CN220019858U - Active-passive hybrid unmanned road sign device that patrols and examines - Google Patents
Active-passive hybrid unmanned road sign device that patrols and examines Download PDFInfo
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- 238000004146 energy storage Methods 0.000 claims description 58
- 238000010248 power generation Methods 0.000 claims description 18
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 6
- 229910001416 lithium ion Inorganic materials 0.000 claims description 6
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses an active-passive hybrid unmanned inspection road sign device, which comprises: the system comprises a Beidou/GPS multi-constellation ground reference station, a multi-antenna low-power Bluetooth beacon, a long-distance wireless data transmission module, a laser point cloud reflecting plate, a special visual mark, a main control unit and an energy supply unit; the main control unit is respectively connected with the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module through communication interfaces; the energy supply unit is respectively connected with the main control unit, the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module. The method is suitable for remote areas, and can solve the problems that the remote areas lack of power supply facilities and high-precision differential satellite public positioning service covered by the whole domain, so that vehicles cannot be accurately positioned and pose estimated and autonomous navigation cannot be performed.
Description
Technical Field
The utility model relates to the technical field of auxiliary positioning of unmanned inspection vehicles, in particular to an active-passive hybrid unmanned inspection road sign device.
Background
The high-precision positioning of the vehicle in the automatic driving process plays a vital role in an automatic driving technical stack, realizes accurate estimation of the position and the posture of the vehicle (such as a vehicle course angle Yaw, a Pitch angle Pitch and a Roll angle Roll), and is a basis for the automatic driving vehicle to sense the surrounding environment and carry out path planning.
When the high-precision positioning of the automatic driving vehicle is in a specific implementation, the high-precision integrated navigation module is assembled, and the high-precision integrated navigation module generally comprises: in addition to the centimeter-level real-time differential satellite positioning RTK (RealTimeKinematic) module and the inertial navigation unit IMU (Inertial MeasurementUnit) which are connected with the double antennas or the three antennas, RTK reference signals are provided by relying on high-precision differential satellite public positioning services (such as thousand-seeking position services and the like) so as to realize the global coverage of the running area of the automatic driving vehicle.
In the application scenes such as border unmanned inspection, the remote areas such as border are limited by various reasons, power supply and communication facilities are lack, and the construction cost for laying commercial power and optical fibers is far higher than that of the internal land or urban area. Meanwhile, common high-precision positioning services such as position finding and the like cannot realize global coverage in remote areas, and the phenomenon that RTK positioning information is frequently interrupted and lost is easily caused. The path of unmanned inspection of border usually presents banded distribution characteristic, and laser point cloud characteristic repeatability on the path is high to lead to can't carry out self-positioning according to the point cloud map alone. Therefore, the border unmanned inspection lacks necessary roadside auxiliary positioning facilities.
Disclosure of Invention
The utility model aims to provide an active-passive hybrid unmanned routing inspection road sign device which is suitable for remote areas and can solve the problems that vehicles cannot be accurately positioned and pose estimated and autonomous navigation cannot be performed due to lack of power supply facilities and high-precision differential satellite public positioning service covered by the whole domain in the remote areas.
