Outdoor search and rescue device based on laser radar and thermal imaging

Abstract

The utility model discloses an outdoor search and rescue device based on laser radar and thermal imaging, which comprises a rack and a main control computer box fixedly arranged in the middle of the rack, four sides of the rack are fixedly provided with mounting racks, and the four mounting racks are fixedly provided with wing mechanisms for controlling the flight of the search and rescue device. According to the outdoor search and rescue device based on the laser radar and the thermal imaging, the laser radar is adopted for obstacle avoidance, all-weather obstacle avoidance can be achieved, the search and rescue efficiency is improved, and the search and rescue efficiency is improved. The problem that a traditional flight device cannot avoid obstacles at night or under the condition of insufficient light is solved, automatic flight of the unmanned aerial vehicle is achieved through Rviz map dotting, the professional ability requirement for rescue of the unmanned aerial vehicle can be further lowered, whether the unmanned aerial vehicle is a rescued target or not can be automatically recognized through a yov5 target detection method, and the rescue efficiency of the unmanned aerial vehicle is improved. Rescue errors caused by the fact that rescuers do not see the information are further reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of outdoor search and rescue, in particular to an outdoor search and rescue device based on laser radar and thermal imaging. Background Art

[0002] With the frequent occurrence of natural disasters and the rise of mountain outdoor sports, the application of smart devices in the field of rescue is also growing. At present, there are several common outdoor search and rescue methods. The first is to use a large number of search and rescue personnel to search the paths that the rescued person may pass by on foot. This solution requires a high number of search and rescue personnel and has low efficiency. When the rescued person is in a coma or covered by other obstacles, the probability of timely finding the rescued person is low. In addition, when conducting search and rescue in places with complex environments and dangerous terrain, the safety of the rescue personnel still needs to be considered;

[0003] Second, the professional version of the drone is equipped with night navigation lights for outdoor search and rescue. The trapped people can see the intersection of the two lights and find the location of the trapped people. It can also be equipped with a loudspeaker to comfort the rescued people in time. However, the problem is that if the rescue is carried out in a complex forest or a cave with a relatively complex environment, the pilot's ability of the drone is required to be high, and the penetration rate of the night navigation lights in the complex forest environment is still a factor that needs to be considered;

[0004] The third is to rescue through search and rescue dogs and some special equipment (night vision goggles and thermal imaging, etc.). This solution has a higher success rate in finding the rescued persons, but the problem is that it requires a large number of equipment and search and rescue dogs, and the search and rescue process takes a long time, which can easily cause the rescued persons to miss the best time to be rescued. Utility Model Content

[0005] The purpose of the utility model is to provide an outdoor search and rescue device based on laser radar and thermal imaging to solve the problem that the existing outdoor search and rescue method proposed in the above background technology is low in efficiency and easy to miss the best time to be rescued.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an outdoor search and rescue device based on laser radar and thermal imaging, comprising a frame and a main control box fixedly installed on the top of the frame, the four sides of the frame are fixedly provided with mounting frames, the four mounting frames are fixedly installed with wing mechanisms for controlling the flight of the search and rescue device, the bottom of the frame is fixedly installed with a thermal imaging mechanism for search and rescue, the middle part of the top of the main control box is fixedly installed with a radar mechanism for obstacle avoidance of the search and rescue device, a GPS module is fixedly installed on one side of the top of the frame, and a gain antenna is fixedly installed on the other side of the top of the frame, and a flight control module, an RTK data transmission module, an airborne control computer and a power module are fixedly installed inside the main control box.

[0007] Preferably, the wing mechanism includes an arm and an assembly fixedly mounted at one end of the arm, the assembly being fixedly mounted on a mounting frame by screws, a drive motor being fixedly mounted at the other end of the arm, a blade being fixedly mounted at the output end of the drive motor, the drive motor being electrically connected to a flight control module, and the flight control module being connected to an onboard control computer; the flight is stable, flexible and controllable.

[0008] Preferably, a tripod is fixedly provided at the bottom of the arm, which can provide stable support and prevent the drone from tipping over when it lands.

