CN216684840U - Trapped person search and rescue system based on millimeter wave radar - Google Patents
Trapped person search and rescue system based on millimeter wave radar Download PDFInfo
- Publication number
- CN216684840U CN216684840U CN202122743848.1U CN202122743848U CN216684840U CN 216684840 U CN216684840 U CN 216684840U CN 202122743848 U CN202122743848 U CN 202122743848U CN 216684840 U CN216684840 U CN 216684840U
- Authority
- CN
- China
- Prior art keywords
- millimeter wave
- wave radar
- rotor aircraft
- remote controller
- control chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004891 communication Methods 0.000 claims abstract description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 4
- 238000001914 filtration Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 230000000295 complement effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000003897 fog Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The trapped person search and rescue system based on the millimeter wave radar comprises a four-rotor aircraft, a single chip microcomputer, a PC (personal computer), the millimeter wave radar and a remote controller; the four-rotor aircraft comprises a rack, a brushless motor, a propeller and a flight control unit; the signal input port of the single chip microcomputer is respectively in communication connection with the millimeter wave radar and the remote controller, the signal output port of the single chip microcomputer is respectively in communication connection with the PC and the control chip of the flight control unit, the remote controller is used for controlling the flight attitude of the four-rotor aircraft, and the PC is used for displaying a real-time radar chart obtained based on the millimeter wave radar. The four-rotor aircraft is used as an airborne platform, the four-rotor aircraft moves or hovers over a target area, in the moving or hovering process, the positioning and identifying information of the human body target below the four-rotor aircraft is acquired through the millimeter wave radar, the radar chart is displayed in real time through the PC, and effective data support is provided for searching and rescuing of personnel in a disaster occurrence area.
Description
Technical Field
The utility model relates to the technical field of post-disaster personnel search and rescue, in particular to a millimeter wave radar-based trapped personnel search and rescue system.
Background
As the building is destroyed and the road is blocked, the search and rescue personnel can only enter each area from the periphery of the disaster area or descend in the air and then search and rescue. However, the search and rescue mode has large manpower investment, search and rescue personnel are difficult to walk in ruins, and the rescue efficiency is low.
In recent years, the unmanned aerial vehicle technology has been greatly developed, and unmanned aerial vehicles have been applied in many actual engineering and civil fields. The unmanned aerial vehicle has the advantages of low manufacturing cost, strong maneuverability, large flying radius and simple maintenance. At present, unmanned aerial vehicle equipment for positioning, searching and rescuing carries an infrared sensor or an optical camera to identify and detect human targets. The infrared detection has the advantages of high sensitivity, high reaction rate, convenient realization and the like, and the optical camera has the advantages of high resolution and simple realization.
However, the above scheme still has some defects which are difficult to solve, such as that the infrared detection distance is short, the infrared detection distance is easily interfered by various heat sources and sunlight sources, the infrared radiation of the human body is easily shielded when the ambient temperature and the human body temperature are close, and the detection accuracy and sensitivity are obviously reduced. The optical camera cannot detect a shielded object because it does not have penetration, and is easily affected by a severe environment (rain, snow, and fog).
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, provides a trapped person search and rescue system based on a millimeter wave radar, and solves the problem that the existing unmanned aerial vehicle equipment for positioning search and rescue is poor in reliability.
The technical scheme of the utility model is as follows: the trapped person search and rescue system based on the millimeter wave radar comprises a four-rotor aircraft, a single chip microcomputer, a PC (personal computer) and a remote controller;
the four-rotor aircraft comprises a rack, a brushless motor, a propeller, a millimeter wave radar and a flight control unit; the upper end of the frame is provided with four supporting rods with equal length which are distributed in a cross shape, and the lower end of the frame is provided with an undercarriage; the four brushless motors are respectively and fixedly arranged at the tail end of each supporting rod; the four propellers are respectively arranged on shafts of the four brushless motors; the millimeter wave radar is arranged on the rack, and the detection direction of the millimeter wave radar faces to the position right below the rack; the flight control unit is arranged on the rack and comprises a control chip, an inertia measurement module, a battery, a motor driving module and a voltage stabilizing module; the control chip is electrically connected with the inertia measurement module; the battery is electrically connected with the brushless motor through the motor driving module so as to supply power to the brushless motor, and the battery is electrically connected with the control chip through the voltage stabilizing module so as to supply power to the control chip; the control chip, the motor driving module, the battery and the voltage stabilizing module are electrically connected in sequence to form a PID closed loop;
the single-chip microcomputer is provided with a signal input port and a signal output port, the signal input port of the single-chip microcomputer is in communication connection with the millimeter wave radar and the remote controller respectively, the signal output port of the single-chip microcomputer is in communication connection with the PC and the control chip of the flight control unit respectively, the remote controller is used for controlling the flight attitude of the four-rotor aircraft, and the PC is used for displaying a real-time radar chart obtained based on the millimeter wave radar.
