摘要
本文设计一种空地协同智能消防系统,该系统采用TM4C123GXL单片机为主控制器,激光雷达数据经树莓派机载电脑处理后获得无人机的水平位置,与底部面阵激光高度值实现无人机即时定位与地图构建。系统通过惯性测量单元数据解算无人机的姿态信息,采用视觉模块进行火源识别,小车与无人机通过蓝牙模块建立无线通信。实验表明,小车控制无人机一键起飞或紧急迫降,无人机按预定航迹自主巡逻,完成作业区域内的火源识别、定位和精准灭火。
An intelligent fire system based on air-ground collaboration is designed in the paper.A single-chip microcomputer TM4C123GXL is taken as the main controller of the operation system.The data measured by the light detection and ranging(LiDAR)is processed through the Raspberry PI onboard computer to obtain the horizontal position of the unmanned aerial vehicle(UAV),and the altitude value measured by the bottom array laser is combined to realize UAV simultaneous localization and mapping.The attitude information of the UAV is calculated by inertial measurement unit(IMU)data.The vision module is used for fire recognition.The wireless communication is established between the car and the UAV through the Bluetooth module.The experimental results show that the one-click take-off or emergency landing of the UAV are controlled through the car,and the UAV can complete the fire recognition,positioning and accurate fire extinguishing within the operation area according to autonomous patrol along the scheduled flight path.
作者
梁莹
周玲
曹冲冲
张正海
窦永梅
孙慧霞
LIANG Ying;ZHOU Ling;CAO Chong-chong;ZHANG Zheng-hai;DOU Yong-mei;SUN Hui-xia(Shanxi Province Intelligent Optoelectronic Sensing Application Technology Innovation Center,Yuncheng University,Yuncheng Shanxi 044000,China)
出处
《机电产品开发与创新》
2026年第1期23-26,共4页
Development & Innovation of Machinery & Electrical Products
基金
山西省高等学校教学改革创新项目(J20241309,J20241310)
山西省高校科技创新项目(2022L476)
山西省研究生教育教学改革课题(2022YJJG263)
运城市科技计划项目(YCKJ-202268)
山西省大学生创新创业训练项目(S202410123020,202510123007,DC2025091)。
关键词
空地协同
无人机
单片机
火源识别
蓝牙通信
数据融合
Air-ground collaboration
UAV
Single-chip microcomputer
Fire recognition
Bluetooth communication
Data fusion