[0009] Preferably, the thermal imaging mechanism comprises an electric angle adjustment bracket and an infrared thermal imaging module fixedly mounted on the electric angle adjustment bracket, and the electric angle adjustment bracket and the infrared thermal imaging module are both electrically connected to an onboard control computer.

[0010] Preferably, the radar mechanism includes a radar support and a laser radar device fixedly mounted on the radar support, and the laser radar device is electrically connected to an onboard control computer.

[0011] Preferably, the onboard control computer is electrically connected to the RTK data transmission module, and the RTK data transmission module is electrically connected to the gain antenna.

[0012] Preferably, the power module includes a battery rack and a battery fixedly mounted on the battery rack, which can provide stable power supply.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] The use of laser radar obstacle avoidance can achieve all-weather obstacle avoidance, which solves the problem that traditional flight equipment cannot avoid obstacles at night or under insufficient light conditions. The use of Rviz map points to achieve automatic flight of drones can further reduce the professional ability requirements of drone rescue. The use of yolov5 target detection method can automatically identify whether it is a rescue target, further reducing rescue errors caused by rescuers not seeing it;

[0015] The RTK data transmission module transmits the real-time latitude, longitude and altitude of the drone to provide rescue team members with more accurate targets. The laser radar obstacle avoidance can reduce the flight altitude of the drone, making the data of the thermal imaging module more reliable and accurate, further improving the reliability of the rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the outdoor search and rescue device of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the wing mechanism of the utility model;

[0018] Figure 3 It is a top cross-sectional view of the frame of the utility model;

[0019] Figure 4 This is the overall design principle diagram of the outdoor search and rescue device of the utility model;

[0020] Figure 5 This is a schematic diagram of the UAV architecture design of the utility model outdoor search and rescue device;

[0021] Figure 6 This is the identification principle diagram of the outdoor search and rescue device of the utility model.

[0022] In the figure: 1. Frame; 2. Mounting frame; 3. Wing mechanism; 31. Arm; 32. Assembly parts; 33. Drive motor; 34. Blade; 35. Tripod; 4. Electric angle adjustment bracket; 5. Infrared thermal imaging module; 6. Main control box; 7. Battery rack; 8. Battery; 9. Radar support; 10. Laser radar device; 11. Gain antenna; 12. Flight control module; 13. RTK data transmission module; 14. Airborne control computer; 15. GPS module. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0024] See also Figure 1-4The utility model provides an outdoor search and rescue device based on laser radar and thermal imaging, including a frame 1 and a main control box 6 fixedly installed on the top of the frame 1, characterized in that: the four sides of the frame 1 are fixedly provided with mounting frames 2, the four mounting frames 2 are fixedly installed with wing mechanisms 3 for controlling the flight of the search and rescue device, the bottom of the frame 1 is fixedly installed with a thermal imaging mechanism for search and rescue, the middle part of the top of the main control box 6 is fixedly installed with a radar mechanism for obstacle avoidance of the search and rescue device, a GPS module 15 is fixedly installed on one side of the top of the frame 1, a gain antenna 11 is fixedly installed on the other side of the top of the frame 1, and a flight control module 12, an RTK data transmission module 13, an airborne control computer 14 and a power module are fixedly installed inside the main control box 6; the power module includes a battery rack 7 and a battery 8 fixedly installed on the battery rack 7.

[0025] Hardware selection: By comparing the parameters provided by various LiDAR manufacturers in the same direction, integrating point cloud data and stability in multiple environments, the radar finally selected Silan A3 open source LiDAR; the waypoint flight was tested using QGC software, and the path deviation reasons during the waypoint flight were analyzed based on the test results. Finally, the Leixun v5pro open source flight control was selected for the flight control; based on the resolution requirements and magnification requirements for thermal imaging, the AutoNavi thermal imaging module was selected for the infrared thermal imaging module 5;

