Air-ground cooperative disaster scene live-action three-dimensional perception equipment

Abstract

The utility model relates to an air-ground cooperative disaster scene live-action three-dimensional perception device, which comprises a lower computer, an upper computer and a server, and is characterized in that the lower computer comprises an edge computer, a single-chip microcomputer, a laser radar, a binocular camera, a 5G module, an IMU module and a GNSS module; the edge computer is connected with the laser radar through the single-chip microcomputer, and the single-chip microcomputer is connected with the binocular camera, the 5G module and the GNSS module. The GNSS module is connected with the IMU module; the GNSS module and the IMU module are connected with the edge computer; the binocular camera and the 5G module are connected with the edge computer; the 5G module is connected with the server, and the server is connected with the upper computer. The technical scheme has wide application in the field of disaster scene reconstruction and analysis, and has the following advantages: the data acquisition response speed is high, the real-time performance is good, and the real-scene environment information in the disaster scene can be comprehensively acquired. Under the condition of reducing field contact, the disaster investigation efficiency is ensured, and the safety of personnel working in a dangerous environment is improved.

Description

TECHNICAL FIELD

[0001] The utility model discloses a three -dimensional information sensing field, especially relate to a disaster scene real -life three -dimensional sensing equipment of air -ground cooperation. BACKGROUND

[0002] In the disaster emergency response process, the disaster scene has complex and various field environment. Therefore, the real -life three -dimensional sensing under the disaster scene needs higher real -time and revisit, needs to provide real -life three -dimensional measurement and analysis under the condition that manpower cannot reach the scene, and this is of great significance to disaster analysis. At present, the real -life three -dimensional sensing equipment under the disaster scene mainly includes the scanning method of laser radar and the method of visual modeling of traditional photogrammetry, and the sparse point cloud of environmental information can be obtained only by using laser radar, and the three -dimensional model generated by using the method of traditional photogrammetry is poor in integrity. Most real -life three -dimensional sensing equipment obtains the information of disaster scene single, and the precision of complex environment sensing is insufficient, cannot satisfy the demand of disaster scene real -life three -dimensional sensing, and the data obtained based on traditional equipment such as unmanned aerial vehicle obtains the real -time poor, and it is difficult to realize air -ground cooperative sensing. CONTENT OF UTILITY MODEL

[0003] The utility model discloses a three -dimensional information sensing field, especially relate to a disaster scene real -life three -dimensional sensing equipment of air -ground cooperation.

[0004] To solve the prior art problems, the utility model discloses a kind of disaster scene real -life three -dimensional sensing equipment of air -ground cooperation:

[0005] Including lower computer, host computer and server, the lower computer includes edge computer, single-chip microcontroller, laser radar, binocular camera, 5G module, IMU module and GNSS module;

[0006] The edge computer is connected with laser radar by single-chip microcontroller, and the single-chip microcontroller is connected with binocular camera, 5G module and GNSS module respectively;The GNSS module is connected with IMU module;

[0007] The GNSS module and IMU module are connected with edge computer;

[0008] The binocular camera and 5G module are connected with edge computer;

[0009] The 5G module is connected with server, and the server is connected with host computer.

[0010] Further, the binocular camera is two MV-CS050-60UC industrial cameras.

[0011] Further, the laser radar is a Livox Avia laser radar.

[0012] Further, the GNSS module is a GPS or Beidou module, and a communication interface of the GPS or Beidou module with an external device uses a UART serial port.

[0013] Further, the IMU module is an MPU6050 attitude sensor.

[0014] Further, the 5G module is an EC20.

[0015] Further, the single-chip microcomputer is a 32-bit single-chip microcomputer based on an ARM Cortex-M3 core.

[0016] Further, the laser radar is connected with an edge computer through an Ethernet port.

[0017] Further, the binocular camera, the 5G module and the single-chip microcomputer are connected with the edge computer through a USB.

[0018] Further, the GNSS module is connected with the IMU module and connected with the edge computer through a GPIO serial port.

