CN113534830A - Unmanned aerial vehicle search and rescue device and search and rescue method thereof - Google Patents
Unmanned aerial vehicle search and rescue device and search and rescue method thereof Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle search and rescue device and a search and rescue method thereof.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle search and rescue device and a search and rescue method thereof.
Background
After natural disasters occur, the common search and rescue method is as follows: an optical lens, thermal imaging and the like are loaded on the unmanned aerial vehicle, and pictures shot by the optical lens are transmitted to the controlled search and rescue personnel, so that the search and rescue personnel can conveniently check the situation of the disaster area site; in addition, there are also ways to search for human, animal olfactory, or life detectors on the ground.
Although the above detection modes can also find missing people, the efficiency is low, the search and rescue is not comprehensive, and when the signal is weak, the worker is difficult to determine whether the person to be searched and rescued is true, and the specific position also needs time determination, so the workload of the search and rescue worker is very large.
Disclosure of Invention
The invention provides an unmanned aerial vehicle search and rescue device and a search and rescue method thereof aiming at the problems in the prior art, wherein an airborne micro base station is loaded on an unmanned aerial vehicle, and a mobile phone signal of a trapped person is searched through the airborne micro base station, so that the position of the trapped person can be more quickly and accurately positioned and timely fed back to a control center on the ground, and a search and rescue scheme can be conveniently customized by a search and rescue worker in time.
In order to solve the technical problems, the invention adopts the following technical scheme: an unmanned aerial vehicle search and rescue device comprises ground control equipment and an unmanned aerial vehicle, wherein the ground control equipment is used for communicating with the unmanned aerial vehicle and controlling the unmanned aerial vehicle to work, the unmanned aerial vehicle search and rescue device also comprises an airborne micro base station and a transfer ring, the airborne micro base station is in communication connection with the unmanned aerial vehicle through the transfer ring, and the unmanned aerial vehicle drives the airborne micro base station to move; the airborne micro base station comprises a shell, and a control module, an antenna and a power amplification module which are all arranged in the shell, wherein the antenna and the power amplification module are in signal connection with the control module;
the unmanned aerial vehicle flies according to the control command of the ground control equipment and is used for transmitting the control command of the ground control equipment to the control module of the airborne micro base station through the adapter ring; the control module sends out a search signal according to the control command, and the power amplification module is used for amplifying the search signal; the antenna is used for transmitting the amplified search and rescue signals to a mobile phone on the ground surface or in a shallow area, receiving signals fed back by the mobile phone and transmitting the received mobile phone signals to the control module; the control module digitalizes the received mobile phone signals and transmits digitalized information to the unmanned aerial vehicle, and the unmanned aerial vehicle is used for transmitting the received mobile phone signals back to the ground control equipment.
Preferably, unmanned aerial vehicle includes fuselage, main control MCU and battery module, battery module is used for providing the power for fuselage and main control MCU, main control MCU be used for controlling the fuselage flight and with the control module communication of machine carries miniature basic station, battery module passes through the switching ring does machine carries miniature basic station power supply.
Preferably, the unmanned aerial vehicle further comprises an optical lens in signal connection with the master control MCU, the optical lens is used for shooting the situation on the ground and feeding shooting data back to the master control MCU, and the master control MCU transmits the data to the ground control device.
Preferably, the unmanned aerial vehicle further comprises thermal imaging in signal connection with the master control MCU, the thermal imaging is used for detecting the ground condition and feeding back detection data to the master control MCU, and the master control MCU transmits the data to the ground control device.
Preferably, the shell comprises an upper shell and a lower shell detachably connected with the upper shell, the upper shell and the lower shell are assembled to form an installation cavity, the control module, the antenna and the power amplification module are all installed in the installation cavity, the upper shell is convexly provided with an installation opening, and the adapter ring is detachably assembled at the installation opening.
Preferably, the upper shell and the lower shell are both provided with a plurality of heat dissipation holes.
Preferably, the airborne micro base station further comprises a heat dissipation module installed in the installation cavity, and the heat dissipation module is used for dissipating heat for the control module and the power amplification module.
Preferably, the heat dissipation module is provided with a fixing ring, and the fixing ring is sleeved on the periphery of the control module and used for fixing the control module.
Preferably, the airborne micro base station further comprises an antenna support, the antenna is assembled on the antenna support, and the antenna support is detachably mounted on the heat dissipation module.