The further technical scheme of the utility model is as follows: the inertial measurement module integrates an accelerometer, a gyroscope and a programmable low-pass filter.
The utility model further adopts the technical scheme that: the millimeter wave radar internally comprises a multi-order RC filter.
The further technical scheme of the utility model is as follows: the millimeter wave radar internally comprises an antenna array consisting of 2 transmitting antennas and 4 receiving antennas.
Compared with the prior art, the utility model has the following advantages:
1. the four-rotor aircraft is adopted as an airborne platform, the four-rotor aircraft moves or hovers over a target area, human body target positioning and identifying information below the four-rotor aircraft is acquired through a millimeter wave radar, a radar chart is displayed in real time through a PC (personal computer), and effective data support is provided for searching and rescuing of personnel in a disaster occurrence area.
2. The millimeter wave radar sensor (model IWR1642) has the working frequency of 76-81GhZ (corresponding to the wavelength of 4mm), can generate 4GHz continuous linear frequency modulation pulse, and can detect a target accurate to the centimeter level. Compared with the existing infrared detection and optical camera schemes, the infrared detection and optical camera has the advantages of high resolution and strong anti-interference capability (the infrared detection and optical camera has the capability of penetrating smoke, fog and dust), is wider in applicable time interval (has all-weather and all-time detection capability), and is wider in applicable scenes (applicable to searching for people in earthquake, fire and lost scenes).
The utility model is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the electrical and communication connections of the various components of the present invention;
FIG. 3 is a block diagram of an adaptive complementary filter attitude estimation algorithm.
Description of the drawings: dashed-line connections between components in fig. 2 represent communication connections over a wireless network, and thick-line connections between components represent communication connections over wires or signal lines.
Detailed Description
Example 1:
as shown in fig. 1-2, the trapped person search and rescue system based on the millimeter wave radar comprises a four-rotor aircraft, a single chip microcomputer 2, a PC 3 and a remote controller 4.
The quad-rotor aircraft includes a frame 11, a brushless motor 12, a propeller 13, a millimeter wave radar 14, and a flight control unit 15. The upper end of the frame 11 is provided with four struts 111 with equal length distributed in a cross shape, and the lower end is provided with an undercarriage 112. Four brushless motors 12 are fixedly mounted at the ends of each of the support rods 111, respectively. Four propellers 13 are respectively mounted on the shafts of the four brushless motors 12. The millimeter wave radar 14 is mounted on the gantry 11 with its detection direction directed directly below the gantry 11. The flight control unit 15 is mounted on the frame 11, and the flight control unit 15 includes a control chip 151 (model number STM32F103C8T6), an inertia measurement module 152 (model number MPU6050 manufactured by InvenSense), a battery 153, a motor drive module 154, and a voltage regulator module 155. The control chip 151 is electrically connected to the inertial measurement module 152. The battery 153 is electrically connected to the brushless motor 12 through the motor driving module 154 to supply power to the brushless motor 12, and the battery 153 is electrically connected to the control chip 151 through the voltage stabilizing module 155 to supply power to the control chip 151. The control chip 151, the motor driving module 154, the battery 153, and the voltage stabilizing module 155 are electrically connected in sequence to form a PID closed loop.
Be equipped with signal input port and signal output port on singlechip 2 (the model is STM32F103), singlechip 2's signal input port passes through wireless communication module and millimeter wave radar 14 communication connection, singlechip 2's signal input port passes through data line and remote controller 4 communication connection, singlechip 2's signal output port passes through data line and PC 3 communication connection, singlechip 2's signal output port passes through wireless communication module and flight control unit 15's control chip 151 communication connection, remote controller 4 is used for controlling four rotor craft's flight gesture, PC 3 is used for showing the real-time radar picture that obtains based on millimeter wave radar 14.
Preferably, the inertial measurement module 152 integrates an accelerometer, a gyroscope, and a programmable low pass filter.
Preferably, the millimeter wave radar 14 includes a multi-order RC filter therein, and the multi-order RC filter is used for filtering out clutter in the millimeter wave radar received signal.
