An integrated environmental multi-source remote sensing equipment and mobile platform for disaster-causing scenarios of accidents

Abstract

The utility model discloses a kind of comprehensive environment multi-source remote sensing equipment for accident disaster scene, including lower computer end and host computer end;Lower computer end includes single-chip microcomputer, edge computer, communication module, substance / object detection module, temperature and humidity detection module, gas detection module and navigation positioning module;Navigation positioning module is connected with edge computer, edge computer is connected with single-chip microcomputer, single-chip microcomputer is connected with substance / object detection module, temperature and humidity detection module, gas detection module and navigation positioning module;Edge computer is also respectively connected temperature and humidity detection module, substance / object detection module, gas detection module and navigation positioning module, and also be connected host computer end by communication module.The utility model has following advantages: the accuracy and efficiency of accident disaster scene target object classification and environmental gas composition are greatly improved, the timeliness, safety and efficiency of emergency rescue are improved, and scientific support is provided for emergency guarantee and accurate tracing of accident disaster.

Description

Technical Field

[0001] This utility model belongs to the field of multi-source sensor integration and embedded hardware technology, and in particular relates to a multi-sensor remote sensing detection equipment for investigating and monitoring the comprehensive environment, such as the identification of substances / objects and the identification of atmospheric environmental components at disaster sites caused by accidents. Background Technology

[0002] Disasters caused by various reasons, such as fires and explosions (referred to as "accident-induced disasters"), are a major type of disaster facing humanity. In accident-induced disaster scenarios, the distribution of objects and materials on the ground, as well as the composition of the air environment, are often very complex, which brings many challenges to emergency rescue. For example, if the distribution of toxic and harmful substances / objects and the state of atmospheric composition in the scene cannot be clearly understood, it is impossible to formulate a scientific rescue and emergency support plan, which may cause harm to emergency rescue personnel and interfere with or hinder the orderly and efficient conduct of emergency rescue work.

[0003] With the development of unmanned technology, some technologies now employ drones, unmanned vehicles, robots, and other unmanned equipment equipped with digital cameras, LiDAR, or gas sensors to detect accident-related disaster scenarios, providing scientific support for emergency rescue or accident tracing. However, while digital cameras and LiDAR can observe the distribution of ground materials / objects, they cannot identify them. Furthermore, a single sensor cannot effectively detect harmful gas components in the environment; and independent detection by dispersed sensors makes simultaneous observation in time and space difficult, hindering accurate data registration and fusion analysis. In addition, current unmanned aerial photography equipment relies heavily on local storage on SD cards, requiring data export and analysis only after the mission is completed, resulting in poor timeliness and failing to meet the high timeliness requirements of emergency rescue or emergency support. Summary of the Invention

[0004] To overcome the shortcomings of the existing technology, this utility model provides a comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios. This equipment can comprehensively detect various data required for scientific emergency rescue. The equipment is small in size and can be mounted on various unmanned mobile platforms, ensuring the time and space synchronization of the detection modules. It transmits the environmental status detection of accident-caused disaster scenarios to the emergency support center in a highly timely manner, so as to fully and accurately grasp the situation at the disaster site.

[0005] According to one aspect of this utility model specification, a comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios is provided, including a lower-level terminal and a higher-level terminal. The lower-level machine includes a microcontroller, an edge computer, a communication module, a material / object detection module, a temperature and humidity detection module, a gas detection module, and a navigation and positioning module; The navigation and positioning module is connected to an edge computer, the edge computer is connected to a microcontroller, and the microcontroller is connected to a material / object detection module, a temperature and humidity detection module, a gas detection module, and a navigation and positioning module, respectively. The edge computer is connected to the temperature and humidity detection module via a single bus, to the material / object detection module via a DCMI bus, to the gas detection module via a serial port, and to the host computer via a communication module.

[0006] Optionally, the material / object detection module includes a hyperspectral imager, an industrial measurement camera, and a thermal infrared imager, wherein the hyperspectral imager, the industrial measurement camera, and the thermal infrared imager are respectively connected to an edge computer via a DCMI bus.

[0007] Optionally, the temperature and humidity detection module includes a temperature sensor and a humidity sensor, which are respectively connected to an edge computer via a single bus.

[0008] Optionally, the gas detection module includes a CO sensor, an NH3 sensor, and an SO2 sensor, which are connected to an edge computer via serial ports.