A search and rescue method comprises the following steps:
A. the ground control equipment comprises a browsing terminal, a server, mobile terminal equipment and a remote controller, wherein the browsing terminal and the mobile terminal equipment are in communication connection with the server through a network, and the remote controller is in communication connection with the mobile terminal equipment;
B. the search and rescue personnel send configuration data to the airborne micro base station through the mobile terminal equipment and control the unmanned aerial vehicle to fly above the search area according to a specified route through the remote controller;
C. in the flight process, the airborne micro base station sends specific data to the mobile phone along the way, and after the mobile phone receives the specific data, the mobile phone actively initiates a location area updating process to enable the airborne micro base station to obtain the IMSI number, the IMEI number, the frequency point and the signal intensity of the mobile phone along the way;
D. the machine carries miniature basic station and transmits the cell-phone IMSI or IMEI number, frequency point and the signal strength who obtains along the way to unmanned aerial vehicle through the switching ring, and unmanned aerial vehicle rethread wireless communication protocol transmits data to the remote controller, and the remote controller transmits the data of receiving to mobile terminal equipment, and mobile terminal equipment rethread network uploads to the server, and the server is final with data transmission to browse the terminal, supplies the search and rescue staff to look over.
Preferably, in the step D, after the mobile terminal device acquires the IMSI or IMEI number of the mobile phone of the trapped person, the mobile terminal device sends a control command to the onboard micro base station, and the onboard micro base station issues a command to the mobile phone of the target trapped person of the specified IMSI, so that the mobile phone of the trapped person performs signal measurement and continuously reports the signal measurement to the onboard micro base station, and thus the onboard micro base station can continuously acquire the frequency point, the signal intensity and the relative incident angle of the signal of the mobile phone of the trapped person of the specified IMSI in combination with the antenna.
Preferably, in the step D, after the mobile terminal device receives the IMSI or IMEI, the frequency point, and the signal strength, acquiring the longitude and latitude of the unmanned aerial vehicle and storing the longitude and latitude data of the unmanned aerial vehicle; dividing the searched area into a plurality of grids, and controlling the unmanned aerial vehicle to fly on each grid by the remote controller; the mobile terminal device displays the rasterized search areas, marks the searched IMSI number after each grid area search, and marks the searched IMSI number in each grid area.
Preferably, in the step D, after the mobile terminal device obtains the IMSI or IMEI, an instruction is sent to the remote controller, the remote controller transmits the instruction to the unmanned aerial vehicle through a wireless communication protocol, the unmanned aerial vehicle changes the attitude according to the instruction to enable the airborne micro base station to tilt by an angle θ, and then the unmanned aerial vehicle rotates by 360 degrees at a constant speed according to the instruction to obtain a first position, received by an antenna of the airborne micro base station, of the mobile phone of the trapped person with the strongest signal intensity; then, controlling the unmanned aerial vehicle to move to another position, adjusting the posture again according to the instruction of the mobile terminal equipment, enabling the airborne micro base station to incline by the angle theta, and rotating at a constant speed for 360 degrees to obtain a second position, with the strongest signal intensity, of the mobile phone of the trapped person, received by the antenna of the airborne micro base station at the current position; and finally, calculating the longitude and latitude of the intersection point of the first position and the second position by acquiring the longitude and latitude of the unmanned aerial vehicle, and acquiring the position of the trapped personnel.
Preferably, after the longitude and latitude of the mobile phone of the trapped person are obtained, the mobile terminal device sends an instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to adjust the posture, so that the recorded micro base station tilts at a constant speed, and then an angle α of the onboard micro base station obtaining the strongest signal of the mobile phone of the trapped person is obtained, so that the height h of the mobile phone of the trapped person can be obtained as g-d tan (90- α), wherein the horizontal distance d from the unmanned aerial vehicle to the mobile phone of the trapped person is obtained according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the mobile phone of the trapped person, g is the height of the unmanned aerial vehicle, and the specific position of the mobile phone of the trapped person is obtained according to the longitude and latitude of the mobile phone of the trapped person and the height of the position where the mobile phone of the trapped person is located.
The invention has the beneficial effects that:
the unmanned aerial vehicle search and rescue device provided by the invention controls the flight of the unmanned aerial vehicle to drive the airborne micro base station to fly above a disaster area, the airborne micro base station sends a specific frequency signal which is received by the mobile phone of a trapped person and then fed back to the airborne micro base station by the mobile phone, the control module of the airborne micro base station transmits the received feedback signal to the unmanned aerial vehicle, and finally the unmanned aerial vehicle transmits the signal to the ground control equipment, so that a search and rescue worker can know the position and the condition of the trapped person in the disaster area in time, thereby formulating a more effective search and rescue scheme and rescuing the trapped person in time and efficiently.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle and an airborne micro base station according to the present invention.