Preferably, the millimeter wave radar includes an antenna array composed of 2 transmitting antennas and 4 receiving antennas, and the antenna array is used for positioning a human body target, and specifically for acquiring angle information of the human body target (i.e., an incident angle of a target echo signal).
Design of a human body target positioning algorithm:
due to the fact that there are undesirable situations in practice, interference between multiple objects occurs, so-called object shadowing effects. In order to reduce the influence of target shielding, an OS (statistical order) -CFAR (computational fluid dynamics) is adopted as a solution for human target detection.
After a target is detected by the millimeter wave radar, the distance and doppler velocity information of the target can be obtained, but the target angle information, namely the incident angle of a target echo signal, is also required to be obtained to realize positioning. The specific method comprises the following steps of carrying out 3D-FFT operation: firstly, 2D-FFT operation is carried out on echo signals received by each receiving antenna, namely Fourier transform of distance dimension and Doppler dimension is carried out, and a distance-Doppler information matrix is obtained. The range-doppler matrices are then combined into a three-dimensional matrix and 3D-FFT processing, i.e. angle-dimensional FFT, is performed along the direction of the receiving antenna. The azimuth angle of the target echo signal can be obtained. And finally, by combining the distance S between the millimeter wave radar and the target and the azimuth angle of the target, calculating to obtain a two-dimensional coordinate of the target in a radar coordinate system, and positioning the human target.
And (3) clutter suppression design of the millimeter wave radar:
in the echo received by the millimeter wave radar, except the human body information, the information of obstacles, animals, the ground, flowers, plants and trees is called clutter. Clutter suppression includes both external filtering and internal filtering aspects. In the usual case, clutter concentration occurs near zero frequency and at integer multiples of the pulse repetition frequency. When clutter near the zero frequency is filtered, only the direct current needs to be set to zero. When the integral multiple pulse frequency noise is filtered, the integral multiple pulse frequency noise filtering is realized through a multi-order RC filter, the multi-order RC filter is characterized in that a high stop band is arranged at any integral multiple pulse repetition frequency, the integral multiple pulse repetition frequency noise can be effectively filtered, and other optional frequency bands are pass bands to allow the information of an effective target to pass.
Design of an autonomous hovering algorithm for a four-rotor aircraft:
the self-adaptive complementary filtering attitude estimation algorithm is adopted for realizing the autonomous hovering, and the complementary filtering attitude estimation algorithm is an algorithm based on a quaternion differential equation. Referring to fig. 3, specifically, a vector product error eq is obtained by using a three-dimensional vector formed by the gravity acceleration g measured by the accelerometer and the current attitude quaternion q, and then the vector product error eq is adjusted by the adaptive compensation coefficient and is subjected to complementary filtering with the gyroscope output ω to obtain the current attitude quaternion q. The self-adaptive compensation coefficient adjustment is to adjust the weight of the attitude error compensation coefficient in a segmented manner according to the cut-off angular velocity of the frequency response of the gyroscope.
Briefly describing the working process of the utility model:
after receiving the search and rescue task, the four-rotor aircraft flies to the target area at full speed, and after the four-rotor aircraft reaches the target area, the four-rotor aircraft decelerates to fly and reduces the flying height, and then the millimeter wave radar starts to work to search trapped people in the target area.
In the process of flying the four-rotor aircraft, the millimeter wave radar 14 continuously detects, a certain misjudgment rate exists in the detection effect, other animals or objects similar to the human body echo information are possibly misjudged as trapped persons, and the trapped persons searched in the state are all called 'suspected targets'. After a suspected target is searched, the four-rotor aircraft further reduces the height, moves to the position right above the target, keeps hovering, and then detects through the millimeter wave radar, so that whether the target is a trapped person or not is accurately judged.
If the person is not trapped, the quad-rotor aircraft lifts the altitude to fly to other undetected areas. And if the person is the trapped person, uploading the coordinates of the target, continuously tracking the target until the rescue person rescues before, and flying to other undetected areas.