In order to achieve the above object, the present utility model provides an active-passive hybrid unmanned inspection road sign device, comprising: the system comprises a Beidou/GPS multi-constellation ground reference station, a multi-antenna low-power Bluetooth beacon, a long-distance wireless data transmission module, a laser point cloud reflecting plate, a special visual mark, a main control unit and an energy supply unit; the main control unit is respectively connected with the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module through communication interfaces; the energy supply unit is respectively connected with the main control unit, the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module; wherein, big dipper GPS multi-constellation ground reference station: the system is used for receiving satellite information and providing services for positioning; multi-antenna bluetooth low energy beacon: the system is used for receiving the low-power consumption Bluetooth message, simultaneously capturing the homodromous orthogonal signal sample, and carrying out decimeter-level positioning on the unmanned inspection vehicle according to the homodromous orthogonal signal sample; remote wireless data transmission module: the system is used for interacting with a positioning terminal on an unmanned inspection vehicle through an RTCM protocol and supporting wakeup of a Beidou/GPS multi-constellation ground reference station based on a LoRA protocol; laser point cloud reflecting plate: for reflecting the laser beam emitted by the laser radar assembled by the unmanned inspection vehicle, collecting the reflected laser beam by the laser radar, determining the current position and direction of the unmanned inspection vehicle within a first preset distance range through continuous triangle geometric operation; special visual indicia include: the color band and the special mark of the checkerboard type are utilized by the unmanned inspection vehicle to locate and navigate according to the special mark within the second preset distance range by utilizing the internal reference, the external reference and the image of the assembly camera; the main control unit: the system is used for managing the working state of the system and carrying out state management and parameter configuration on the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power consumption Bluetooth beacon and the remote wireless data transmission module; switching and managing the working state of the energy supply unit, wherein the working state of the energy supply unit at least comprises: sleep, low power consumption, on duty and normal operation; an energy supply unit: the system is used for acquiring and storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power consumption Bluetooth beacon, the remote wireless data transmission module and the main control unit through the stored electric energy.
As above, the beidou/GPS multi-constellation ground reference station employs a standard real-time dynamic reference station.
As above, the multi-antenna bluetooth low energy beacon at least includes: a low-power consumption Bluetooth chip and an antenna array unit; wherein, bluetooth low energy chip: for receiving bluetooth low energy messages; carrying out decimeter-level positioning on the unmanned inspection vehicle according to the homodromous orthogonal signal sample; the antenna array unit at least comprises: a radio frequency switch and a plurality of omni-directional antennas for capturing co-directional orthogonal signal samples.
As above, the bluetooth low energy chip employs nRF52811 or EFR32BG22.
As above, wherein the energy supply unit is a solar photovoltaic unit, the solar photovoltaic unit at least comprises: the solar photovoltaic panel is connected with the energy storage battery; wherein, solar photovoltaic panel: the solar energy generation device is used for acquiring solar energy, converting the solar energy into electric energy and inputting the electric energy into the energy storage battery; an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
As above, wherein the energy supply unit is a wind energy unit comprising at least: the power generation fan is connected with the energy storage battery; wherein, the power generation fan: the energy storage battery is used for acquiring wind energy, converting the wind energy into electric energy and inputting the electric energy into the energy storage battery; an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
As above, the energy storage battery adopts a low-temperature-resistant 12V lithium ion battery.
As above, the battery capacity of the energy storage battery is 80Ah.
As above, wherein the energy supply unit comprises at least: the solar energy photovoltaic panel comprises a power generation fan, a solar photovoltaic panel and an energy storage battery; the power generation fan is connected with the energy storage battery, the solar photovoltaic panel is connected with the energy storage battery, and the power generation fan is connected with the solar photovoltaic panel in parallel; wherein, solar photovoltaic panel: the solar energy generation device is used for acquiring solar energy, converting the solar energy into electric energy and inputting the electric energy into the energy storage battery; generating fan: the energy storage battery is used for acquiring wind energy, converting the wind energy into electric energy and inputting the electric energy into the energy storage battery; an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
As above, the main control unit at least includes: the main control module is provided with a communication interface, and the communication interface at least comprises: the system comprises an SPI interface, a UART interface and a multi-path GPIO interface, wherein a multi-antenna low-power Bluetooth beacon is accessed through the SPI interface, and a Beidou/GPS multi-constellation ground reference station is accessed through the UART interface; accessing a remote wireless data transmission module through a plurality of GPIO interfaces or UART interfaces; and the main control module: the system is used for managing the working state of the system, and managing the states and configuring parameters of the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the remote wireless data transmission module; and switching and managing the working state of the energy supply unit.
The beneficial effects achieved by the utility model are as follows:
(1) The system is suitable for remote areas, can be used as an auxiliary positioning device to solve the problems that the existing high-precision positioning public service cannot realize global coverage in remote areas such as border and the like, power supply and communication facilities are lack, and the cost of laying commercial power and optical fibers is too high.
