wireless communication antenna (17).

8. The multi-sensor module fusion low-altitude security monitoring UAV system according to claim 7, characterized in that, An oval hole is provided on the front board of the carbon fiber fuselage shell (1). An infrared thermal imager (19) is installed in the oval hole. The vision sensing module camera module (3) and the infrared thermal imager (19) are connected to the video transmission module (13) through circuit wires.

9. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 8, characterized in that, Rotary wing aircraft (20) are installed on both sides of the carbon fiber fuselage shell (1). A brushless motor (21) is fixed at the other end of the rotary wing aircraft (20).

10. The low-altitude security monitoring UAV system with multi-sensor module fusion according to claim 9, characterized in that, A rotating shaft (22) is embedded at the power output end of the brushless motor (21). A propeller (23) is nested on the outer shaft of the rotating shaft (22).

Images