[0026] Upper computer software: Waypoint planning: Use QGC to set the flight altitude and speed data of the drone, and use Mavros to pass it to the underlying PX4 firmware for speed and posture planning; Thermal imaging module and radar driver startup: Write a startup script in the upper computer to transfer the video collected by the thermal imaging lens and the point cloud data collected by the radar to the upper computer via USB; LiDAR data processing: Cartographer builds maps through the collected point cloud data and the GPS data provided by the flight control, and integrates the perception algorithm, path planning algorithm, positioning algorithm, and control algorithm created by the team to realize the fusion of GPS and radar data for local obstacle avoidance; Thermal imaging data processing: The data sent back by the thermal imaging module is fused and compared with the thermal imaging database in YOLOv5 to detect whether it is a search and rescue target; Data return: Use the Sunflower remote control system to display the data collected by the drone in real time. When YOLOv5 identifies the search and rescue target, the location of the drone can be observed at the same time.

[0027] The wing mechanism 3 includes an arm 31 and an assembly part 32 fixedly arranged at one end of the arm 31, the assembly part 32 is fixedly arranged on the mounting frame 2 by screws, a driving motor 33 is fixedly arranged at the other end of the arm 31, a blade 34 is fixedly arranged at the output end of the driving motor 33, the driving motor 33 is electrically connected to the flight control module 12, the flight control module 12 is connected to the onboard control computer 14, and a tripod 35 is fixedly arranged at the bottom of the arm 31;

[0028] The thermal imaging mechanism includes an electric angle adjustment bracket 4 and an infrared thermal imaging module 5 fixedly mounted on the electric angle adjustment bracket 4, the electric angle adjustment bracket 4 and the infrared thermal imaging module 5 are both electrically connected to an onboard control computer 14, the radar mechanism includes a radar support 9 and a laser radar device 10 fixedly mounted on the radar support 9, the laser radar device 10 is electrically connected to the onboard control computer 14, the onboard control computer 14 is electrically connected to the RTK data transmission module 13, and the RTK data transmission module 13 is electrically connected to the gain antenna 11;

[0029] The use of LiDAR mapping for obstacle avoidance can fully eliminate the failure of obstacle avoidance caused by factors such as light sensitivity and light intensity in complex environments. An automatic target recognition system has been developed in the UAV host computer, which can further reduce the hands-on control requirements of rescue team members and enhance product competitiveness.

[0030] When the embodiment of the present application is used: In this application, the design is mainly aimed at two aspects. One is that the location of the rescued person is unknown, and a large-scale search is performed by specifying a path through the drone; the second aspect is to conduct a precise search of a small area where the rescued person may be lost. The specific search and rescue plan is as follows:

[0031] Implementation scheme for designated path search of unmanned aerial vehicle: a laser radar device 10 is installed on the unmanned aerial vehicle, and multi-waypoint cruise along a designated route with a fixed altitude is realized through the guidance of the ground station. This behavior is relatively simple and can be realized by configuring the relative cruise route and cruise altitude through the ground station. The key points are obstacle avoidance of the unmanned aerial vehicle in complex environments and identification of search and rescue personnel by the infrared thermal imaging module 5. In view of the above difficulties, this application mainly uses the onboard control computer 14 through the mission mode of the QGC ground station combined with the ubuntu18.04+cartographer algorithm, plus the laser radar device 10 and rtk positioning and altitude determination to plan the designated path of the unmanned aerial vehicle. Local obstacle avoidance is realized through sensor data (point cloud) -> positioning (radar) -> mapping (rolling grid map and ESDF) -> motion planning (front end: path search / sampling flight corridor generation back end: trajectory optimization) -> controller (position, speed closed loop, attitude control). Overall, the laser radar device 10 is used to obtain the absolute coordinates of the position of the unmanned aerial vehicle and the absolute altitude of the unmanned aerial vehicle, and the waypoint cruise control of the unmanned aerial vehicle is enabled through the QGC ground station. In the case of local obstacles, The point cloud data obtained by laser radar sensing on the route is transmitted back to the onboard control computer 14 for cartographer mapping and output of coordinate changes. The onboard control computer 14 of the drone converts the coordinate transformation information into position and coordinate attitude information through the TF library, and gives the obtained position information and attitude information to the flight control for EKF2 fusion so that the flight control knows its own position and attitude, and then outputs the path and expected speed through the navigation planning algorithm. The onboard control computer 14 of the drone publishes the expected path and speed to the bottom layer of PX4 for control algorithm through MAVROS, and finally transmits it to the motor for pitch and rotation through the PX4 algorithm output; infrared thermal imaging module 5, using openmv's thermal imaging module to cooperate with yolov5 to determine the rescued person, using openmv to transmit the video back to the onboard control computer 14 in real time, and matching the thermal imaging portrait library in the yolov5 training library in the onboard computer to realize target detection and select the image of the rescued person and provide text and box diagram reminders, and obtain the specific location of the rescued person through the onboard control computer 14 and the computer data interaction with the rescue personnel;