[0009] Optionally, the navigation and positioning module includes a GNSS module and an IMU module, which are connected to an edge computer via GPIO interfaces.

[0010] Optionally, the communication module includes a wireless image transmission and a communication module, wherein the wireless image transmission adopts 5G wireless communication technology, and the communication module adopts a Quectel 5G module.

[0011] Optionally, the microcontroller is a 32-bit microcontroller based on the ARM Cortex-M3 core.

[0012] Optionally, the edge computer uses a Rockchip RK3588 motherboard as a hardware module.

[0013] Optionally, the equipment is equipped with a standardized installation interface that is compatible with drones, vehicle-mounted platforms, or handheld devices.

[0014] According to one aspect of this utility model specification, a mobile platform is also provided, which carries the aforementioned comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: (1) Comprehensive perception of the environment at the accident site The equipment employs a highly integrated modular design, integrating multiple core environmental sensing components, such as those for matter / objects and the environment, into a single hardware unit. It can simultaneously and intelligently sense various information in disaster scenarios, including material composition, object type, gas composition, temperature and humidity, and scene geometry, rapidly establishing a digital foundation for disaster emergency response and intelligent source tracing. The overall size and weight are significantly reduced, lowering the space and load requirements of the mounting platform. Core components are fixed with an integrated bracket to minimize redundant space, while standardized installation interfaces are provided for direct compatibility with drones, vehicle-mounted platforms, and handheld devices, eliminating the need for additional customized adapter structures.

[0016] (2) Upper-lower-level computer collaboration and scalable deployment The edge computing module integrated in the data sensing end of the equipment can run lower-level software that synchronously controls and computes various sensing devices. It communicates with upper-level software running in the data center / emergency management center via communication protocols and a high-speed wireless broadband (5G) network, collaboratively performing operational control and data processing and analysis. This not only reduces the storage dependence of the sensing end but also enables real-time control based on the data detection needs of the upper-level system in disaster scenarios. Furthermore, since the upper and lower-level systems are connected via a high-speed wireless broadband network, the equipment can be deployed scalably at the edge, server, and cloud levels. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Appendix Figure 2 This utility model relates to a device interface and data flow diagram.

[0020] Appendix Figure 3 This is a flowchart illustrating the implementation process of this utility model. Detailed Implementation

[0021] To address the high-timeliness detection needs in complex accident-related scenarios, including the identification of the distribution of hazardous and toxic substances / objects, gas composition recognition, and emergency response and rescue efforts, this project designs and constructs an edge-cloud collaborative multi-source remote sensing equipment capable of comprehensively detecting environmental substances and gases in accident-related scenarios. This will significantly improve the accuracy and efficiency of target object classification and environmental gas composition in accident-related scenarios, ensuring the scientific planning of disaster emergency response plans, enhancing the timeliness, safety, and efficiency of emergency response, and laying a digital foundation for the scientific and accurate tracing of accident causes, thereby providing scientific support for emergency response and accurate tracing of accident causes.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be decomposed, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. In addition, the technical features of the various embodiments or individual embodiments provided by this utility model can be arbitrarily combined to form new technical solutions. Such combinations are not bound by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0024] This utility model provides a comprehensive multi-source remote sensing equipment for accident-caused disaster scenarios, such as... Figure 1As shown, the system mainly includes a synchronous control and computing module, a gas detection module, a substance / object detection module, a temperature and humidity detection module, a communication module, and a navigation and positioning module. The gas detection module, substance / object detection module, and temperature and humidity detection module are connected to the synchronous control and computing module via interfaces. The synchronous control module controls the various detection devices of the detection modules to work synchronously for data detection. The communication module connects to the upper and lower level synchronous control and computing modules, synchronously transmitting data received by the lower-level synchronous control and computing module to the upper-level computer software module running in the emergency management center for data processing, analysis, and management. Here, the synchronous control and computing module outputs a synchronization trigger signal. Upon receiving the synchronization signal, the gas detection module, substance / object detection module, and temperature and humidity detection module simultaneously start data detection and upload data to the synchronous control and computing module.

[0025] Specifically, the gas detection module includes an NH3 sensor, a CO sensor, and an SO2 sensor. The NH3 sensor can be of model ANH3000, and the CO sensor can be of model TW01-CO.

