摘要：【中文】本发明公开了一种地铁施工用隧道安全检测预警系统，包括视频图像监控模块、传感器数据采集模块、通信模块、控制模块、数据存储模块、异常报警模块、施工人员佩戴终端、数据显示模块和供电模块；所述视频图像监控模块与所述控制模块连接，用于采集隧道施工现场的实时视频图像信息，并将所述实时视频图像信息发送至所述控制模块等。本发明通过视频图像监控模块、传感器数据采集模块、通信模块、控制模块、数据存储模块等之间的协同配合，可以对隧道施工现场进行全自动全方位的异常监控，并对监控到的异常进行分类处理，非事故类异常采用巡检机器人处理的方式，对于事故类异常才通知施工人员前往处理，这种模式直接进一步解放的人力。 【EN】The invention discloses a tunnel safety detection early warning system for subway construction, which comprises a video image monitoring module, a sensor data acquisition module, a communication module, a control module, a data storage module, an abnormity warning module, a constructor wearing terminal, a data display module and a power supply module, wherein the video image monitoring module is used for monitoring the video image of a tunnel; the video image monitoring module is connected with the control module and used for acquiring real-time video image information of a tunnel construction site and sending the real-time video image information to the control module and the like. According to the invention, through the cooperative cooperation among the video image monitoring module, the sensor data acquisition module, the communication module, the control module, the data storage module and the like, full-automatic all-around abnormity monitoring can be carried out on a tunnel construction site, the monitored abnormity is classified and processed, the non-accident abnormity adopts a mode of processing by using a polling robot, a constructor is informed of the accident abnormity to go to process, and the mode directly relieves manpower.

摘要：【中文】本发明提出的是一种无人机精准降落控制方法，通过在无人机降落地点设置二维码矩阵，无人机到达引导点上空时，先识别大二维码，再识别小二维码图像并判断间距，落地时进行落地检测，若判断成功落地，则图像识别软件自动将无人机上锁，并退出软件控制，完成降落，否则持续监测落地检测信号直至完成。本发明相比传统的RTK设备可进行快速部署，并大大降低成本，可靠性高，受环境干扰较小，适用于长距离无人机物流过程。 【EN】The invention provides an unmanned aerial vehicle accurate landing control method, which is characterized in that a two-dimensional code matrix is arranged at a landing point of an unmanned aerial vehicle, when the unmanned aerial vehicle reaches the upper part of a guide point, a large two-dimensional code is firstly identified, then a small two-dimensional code image is identified, the space is judged, landing detection is carried out when landing is carried out, if landing is judged successfully, image identification software automatically locks the unmanned aerial vehicle, software control is quitted, landing is finished, and otherwise, landing detection signals are continuously monitored until the landing is finished. Compared with the traditional RTK equipment, the unmanned aerial vehicle logistics method can be used for rapid deployment, greatly reduces the cost, has high reliability and small environmental interference, and is suitable for the long-distance unmanned aerial vehicle logistics process.