| In recent years,public safety has been a hot topic for us,and safety precautions are developing in the direction of three-dimensional,intelligent,and real-time feedback.UAVs are increasingly integrated into our lives.They not only play an important role in smart city construction,forest protection,and border monitoring,but also gain more and more attention in the development of corporate security.Aiming at the shortcomings of existing enterprise security fields such as strong human factors,small fixed-point monitoring range,transmission information delay,and high manual security costs,this paper designs a quadrotor with automatic patrol and real-time tracking of targets.This article has completed the design of the hardware system,full coverage path planning algorithm,target tracking algorithm and the interface of the upper computer display unit.The hardware system design is divided into a four-rotor flight system and a display control system.The four-rotor flight system includes a four-rotor safety unit and a patrol tracking unit.The display control system is divided into a remote control unit and a host computer display unit.The quadrotor safety unit selects STM32F407VGT6 as the main control chip to achieve flight data acquisition;the patrol tracking unit selects Rockchip RK3399 chip as the main control chip to obtain,process and transmit the flight environment image through the peripheral interface;remote control unit The main control chip STM32F407ZET6 is connected with peripheral modules,and is responsible for receiving flight data and flight environment image information,and transmits it to the upper computer display unit through wired transmission;the upper computer display unit is responsible for displaying flight data and environmental image information.Based on the division idea of the grid map,a rasterized enterprise environment model is established,the patrol path is planned for full coverage,and the sub-areas are divided by the cattle-plowing decomposition method,A hybrid A-Star coverage algorithm is used for patrol,and the feasibility of this algorithm is verified by simulation on MATLAB.The infrared thermal imaging module detects the presence of a heat source and sends an alarm signal to the display control system.The Camshift target tracking algorithm improved by fusion of Kalman and CSIFT is used to solve the problem of occlusion and similar colors of the background and the target.Finally,the software platform construction and the overall software design of the system were completed,and related tests were performed on the full coverage path planning and tracking functions of the quadrotor,which verified the feasibility of this design.This design combines the quadrotor with corporate security,which can replace the current manual security.It has the advantages of wide monitoring coverage,timely information transmission and reduced corporate costs.It has important practical significance for corporate security. |