[0019] 1. The equipment of the utility model can realize the integration of communication, navigation, sensing and telemetry modules. Instantaneous reception of data and instantaneous control of data acquisition mode can realize rapid sensing of comprehensive real scene information of a disaster site. In disaster emergency and environmental monitoring, rapid and accurate remote sensing data service can be provided, the timeliness of emergency response and the effectiveness of decision-making are enhanced, and rapid sensing of disaster site information can be realized.

[0020] 2. The equipment of the utility model integrates various sensing devices and a host computer. Unlike traditional remote sensing data processing which relies on a single computing platform and is difficult to meet the real-time transmission and processing requirements of large-scale and high-resolution data, the equipment technology combines the front-end data acquisition of a UAV platform and edge computing capability and the powerful processing capability of a ground server. During flight, the host computer instantaneously processes part of data, and the processed data are transmitted to the ground server through a wireless communication module. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic view of the utility model;

[0022] Figure 2 is an equipment interface connection line schematic view of the utility model;

[0023] Figure 3 is a wireless transmission flow schematic view of the utility model;

[0024] Figure 4 is a working process schematic diagram of the utility model. DETAILED DESCRIPTION

[0025] The utility model will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical scheme of the utility model, and cannot limit the protection scope of the utility model.

[0026] As Figure 1 The utility model discloses a kind of disaster scene real scene three-dimensional perception equipment of air-ground cooperation, including lower computer, host computer and server, the lower computer includes edge computer, single-chip microcontroller, laser radar, binocular camera, 5G module, IMU module and GNSS module;The edge computer connects laser radar by single-chip microcontroller, and the single-chip microcontroller is connected binocular camera, 5G module and GNSS module respectively;The GNSS module connects IMU module;The GNSS module and IMU module connect edge computer;Binocular camera and 5G module connect edge computer;5G module connects server, and server connects host computer.The laser radar connects edge computer by Ethernet port;Binocular camera, 5G module and single-chip microcontroller connect edge computer by USB;The GNSS module connects IMU module and connects edge computer by GPIO serial port.

[0027] The server is MQTT local server, and the main functions of host computer software include connecting MQTT local server and subscribing lower computer, realizing result data transmission, data analysis and display save and controlling device and the like.

[0028] The process of connecting MQTT local server and subscribing lower computer is as follows: first, connect server according to the IP and port number of local server, subscribe the topic published by lower computer device, then utilize 5G module to complete wireless communication process.

[0029] The data transmission function is mainly through establishing MQTT connection with 5G module and carrying out wireless transmission, receives image data through MQTT, and displays and saves to user specified address in window.

[0030] As Figure 2As shown, at the hardware end of the lower computer, the edge computer collects data through the laser radar, binocular camera, IMU module and GNSS module, and sends the data to the server, which transmits the data to the local computer. The local computer transmits the data to the upper computer software end. The upper computer software end accepts the data, and performs data analysis and saving, historical data management, generates control instructions, and sends the instructions to the local computer. The local computer converts the instructions into data and transmits them to the edge computer through the server. The edge computer generates corresponding control instructions to synchronously control various sensors.

[0031] The PPS signal is sent to the single-chip microcomputer master control chip through the GPS / Beidou module, and the trigger pulse signal is sent using the timer function of the master control chip to trigger the work measurement of each sensor, realizing the real-time synchronous data collection of various sensors.

[0032] The edge computer processes and packages the data output by each sensor, establishes network connection and server connection, and uses AT instructions to drive the MQTT wireless module to send the collected data. The main functions of the upper computer software include connecting the MQTT local server and subscribing to the lower computer data transmission topic, analyzing and saving the data packets after obtaining them, thereby realizing result data transmission and control of the device. The upper computer data receiving first connects the server according to the IP and port number, subscribes to the data topic of the lower computer device, and then uses the Socket network programming interface to complete the reception of the data packet. The upper computer data analysis and display saving unpacks and processes the received data packet, displays the sensor data on the software interface to visually show the data reception status, and finally analyzes and displays the sensor data in the window and saves it to the user-specified address. The upper computer data historical data management uses a database and a file management system to save data, has a database management function, and can perform operations such as adding, deleting, modifying and querying data in the database. The upper computer running control function of the lower computer generates corresponding control commands according to the received sensor data processing results, and then sends the control commands to the lower computer through the MQTT communication protocol. When receiving the control command issued by the upper computer, the lower computer will execute the corresponding operation to adjust the acquisition parameters of the sensor.