Fig. 2 is a schematic structural diagram of the airborne micro base station of the present invention.
Fig. 3 is an exploded view of the airborne femtocell according to the present invention.
Fig. 4 is a schematic structural diagram of the cooperation among the ground control device, the unmanned aerial vehicle, and the airborne micro base station of the present invention.
Fig. 5 is a schematic diagram illustrating search area rasterization in the search and rescue method of the present invention.
Fig. 6 is a schematic diagram of a mode for determining the longitude and latitude of the mobile phone signal position of the trapped person by the search and rescue method of the invention.
Fig. 7 is a schematic diagram of a method for determining the height of a mobile phone signal position of a trapped person according to the search and rescue method of the present invention.
The reference numerals in fig. 1 to 7 include:
1-ground control equipment, 2-unmanned aerial vehicle, 3-airborne micro base station, 4-adapter ring, 5-control module, 6-antenna, 7-power amplification module, 8-fuselage, 9-master control MCU, 10-battery module, 11-optical lens, 12-thermal imaging, 13-upper shell, 14-lower shell, 15-mounting port, 16-heat dissipation hole, 17-heat dissipation module, 18-fixing ring, 19-antenna support.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.
The unmanned aerial vehicle search and rescue device provided by the embodiment comprises a ground control device 1 and an unmanned aerial vehicle 2, wherein the ground control device 1 is used for communicating with the unmanned aerial vehicle 2 and controlling the unmanned aerial vehicle 2 to work, and further comprises an airborne micro base station 3 and a transfer ring 4, the airborne micro base station 3 is in communication connection with the unmanned aerial vehicle 2 through the transfer ring 4, and the unmanned aerial vehicle 2 drives the airborne micro base station 3 to move; the airborne micro base station 3 comprises a shell, and a control module 5, an antenna 6 and a power amplification module 7 which are all arranged in the shell, wherein the antenna 6 and the power amplification module 7 are in signal connection with the control module 5; the unmanned aerial vehicle 2 flies according to the control command of the ground control equipment 1 and is used for transmitting the control command of the ground control equipment 1 to the control module 5 of the airborne micro base station 3 through the adapter ring 4; the control module 5 sends out a search signal according to the control command, and the power amplification module 7 is used for amplifying the search signal; the antenna 6 is used for transmitting the amplified search and rescue signals to a mobile phone on the ground surface or in a shallow land, receiving signals fed back by the mobile phone and transmitting the received mobile phone signals to the control module 5; the control module 5 digitizes the received mobile phone signal and transmits digitized information to the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 transmits the received mobile phone signal back to the ground control device 1, and the signal fed back by the mobile phone is an analog signal, so that the control module 5 digitizes the analog signal, converts the signal into digitized information after analog-to-digital conversion, quantization and adjustment, and is convenient for transmission. The power amplification module 7 is the prior art, and the antenna of this embodiment has two operation modes, namely a directional operation mode and an omnidirectional operation mode.
Specifically, the unmanned aerial vehicle 2 of this embodiment preferably employs a conventional communicable unmanned aerial vehicle 2, the ground control device 1 includes a remote controller for controlling communication, a mobile terminal, a server for communication, and other intelligent browsing terminals such as a display, and the ground control device 1 is mainly configured to receive data information transmitted by the unmanned aerial vehicle 2 and send a control command to the unmanned aerial vehicle 2 according to actual needs, so as to control the flight of the unmanned aerial vehicle 2. People are mobile phones of human hands basically, and the mobile phones are also bound with information of the people, for example, the mobile phone numbers are bound with identity cards, when sudden natural disasters such as earthquakes occur, the mobile phones of people are on the bodies or fall nearby, so trapped people can be searched by searching specific signals of the mobile phones, for example, each mobile phone of the mobile phone has one IMSI or IMEI code, even if no network exists, the mobile phone can send signals with specific frequency to the mobile phone, so that the IMSI or IMEI code is fed back by the mobile phone, and the position of the mobile phone can be obtained.