[0026] The material / object detection module includes a hyperspectral imager, a monocular camera, and a thermal infrared imager. Specifically, the hyperspectral imager can be model FIGSPEC FS-22, the industrial measurement camera can be model MV-CS050-60UC, and the thermal infrared imager can be model ZK-T3H-F-CW.

[0027] The temperature and humidity environment detection module consists of a temperature sensor and a humidity sensor.

[0028] The communication module includes a wireless image transmission module and a communication module. The wireless image transmission module adopts 5G wireless communication technology, which supports long-distance high-definition real-time backhaul between the edge computing end of the detection equipment and the synchronous control computing module. The communication module adopts a 5G chip, such as Quectel 5G module (RM500U-CN).

[0029] The navigation and positioning module includes a BeiDou module and an attitude sensor.

[0030] The synchronous control computing module consists of a microcontroller hardware module based on a Rockchip RK3588 motherboard or a higher-performance industrial-grade motherboard, a lower-level software module that performs synchronous control and data reception and transmission functions for the sensing device module, and an upper-level software module that coordinates with it for data transmission. It should be noted that the synchronous control and data reception and transmission functions of the sensing device module performed by the lower-level software module, as well as the coordinated data transmission functions performed by the upper-level software module, can all be implemented using existing mature technologies, and this utility model does not limit these aspects.

[0031] The synchronous control computing module includes a microcontroller and an edge computer on the lower-level machine. The microcontroller is connected to the edge computer to receive synchronous trigger commands sent by the edge computer. Simultaneously, the microcontroller is also connected to the gas detection module, the material / object detection module, the temperature and humidity detection module, and the navigation and positioning module to synchronously control the data acquisition of each detection device. The edge computer is connected to the navigation and positioning module to receive the pulse signals it generates and send them to the microcontroller. The navigation and positioning module mainly realizes the functions of acquiring the position and attitude information of the equipment's sensing end and generating periodic pulse signals to trigger the synchronous information acquisition of the sensors. Specifically, the navigation and positioning module transmits the generated pulse signals to the edge computer via a GPIO serial port, and the edge computer synchronously triggers and controls the operation of each sensing module via a microcontroller connected through a USB interface.

[0032] Furthermore, NH3, CO, and SO2 sensors are used to detect the concentrations of harmful environmental gases such as ammonia, carbon monoxide, and sulfur dioxide, respectively. Temperature and humidity sensors collect environmental temperature and humidity parameters. This multi-source data is uploaded to the synchronous control computing module via a single bus or serial port transmission link. Additionally, a monocular camera, hyperspectral imager, thermal infrared imager, and 5G communication module are connected to the synchronous control computing module via a USB / DCMI interface.

[0033] Furthermore, the timer function of the navigation and positioning module generates periodic pulse signals, which are sent to the synchronous control and computing module via the GPIO interface. The main control chip triggers each sensor to start working synchronously to detect data, which is then received, processed, and packaged by the lower-level software module of the edge computing module.

[0034] Furthermore, the lower-level software of the synchronous control computer module establishes a network connection with the upper-level software through the communication module, and sends the processed and packetized message queue based on the data transmission protocol executed by both, which is synchronously received by the upper-level software running in the emergency management center.

[0035] The host computer software of the synchronous control computer module receives, processes, parses, and stores the data.

[0036] In the equipment provided by this utility model, the synchronous control computing module outputs a synchronous trigger signal through a microcontroller; after receiving the signal, the detection and sensing module simultaneously starts data acquisition and transmits the data to the edge computer.

[0037] Specifically, the navigation and positioning module generates pulse signals and sends them to the edge computer. The edge computer then outputs a unified electrical pulse trigger signal to the detection device module via a microcontroller connected through a USB interface, enabling the sensor devices to simultaneously and synchronously activate their information detection functions. The detection device module can also preprocess the detection data and then upload the processed gas data, image data, and temperature and humidity data to the edge computer of the synchronous control and computing module in real time through a preset communication interface. The edge computer then performs temporary storage and format encapsulation of the data.

[0038] During data transmission, a wireless connection is established through the communication module to achieve data pass-through, and the collected and encapsulated data is transmitted back to the host computer of the synchronous control computing module according to the protocol format and automatically saved at the address specified by the user.

[0039] See attached Figure 2 The detection device module sends the collected data to the edge computer of the synchronous control computing module through the data communication interface, and the microcontroller realizes the synchronous triggering of each sensor of the detection device module through the synchronous control interface.