[0033] As shown in Figure 3 The binocular camera is two MV-CS050-60UC industrial cameras; the laser radar is Livox Avia laser radar. The GNSS module is a GPS or Beidou module, and the communication interface of the GPS or Beidou module with external devices uses a UART serial port; the IMU module is an MPU6050 attitude sensor; the 5G module is an EC20; the single-chip microcomputer is a 32-bit single-chip microcomputer based on an ARM Cortex-M3 core. It also includes a mobile power supply that provides 12v power to the entire equipment.

[0034] The sensor data transmission function is implemented through the MQTT transmission program. When establishing a connection between the lower-machine client and the server, it is necessary to subscribe and send topics on both the lower-machine program and the server. The MQTT connection includes three stages: server port monitoring, client connection request sending, and connection confirmation. After the program is running, the MQTT program on the server side will always be in a listening state, waiting for the connection request from the lower-machine client. The lower-machine client sends a connection request to the local server based on its IP address and port number. When the server side listens to a legitimate connection request and the corresponding topic, it will establish a connection with it. After the two complete the connection establishment, they start transmitting sensor data and receiving the data.

[0035] like Figure 4 As shown, the equipment workflow of the present invention is as follows: use the lower computer on the ground to plan specific tasks and input relevant control instructions. The upper computer software is connected to the upper computer equipment and transmits relevant instructions to the edge computer for real-time collaborative control. The edge computer controls the sensor module, positioning module, communication module and other modules through the single-chip microcomputer, initializes the hardware, configures relevant parameters, ensures that each module can work together and collect synchronously, and pre-processes the obtained data. After each module works, it transmits the data to the main control computer, and the main control computer processes part of the data in real time. The processed data is remotely connected to the upper computer software through the wireless communication module, and the data is transmitted to the ground server at high speed. After receiving the data, the ground server further processes and analyzes it

[0036] It needs to be explained that in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Meanwhile in the description of the utility model, it needs to be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. And in the drawings of the utility model, the filling pattern is only for distinguishing the layers, and does not make any other limitation.

[0037] Although the embodiments of the utility model have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An air-ground cooperative disaster scene real scene three-dimensional perception equipment, characterized in that: comprising a lower computer, an upper computer and a server, the lower computer comprising an edge computer, a single-chip microcomputer, a laser radar, a binocular camera, a 5G module, an IMU module and a GNSS module; the edge computer is connected with the laser radar through the single-chip microcomputer, the single-chip microcomputer is connected with the binocular camera, the 5G module and the GNSS module respectively; the GNSS module is connected with the IMU module; the GNSS module and the IMU module are connected with the edge computer; the binocular camera and the 5G module are connected with the edge computer; the 5G module is connected with the server, and the server is connected with the upper computer.

2. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The binocular camera is two MV-CS050-60UC industrial cameras.

3. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The laser radar is Livox Avia laser radar.

4. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The GNSS module is a GPS or Beidou module, and the communication interface of the GPS or Beidou module with an external device uses a UART serial port.

5. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The IMU module is an MPU6050 attitude sensor.

6. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The 5G module is an EC20.

7. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The single-chip microcomputer is a 32-bit single-chip microcomputer based on an ARM Cortex-M3 core. 8.The disaster scene real-scene three-dimensional perception equipment of air-ground cooperation according to claim 1, characterized in that: The laser radar is connected with the edge computer through an Ethernet port. 9.The disaster scene real-scene three-dimensional perception equipment of air-ground cooperation according to claim 1, characterized in that: The binocular camera, the 5G module and the single-chip microcomputer are connected with the edge computer through a USB.

10. The air-ground collaborative disaster scene real-scene three-dimensional perception equipment according to claim 1, characterized in that: The GNSS module connected with the IMU module is connected with the edge computer through a GPIO serial port.

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