The search and rescue principle of this embodiment is: firstly, an airborne micro base station 3 is carried on an unmanned aerial vehicle 2, the airborne micro base station 3 has similar purposes to the existing mobile and communication base stations, is compatible with the 2, 3, 4 and 5G general protocols corresponding to 3GPP, and can communicate with a mobile phone, when searching, a ground control device 1 sends a control command to control the unmanned aerial vehicle 2 to fly over a disaster area, in the flying process, the ground control device 1 sends an instruction to a main control MCU9 of the unmanned aerial vehicle 2, the main control MCU9 of the unmanned aerial vehicle 2 transmits data to a control module 5 of the airborne micro base station 3 through a transfer ring 4, the control module 5 sends a signal with specific frequency after receiving the command, the power amplification module 7 amplifies the signal with specific frequency, and an antenna 6 sends the signal with specific frequency out; after the mobile phone of the trapped person receives the signal of the specific frequency, the mobile phone of the trapped person actively initiates a location area updating process, namely a TAU process, so that the onboard micro base station 3 can acquire the IMSI or IMEI, frequency point and signal strength of the mobile phone along the way, and transmit the acquired data to the main control MCU9 of the unmanned aerial vehicle 2 through the adapter ring 4, and the main control MCU9 of the unmanned aerial vehicle 2 transmits the data to the ground control device 1, so that the search and rescue worker knows the area, number and the like of the trapped person in the current disaster area, and can also determine the identity information of the trapped person according to the IMSI of the mobile phone. In the prior art, the trapped person is searched by instruments such as a near-distance visible light search on the ground, a dog search or a vital sign, so that the situations of high secondary risk, long time, difficulty in searching invisible objects and the like exist.
The unmanned aerial vehicle search and rescue device that this embodiment provided, as fig. 4, unmanned aerial vehicle 2 includes fuselage 8, master control MCU9 and battery module 10, battery module 10 is used for providing the power for fuselage 8 and master control MCU9, master control MCU9 be used for controlling fuselage 8 flight and with the control module 5 communication of airborne miniature basic station 3, battery module 10 passes through adapter ring 4 does airborne miniature basic station 3 supplies power. Further, unmanned aerial vehicle 2 still include with master control MCU9 signal connection's optical lens 11 and thermal imaging 12, optical lens 11 is used for shooing the condition on ground and feeds back the shooting data to master control MCU9, and master control MCU9 is again with data transmission ground control equipment 1, thermal imaging 12 is used for detecting the condition on ground and feeds back the detection data to master control MCU9, and master control MCU9 is again with data transmission ground control equipment 1. Wherein, unmanned aerial vehicle 2's fuselage 8 structure is prior art.
Specifically, except that the miniature basic station 3 of machine-carried on unmanned aerial vehicle 2, still loading has optical lens 11 and thermal imaging 12, and the picture that optical lens 11 will shoot at the in-process of 2 flights of unmanned aerial vehicle is transmitted ground controlling means, supplies the staff to see the disaster area condition more clearly, is convenient for carry out the search and rescue deployment. Besides the search and rescue of the onboard micro base station 3, the thermal imaging 12 can search for trapped people through thermal imaging, so that some trapped people without mobile phones cannot be found. In this embodiment, the power supply of airborne miniature basic station 3 is that unmanned aerial vehicle 2's battery module 10 provides, and the function of adapter ring 4 both can transmit data, also can be used for charging, therefore airborne miniature basic station 3 need not to set up the power in addition, and direct battery module 10 through unmanned aerial vehicle 2 supplies power alright, helps reducing airborne miniature basic station 3's weight.
The unmanned aerial vehicle search and rescue device that this embodiment provided, as fig. 2, fig. 3, the shell includes epitheca 13 and can dismantle the inferior valve 14 of being connected with epitheca 13, epitheca 13 forms the installation cavity with 14 equipment backs of inferior valve, control module 5, antenna 6 and power amplification module 7 all install in the installation cavity, epitheca 13 protruding be equipped with installing port 15, adapter ring 4 demountable assembly in installing port 15, fixed adapter ring 4 of forms such as accessible joint or screw. Further, a plurality of heat dissipation holes 16 are formed in the upper shell 13 and the lower shell 14, so that heat dissipation is facilitated.
Specifically, the onboard micro base station 3 is simple in assembly structure, convenient to disassemble and assemble and convenient to maintain. The control module 5 is a control module 5 type in a base station for mobile or communication service in the prior art, but the control module 5 of the present embodiment is miniaturized, because the data transmitted in the present embodiment is relatively less, the control module 5 can be miniaturized.