[0040] The edge computer of the synchronous control computing module and the host computer software of the synchronous control computing module interact with each other through data transceiver interfaces and communication protocols. The host computer software completes data reception, processing and parsing, and database data management.

[0041] See attached Figure 2 The communication function, through multi-bus collaboration and wireless communication, establishes a data path between the sensors of the detection device module, the edge computer of the synchronous control computing module, and the main control computer (running host computer software). Each module interacts with data according to its corresponding bus protocol and interface. The transmission process includes three stages: sensor data acquisition, edge computer data processing and forwarding, and main control computer reception and monitoring. Each sensor continuously collects environmental data, awaiting read commands from the edge computer. Temperature and humidity sensors transmit data to the edge computer interface via a single bus, hyperspectral cameras and thermal infrared imagers via a DCMI bus, and CO, SO2, and NH3 sensors via serial ports. After processing the data, the edge computer sends it to the 5G module, which then transmits it to the main control computer (running host computer software) via the 5G communication network. The host computer software on the main control computer receives, unpacks, processes, and analyzes the data according to the protocol between it and the lower-level software.

[0042] The method of using the equipment described in this utility model is as follows: See attached Figure 3After the equipment is started, the operator completes task planning and inputs control commands through the built-in interactive interface. The edge computer built into the synchronous control computing module then initializes the sensor module, communication module, and hardware devices of the detection device module to prepare for synchronous data acquisition and transmission. After each module is working, the sensors collect data in real time and transmit it to the edge computer of the synchronous control computing module. The edge computer processes the data in real time to form structured data, and then transmits it directly to the main control computer (running host computer software) through the communication module based on a preset protocol. After receiving the data, the main control computer (running host computer software) performs in-depth processing and storage, and finally generates a report or triggers a response mechanism to support decision-making.

[0043] In summary, this utility model has wide applications in the fields of environmental condition detection and disaster relief in accident-caused scenarios. It significantly improves the accuracy and efficiency of target object classification and environmental gas composition in accident-caused scenarios, enhances the timeliness, safety and efficiency of emergency rescue, and provides scientific support for emergency protection and accurate source tracing of accidents.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of this utility model.

Claims

1. A comprehensive multi-source remote sensing equipment for accident-caused disaster scenarios, characterized in that, Including both the lower-level machine and the upper-level machine; The lower-level machine includes a microcontroller, an edge computer, a communication module, a material / object detection module, a temperature and humidity detection module, a gas detection module, and a navigation and positioning module; The navigation and positioning module is connected to an edge computer, the edge computer is connected to a microcontroller, and the microcontroller is connected to a material / object detection module, a temperature and humidity detection module, a gas detection module, and a navigation and positioning module, respectively. The edge computer is connected to the temperature and humidity detection module via a single bus, to the material / object detection module via a DCMI bus, to the gas detection module via a serial port, and to the host computer via a communication module.

2. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios as described in claim 1, characterized in that, The material / object detection module includes a hyperspectral imager, an industrial measurement camera, and a thermal infrared imager, which are connected to an edge computer via a DCMI bus.

3. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios as described in claim 1, characterized in that, The temperature and humidity detection module includes a temperature sensor and a humidity sensor, which are connected to an edge computer via a single bus.

4. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios as described in claim 1, characterized in that, The gas detection module includes a CO sensor, an NH3 sensor, and an SO2 sensor, which are connected to an edge computer via serial ports.

5. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios according to claim 1, characterized in that, The navigation and positioning module includes a GNSS module and an IMU module, which are connected to the edge computer via GPIO interfaces.

6. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios according to claim 1, characterized in that, The communication module includes a wireless image transmission and a communication module. The wireless image transmission uses 5G wireless communication technology, and the communication module uses a 5G chip.

7. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios according to claim 1, characterized in that, The microcontroller is a 32-bit microcontroller based on the ARM Cortex-M3 core.

8. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios according to claim 1, characterized in that, The edge computer uses a Rockchip RK3588 motherboard as its hardware module.

9. The comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios according to claim 1, characterized in that, The equipment is equipped with a standardized installation interface, which is compatible with drones, vehicle-mounted platforms, or handheld devices.

10. A mobile platform, characterized in that, The device is equipped with a comprehensive environmental multi-source remote sensing equipment for accident-caused disaster scenarios as described in any one of claims 1-9.

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