Claims (4)
1. Trapped personnel search and rescue system based on millimeter wave radar, characterized by: the system comprises a four-rotor aircraft, a singlechip, a PC (personal computer) and a remote controller;
the four-rotor aircraft comprises a rack, a brushless motor, a propeller, a millimeter wave radar and a flight control unit; the upper end of the frame is provided with four supporting rods with equal length which are distributed in a cross shape, and the lower end of the frame is provided with an undercarriage; the four brushless motors are respectively and fixedly arranged at the tail end of each supporting rod; the four propellers are respectively arranged on shafts of the four brushless motors; the millimeter wave radar is arranged on the rack, and the detection direction of the millimeter wave radar faces to the position right below the rack; the flight control unit is arranged on the rack and comprises a control chip, an inertia measurement module, a battery, a motor driving module and a voltage stabilizing module; the control chip is electrically connected with the inertia measurement module; the battery is electrically connected with the brushless motor through the motor driving module so as to supply power to the brushless motor, and the battery is electrically connected with the control chip through the voltage stabilizing module so as to supply power to the control chip; the control chip, the motor driving module, the battery and the voltage stabilizing module are electrically connected in sequence to form a PID closed loop;
the single-chip microcomputer is provided with a signal input port and a signal output port, the signal input port of the single-chip microcomputer is in communication connection with the millimeter wave radar and the remote controller respectively, the signal output port of the single-chip microcomputer is in communication connection with the PC and the control chip of the flight control unit respectively, the remote controller is used for controlling the flight attitude of the four-rotor aircraft, and the PC is used for displaying a real-time radar chart obtained based on the millimeter wave radar.
2. The trapped person search and rescue system based on millimeter wave radar according to claim 1, characterized in that: the inertial measurement module integrates an accelerometer, a gyroscope and a programmable low-pass filter.
3. The trapped person search and rescue system based on millimeter wave radar as claimed in claim 2, characterized in that: the millimeter wave radar internally comprises a multi-order RC filter.
4. The trapped person search and rescue system based on millimeter wave radar as claimed in claim 3, characterized in that: the millimeter wave radar internally comprises an antenna array consisting of 2 transmitting antennas and 4 receiving antennas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122743848.1U CN216684840U (en) | 2021-11-10 | 2021-11-10 | Trapped person search and rescue system based on millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122743848.1U CN216684840U (en) | 2021-11-10 | 2021-11-10 | Trapped person search and rescue system based on millimeter wave radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216684840U true CN216684840U (en) | 2022-06-07 |
Family
ID=81832688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122743848.1U Expired - Fee Related CN216684840U (en) | 2021-11-10 | 2021-11-10 | Trapped person search and rescue system based on millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216684840U (en) |
-
2021
- 2021-11-10 CN CN202122743848.1U patent/CN216684840U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11697411B2 (en) | Apparatus and methods for obstacle detection | |
| CN107783106B (en) | Data fusion method between unmanned aerial vehicle and barrier | |
| CN107783545B (en) | Obstacle avoidance system of post-disaster rescue rotor unmanned aerial vehicle based on OODA (object oriented data acquisition) ring multi-sensor information fusion | |
| CN107014380B (en) | Combined navigation method based on visual navigation and inertial navigation of aircraft | |
| CN106950978B (en) | Fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane | |
| WO2018094583A1 (en) | Unmanned aerial vehicle obstacle-avoidance control method, flight controller and unmanned aerial vehicle | |
| CN206057974U (en) | A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle | |
| CN112130579A (en) | Tunnel unmanned aerial vehicle inspection method and system | |
| CN107054679B (en) | High-mobility active capturing type anti-unmanned aerial vehicle system and method | |
| CN110192122A (en) | Radar-directed system and method on unmanned moveable platform | |
| CN106501799B (en) | A kind of detection and positioning device for more rotor small drone | |
| CN112394382B (en) | Low-speed small target tracking device and method capable of resisting long-term shielding | |
| CN104881042A (en) | Multi-dimension aviation remote sensing test platform | |
| CN107783119A (en) | Apply the Decision fusion method in obstacle avoidance system | |
| CN107783133A (en) | The fixed-wing unmanned plane CAS and avoiding collision of millimetre-wave radar | |
| CN103950536A (en) | Unmanned helicopter system applicable to reconnaissance | |
| CN113485450A (en) | Unmanned aerial vehicle keeps away barrier system based on computer vision | |
| CN108445504A (en) | A kind of multi-rotor unmanned aerial vehicle indoor navigation method | |
| CN112764423A (en) | Method and system for constructing flight path of multi-rotor unmanned aerial vehicle | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN113703470A (en) | Flight anti-collision method and device based on electromagnetic field detection of overhead transmission line | |
| CN114019996A (en) | Trapped person search and rescue system and search and rescue method | |
| KR101872295B1 (en) | Apparatus for attitude stabilization of small unmanned aerial vehicle | |
| CN216684840U (en) | Trapped person search and rescue system based on millimeter wave radar | |
| CN209600802U (en) | Fixed-wing vertical take-off and landing drone remote sensing circumstances not known early warning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220607 |