Furthermore, the airborne femtocell 3 of the present embodiment further includes a heat dissipation module 17, the structure of the heat dissipation module 17 is as shown in fig. 3, the control module 5 is mounted on the heat dissipation module 17, a fixing ring 18 is sleeved on the outer periphery of the control module 5, and the fixing ring 18 is fixed on the heat dissipation module 17 through screws, so as to fix the control module 5; the antenna 6 is fixed on the antenna support 19, and then the antenna support 19 is locked on the heat dissipation module 17 through parts such as screws, so that the assembly can be completed, the upper shell 13 and the lower shell 14 can be provided with corresponding mounting grooves for mounting structures such as the power amplification module 7, and after the assembly is completed, the upper shell 13 and the lower shell 14 are locked through screws. The heat dissipation module 17 of this embodiment has utilized poroid ventilation to make unmanned aerial vehicle flight process's wind form the air-cooled structure of convection current in cavity structures, increases area of contact's aluminium radiator structure, and the fan increases wind pressure heat dissipation multimode to control module 5, install the circuit module in the shell and dispel the heat, and circuit module is the necessary structure in the communication, and this embodiment does not do specific restriction.
The search and rescue method of the unmanned aerial vehicle 2 search and rescue device provided by the embodiment comprises the following steps:
A. the ground control equipment 1 comprises a browsing terminal, a server, mobile terminal equipment and a remote controller, wherein the browsing terminal and the mobile terminal equipment are in communication connection with the server through a network, and the remote controller is in communication connection with the mobile terminal equipment;
B. search and rescue personnel send configuration data to a control module 5 of the airborne micro base station 3 through mobile terminal equipment, and control the unmanned aerial vehicle 2 to fly above a search area according to a specified route through a remote controller;
C. in the flight process, the airborne micro base station 3 sends specific data to a mobile phone along the way, and after receiving the specific data, the mobile phone actively initiates a location area updating process, namely a TAU process, so that the airborne micro base station 3 can acquire the IMSI or IMEI, frequency points and signal intensity of the mobile phone along the way;
D. the machine carries miniature basic station 3 and transmits the cell-phone IMSI or IMEI, frequency point and the signal strength who obtains along the way to unmanned aerial vehicle 2 through switching ring 4, and unmanned aerial vehicle 2 rethread wireless communication protocol (being bridge agreement) is with data transmission to the remote controller, and the data transmission that the remote controller will receive is to mobile terminal, and mobile terminal passes through the network again and uploads the server, and the server is final with data transmission to browse the terminal, supplies the search and rescue staff to look over. Further, after the mobile terminal device obtains the IMSI or IMEI of the mobile phone of the trapped person, the mobile terminal device is connected with the big data and ground control device 1 at the INTERNET backend in the prior art, the characteristics of the really trapped person are screened through an algorithm, a control command is sent to the onboard micro base station 3 after a target is identified, the onboard micro base station 3 sends the command to the mobile phone of the trapped person, the mobile phone of the trapped person is measured according to a specified channel, and a report is sent, so that the onboard micro base station 3 can continuously obtain the mobile phone frequency point, the signal intensity and the relative incident angle of the trapped person.
In this embodiment, the IMSI or IMEI and the frequency point of the mobile phone are specific data carried by the mobile phone, and the IMSI or IMEI is an international mobile subscriber identity, which is a mark for distinguishing a mobile subscriber, and is stored in the SIM card and the mobile phone terminal, which is effective information for distinguishing the mobile subscriber, so that after the IMSI or IMEI of the mobile phone of the trapped person is obtained, the feature image and the identity of the trapped person can be identified by combining the background big data and the emergency rescue information data. In order to confirm the position of the mobile station, the network coverage area is divided into a plurality of tracking areas, which are basic units for position updating and paging in the communication system; when a mobile station moves from one location area to another, it must re-register on the new location area to inform the network to change its stored location information for the mobile station, a tracking area update. In addition, the measurement report is an important basis for RRM (radio resource management) to perform related control such as power control, RB dynamic control, handover control, radio link monitoring, and the like, and can provide a basis for subsequent network planning and network optimization. The API is a call interface that the operating system leaves for the application program, and the application program makes the operating system execute the command of the application program by calling the API of the operating system.