[0032] Implementation plan for small-scale search by drone: Use a laptop to interact with the onboard control computer 14, combined with ubuntu18.04, Rviz, QGC ground station, cartographer algorithm, and lidar 10. First, fly to the designated area and hover at a fixed point through the mission mode of the QGC ground station, then switch to the offbord mode to determine the absolute position of the drone through the point cloud data obtained by the lidar and the position coordinates of the GPS in the QGC ground station, and use the point cloud data obtained by the lidar to perform slam mapping and then mark the possible locations of the rescued persons on Rviz to control the drone to move to the possible locations of the rescued persons and perform target detection (the method is the same as the above plan). After the search and rescue range is excluded or the rescued persons are found, switch to the mission mode and control the drone to return through the QGC ground station.

[0033] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An outdoor search and rescue device based on laser radar and thermal imaging, comprising a frame (1) and a main control box (6) fixedly mounted on the top of the frame (1), characterized in that: The four sides of the frame (1) are fixedly provided with mounting frames (2), and the four mounting frames (2) are fixedly provided with wing mechanisms (3) for controlling the flight of the search and rescue device. The bottom end of the frame (1) is fixedly provided with a thermal imaging mechanism for search and rescue. The middle part of the top of the main control box (6) is fixedly provided with a radar mechanism for obstacle avoidance of the search and rescue device. A GPS module (15) is fixedly provided on one side of the top of the frame (1), and a gain antenna (11) is fixedly provided on the other side of the top of the frame (1). A flight control module (12), an RTK data transmission module (13), an airborne control computer (14) and a power supply module are fixedly provided inside the main control box (6).

2. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 1, characterized in that: The wing mechanism (3) comprises an arm (31) and an assembly part (32) fixedly arranged at one end of the arm (31); the assembly part (32) is fixedly arranged on a mounting frame (2) by means of screws; a drive motor (33) is fixedly arranged at the other end of the arm (31); a blade (34) is fixedly arranged at the output end of the drive motor (33); the drive motor (33) is electrically connected to a flight control module (12); and the flight control module (12) is connected to an onboard control computer (14).

3. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 2, characterized in that: A support frame (35) is fixedly arranged at the bottom of the machine arm (31).

4. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 1, characterized in that: The thermal imaging mechanism comprises an electric angle adjustment bracket (4) and an infrared thermal imaging module (5) fixedly mounted on the electric angle adjustment bracket (4); the electric angle adjustment bracket (4) and the infrared thermal imaging module (5) are both electrically connected to an onboard control computer (14).

5. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 1, characterized in that: The radar mechanism comprises a radar support (9) and a laser radar device (10) fixedly mounted on the radar support (9); the laser radar device (10) is electrically connected to an onboard control computer (14).

6. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 1, characterized in that: The onboard control computer (14) is electrically connected to the RTK data transmission module (13), and the RTK data transmission module (13) is electrically connected to the gain antenna (11).

7. The outdoor search and rescue device based on laser radar and thermal imaging according to claim 1, characterized in that: The power module comprises a battery rack (7) and a storage battery (8) fixedly mounted on the battery rack (7).

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