Specifically, the search and rescue method of this embodiment mainly searches for the mobile phone signal of the trapped person, so that the mobile phone of the trapped person actively initiates the mobile phone signal that can be searched by the onboard micro base station 3, and then determines the position of the mobile phone according to the mobile phone signal, thereby searching for the position of the trapped person. The specific process is as follows: referring to fig. 4, the drone 2 is controlled to fly, a mobile terminal device on the ground, such as a mobile terminal, sends configuration data to the drone 2, the drone 2 transmits the data to the onboard micro base station 3, so that during the flight, the onboard micro base station 3 sends specific data to mobile phones of trapped people along the way according to the configured data, so that the mobile phones of the trapped people actively initiate a TAU procedure to send out IMSI or IMEI, frequency points of the mobile phones, the onboard micro base station 3 receives IMSI or IMEI, and frequency points of the mobile phones along the way and obtains signal strength of the data sent by the mobile phones, then transmits the IMSI or IMEI, frequency points, and signal strength received along the way to a main control MCU9 of the drone 2 through a transfer ring 4, the MCU main control 9 of the drone 2 transmits the data to a remote controller on the ground through a wireless communication protocol, and the remote controller transmits the received data to the mobile terminal device, the mobile terminal device transmits data to the server through the internet, the data can be stored in the server, the browsing terminal obtains data information collected by the onboard micro base station 3 from the server through the internet, and then search and rescue workers can check and know the situation of the disaster area through the browsing terminal to make a corresponding search and rescue scheme.
The search and rescue method of the embodiment can be divided into three stages.
In the first stage, the situation of trapped persons in the searched area is determined. In the step D, after the mobile terminal equipment receives the IMSI or the IMEI, the frequency point and the signal intensity, acquiring the longitude and latitude of the unmanned aerial vehicle 2 through an API (application programming interface) and storing the longitude and latitude data of the unmanned aerial vehicle 2; dividing the searched area into a plurality of grids, and controlling the unmanned aerial vehicle 2 to fly on each grid by using the remote controller; the mobile terminal device displays the rasterized search areas, marks the searched IMSI number after each grid area search, and marks the searched IMSI number in each grid area.
Specifically, in the present embodiment, the searched area is divided into a plurality of grids as shown in fig. 5, and the rasterized searched area is displayed on the mobile terminal device on the ground. Then, the drone 2 is controlled to sequentially search each grid area, for example, the grid areas are searched according to the sequence of fig. 5, and each time the search of one grid area is completed, the grid area is marked, so that the situation that time is wasted due to repeated searches is avoided. Besides marking the searched grid areas, the number of mobile phone signals of trapped people searched in each grid area can be displayed on the mobile terminal device, and then search and rescue workers can set the priority of search and rescue according to different urgency of each grid area and distribute the search and rescue workers to the corresponding grid areas for search and rescue. The first stage is therefore primarily the case where the entire sought area is determined as a whole.
And in the second stage, determining the signal direction of the searched mobile phone of the trapped person. In the step D, after the mobile terminal device obtains IMSI or IMEI, calling an API of a manufacturer of the unmanned aerial vehicle 2 to send an instruction to the remote controller, transmitting the instruction to the unmanned aerial vehicle 2 through a wireless protocol by the remote controller, changing the posture of the unmanned aerial vehicle 2 according to the instruction to enable the onboard micro base station 3 to incline by an angle theta, wherein theta is a range of 0-90 degrees, so that an antenna 6 of the unmanned aerial vehicle 2 faces to one direction, then the unmanned aerial vehicle 2 rotates by 360 degrees at a constant speed according to the instruction, and even if the antenna is searched by 6360 degrees, a first direction with the strongest signal intensity of the mobile phone of the trapped person is obtained; then, controlling the unmanned aerial vehicle 2 to move to another position, adjusting the posture again according to the instruction of the mobile terminal device, enabling the airborne micro base station 3 to incline by the angle theta, and rotating by 360 degrees at a constant speed to obtain a second position, with the strongest signal intensity, of the mobile phone of the trapped person, received by the antenna 6 of the airborne micro base station 3 at the current position; finally, the longitude and latitude of the intersection of the first position and the second position are calculated by obtaining the longitude and latitude of the unmanned aerial vehicle 2, and the position of the trapped person is obtained, as shown in fig. 6. That is to say, the exit of the mobile phone signal is distinguished according to the intersection point of the two directions, and then, the specific longitude and latitude of the signal intersection point can be acquired according to the longitude and latitude of the position where the unmanned aerial vehicle 2 determines the direction twice.
And the third stage is to determine the height of the outgoing position of the mobile phone signal. Because the trapped people are often trapped in different positions and heights in the disaster area, the search and rescue workers can find the trapped people more accurately and quickly by determining the height positions of the trapped people. In the second stage, the longitude and latitude of the signal exit of the mobile phone of the trapped person are determined, then the mobile terminal device continues to call the API of the manufacturer of the unmanned aerial vehicle 2 to send an instruction to the unmanned aerial vehicle 2, and controls the unmanned aerial vehicle 2 to adjust the posture, so that the recorded micro base station tilts at a constant speed, the tilting angle range is 0-90 degrees, as shown in fig. 7, then, the angle α at which the airborne femtocell 3 acquires the strongest signal of the mobile phone of the trapped person is obtained, so that the height h-g-d tan (90- α) of the mobile phone of the trapped person can be obtained, wherein, the horizontal distance d from the unmanned aerial vehicle 2 to the mobile phone of the trapped person is calculated and obtained according to the longitude and latitude of the unmanned aerial vehicle 2 and the longitude and latitude of the mobile phone of the trapped person, g is the height of the unmanned aerial vehicle 2, and acquiring the specific position of the mobile phone of the trapped person according to the longitude and latitude of the mobile phone of the trapped person and the height of the position.
In the three stages, the general directions and the quantity of the people to be searched and rescued in each direction of the searched area are determined, the directions and the longitude and latitude of the trapped people are determined according to the strength of the mobile phone signals, and finally the height of the mobile phone signal position of the trapped people is calculated and determined according to the height of the unmanned aerial vehicle 2 and the longitude and latitude of the exit of the mobile phone signals, so that the position of the mobile phone of the trapped people is accurately obtained, the more accurate position of the trapped people is obtained, and the position of the trapped people can be further obtained by matching with the optical lens 11 and the thermal imaging 12 when necessary, and the searching and rescuing can be conveniently carried out.
The search and rescue method can rapidly detect and analyze the position distribution condition of visible and invisible trapped people before ground rescue arrives, and is beneficial to effectively commanding and dispatching rescue workers, rescue equipment carries out accurate rescue, and the phenomenon that the timeliness of search and rescue is influenced by the occurrence of excessive idle work is avoided. The image and the identity of the trapped person are determined through contact, a big data algorithm in the prior art, IMSI or IMEI of the mobile phone of the trapped person and the like, accurate statistics and screening of the injury of the personnel in the disaster area are facilitated, and the personnel can be in contact with the family members in time, so that the search and rescue operation in the disaster area can be performed efficiently, more lives can be saved, and the injury and death rate is reduced.
Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle search and rescue device, includes ground control equipment and unmanned aerial vehicle, ground control equipment be used for with unmanned aerial vehicle communication and control unmanned aerial vehicle work, its characterized in that: the unmanned aerial vehicle is characterized by further comprising an airborne micro base station and a transfer ring, wherein the airborne micro base station is in communication connection with the unmanned aerial vehicle through the transfer ring, and the unmanned aerial vehicle drives the airborne micro base station to move; the airborne micro base station comprises a shell, and a control module, an antenna and a power amplification module which are all arranged in the shell, wherein the antenna and the power amplification module are in signal connection with the control module;
the unmanned aerial vehicle flies according to the control command of the ground control equipment and is used for transmitting the control command of the ground control equipment to the control module of the airborne micro base station through the adapter ring; the control module sends out a search signal according to the control command, and the power amplification module is used for amplifying the search signal; the antenna is used for transmitting the amplified search and rescue signals to a mobile phone on the ground surface or in a shallow area, receiving signals fed back by the mobile phone and transmitting the received mobile phone signals to the control module; the control module digitalizes the received mobile phone signals and transmits digitalized information to the unmanned aerial vehicle, and the unmanned aerial vehicle transmits the received mobile phone signals back to the ground control equipment.
2. The unmanned aerial vehicle search and rescue device of claim 1, characterized in that: unmanned aerial vehicle includes fuselage, main control MCU and battery module, battery module is used for providing the power for fuselage and main control MCU, main control MCU be used for controlling the fuselage flight and with the control module communication of machine carries miniature basic station, battery module passes through the switching ring does machine carries miniature basic station power supply.
3. The unmanned aerial vehicle search and rescue device of claim 2, wherein: the unmanned aerial vehicle also comprises an optical lens in signal connection with the master control MCU and thermal imaging; the optical lens is used for shooting the ground situation and feeding shooting data back to the master control MCU, and the master control MCU transmits the data to the ground control equipment; the thermal imaging is used for detecting the condition of the ground and feeding back detection data to the main control MCU, and the main control MCU transmits the data to the ground control equipment.
4. The unmanned aerial vehicle search and rescue device of claim 1, characterized in that: the shell comprises an upper shell and a lower shell detachably connected with the upper shell, the upper shell and the lower shell are assembled to form an installation cavity, the control module, the antenna and the power amplification module are all arranged in the installation cavity, the upper shell is convexly provided with an installation port, and the adapter ring is detachably assembled at the installation port.
5. The unmanned aerial vehicle search and rescue device of claim 4, wherein: the onboard micro base station further comprises a heat dissipation module arranged in the installation cavity, and the heat dissipation module is used for dissipating heat for the control module and the power amplification module.
6. A search and rescue method based on the unmanned aerial vehicle search and rescue device of claim 1, characterized by comprising the following steps:
A. the ground control equipment comprises a browsing terminal, a server, mobile terminal equipment and a remote controller, wherein the browsing terminal and the mobile terminal equipment are in communication connection with the server through a network, and the remote controller is in communication connection with the mobile terminal equipment;
B. the search and rescue personnel send configuration data to the airborne micro base station through the mobile terminal equipment and control the unmanned aerial vehicle to fly above the search area according to a specified route through the remote controller;
C. in the flight process, the airborne micro base station sends specific data to the mobile phone along the way, and after the mobile phone receives the specific data, the mobile phone actively initiates a location area updating process to enable the airborne micro base station to obtain the IMSI number, the IMEI number, the frequency point and the signal intensity of the mobile phone along the way;
D. the machine carries miniature basic station and transmits the cell-phone IMSI or IMEI number, frequency point and the signal strength who obtains along the way to unmanned aerial vehicle through the switching ring, and unmanned aerial vehicle rethread wireless communication protocol transmits data to the remote controller, and the remote controller transmits the data of receiving to mobile terminal equipment, and mobile terminal equipment rethread network uploads to the server, and the server is final with data transmission to browse the terminal, supplies the search and rescue staff to look over.
7. A search and rescue method according to claim 6, characterized in that: in the step D, after the mobile terminal device acquires the IMSI or IMEI number of the trapped person, a control command is sent to the onboard micro base station, and the onboard micro base station issues a command to the mobile phone of the target trapped person of the designated IMSI, so that the mobile phone of the trapped person carries out signal measurement and continuously reports the signal to the onboard micro base station, and the onboard micro base station can continuously acquire the frequency point, the signal strength and the relative signal incidence angle of the mobile phone of the trapped person of the designated IMSI by combining with an antenna.
8. A search and rescue method according to claim 6, characterized in that: in the step D, after the mobile terminal equipment receives the IMSI or the IMEI, the frequency point and the signal intensity, the current longitude and latitude of the unmanned aerial vehicle are obtained and the longitude and latitude data of the unmanned aerial vehicle are stored; dividing the searched area into a plurality of grids, and controlling the unmanned aerial vehicle to fly on each grid by the remote controller; displaying the rasterized search areas on the mobile terminal device, marking searched marks after each grid area search, and marking the searched IMSI number and/or the stored latitude and longitude data of the unmanned aerial vehicle in each grid area.
9. A search and rescue method according to claim 6 or 8, characterized in that: step D, after the mobile terminal device obtains IMSI or IMEI, sending an instruction to a remote controller, transmitting the instruction to the unmanned aerial vehicle by the remote controller through a wireless communication protocol, enabling the unmanned aerial vehicle to change the posture according to the instruction to enable the airborne micro base station to incline by the angle theta, and enabling the unmanned aerial vehicle to rotate at a constant speed by 360 degrees according to the instruction to obtain a first direction with the strongest signal intensity of the mobile phone of the trapped person received by an antenna of the airborne micro base station; then, controlling the unmanned aerial vehicle to move to another position, adjusting the posture again according to the instruction of the mobile terminal equipment, enabling the airborne micro base station to incline by the angle theta, and rotating at a constant speed for 360 degrees to obtain a second position, with the strongest signal intensity, of the mobile phone of the trapped person, received by the antenna of the airborne micro base station at the current position; and finally, calculating the longitude and latitude of the intersection point of the first position and the second position by acquiring the longitude and latitude of the unmanned aerial vehicle, and acquiring the position of the trapped personnel.
10. A search and rescue method according to claim 9, characterized in that: after the longitude and latitude of the mobile phone of the trapped person are obtained, the mobile terminal device sends an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to adjust the posture, the recording micro base station tilts at a constant speed, then the angle alpha of the strongest signal of the mobile phone of the trapped person is obtained by the onboard micro base station, the height h of the mobile phone of the trapped person can be obtained as g-d tan (90-alpha), wherein the horizontal distance d from the unmanned aerial vehicle to the mobile phone of the trapped person is obtained according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the mobile phone of the trapped person, g is the height of the unmanned aerial vehicle, and the specific position of the mobile phone of the trapped person is obtained according to the longitude and latitude of the mobile phone of the trapped person and the height of the position where the mobile phone of the trapped person is located.
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