(2) The overall power consumption of the auxiliary positioning device is reduced in an active-passive hybrid mode, high-precision positioning and pose estimation service can be provided for unmanned inspection vehicles in remote areas only in a power supply mode of a small-size photovoltaic panel and a small-capacity energy storage battery, and construction and operation and maintenance costs are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic structural diagram of an embodiment of an active-passive hybrid unmanned inspection road marking device.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1, the present utility model provides an active-passive hybrid unmanned road marking device, comprising: the system comprises a Beidou/GPS (global positioning system) multi-constellation ground reference station 1, a multi-antenna low-power Bluetooth (BluetoothLowEnergy, BLE) beacon 2, a Long Range wireless (LoRA) data transmission module 3, a laser point cloud reflecting plate 4, a special visual marker 5, a main control unit 6 and an energy supply unit; the main control unit 6 is respectively connected with the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2 and the remote wireless data transmission module 3 through communication interfaces; the energy supply unit 7 is respectively connected with the main control unit 6, the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power consumption Bluetooth beacon 2 and the long-distance wireless data transmission module 3.
Specifically, the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power consumption Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6 are active modules. The laser point cloud reflecting plate 4 and the special visual mark 5 are passive modules for supporting laser auxiliary detection and visual auxiliary detection. The active-passive hybrid unmanned routing road sign device is deployed at the point with poor satellite positioning signal coverage, the distance between the deployment is determined according to practical conditions, and in order to ensure the global coverage of high-precision RTK positioning, the distance is preferably less than or equal to 10Km. For the region with serious shielding which can not realize basic Beidou/GPS positioning, the deployment density of the active-passive hybrid unmanned inspection road marking device is higher.
Wherein, big dipper GPS multisystem ground reference station 1: for receiving satellite information and providing services for positioning.
Further, the Beidou/GPS multi-constellation ground reference station 1 adopts a standard RTK (Real-time kinematic) reference station.
Further, the RTK reference station is North day BT-940, but is not limited to North day BT-940.
Specifically, the north-sky BT-940 can support a constellation of a plurality of satellite positioning navigation such as GPS, beidou and the like, for example: at least can track four frequency bands of B1 and B2 of Beidou and L1 and L2 of GPS, the horizontal precision is greater than or equal to 10nm +/-1 ppm, and the vertical precision is greater than or equal to 20mm +/-1 ppm. The overall power consumption of the Beidou/GPS multi-constellation ground reference station is less than or equal to 3W.
Multi-antenna bluetooth low energy beacon 2: the system is used for receiving a Bluetooth Low Energy (BLE) message, simultaneously capturing in-phase quadrature (IQ) samples, and carrying out decimeter-level positioning on the unmanned inspection vehicle according to the in-phase quadrature signal samples.
Specifically, after the homodromous orthogonal signal samples are captured, the angle and the distance between a positioning terminal installed on the unmanned inspection vehicle and the multi-antenna low-power Bluetooth beacon are calculated according to the homodromous orthogonal signal samples, so that the decimeter-level positioning of the unmanned inspection vehicle is realized, and the highest accuracy of the decimeter-level positioning can reach 10cm. The multi-antenna low-power consumption Bluetooth beacon can cover an area with the radius of 20-50 meters according to different transmitting power.
Further, the multi-antenna bluetooth low energy beacon 2 at least includes: a Bluetooth Low Energy (BLE) chip and an antenna array unit.
Wherein, bluetooth low energy chip: for receiving bluetooth low energy messages; and carrying out decimeter-level positioning on the unmanned inspection vehicle according to the homodromous orthogonal signal sample.
The antenna array unit at least comprises: a radio frequency switch and a plurality of omni-directional antennas for capturing co-directional orthogonal signal samples.
Specifically, the low-power consumption bluetooth chip is a chip integrating baseband, radio frequency transceiver and protocol stack, and is internally provided with an AOA (angle of arrival) positioning module and an AOA positioning module; the method is used for realizing an AOA positioning function.
Further, the bluetooth low energy chip adopts nRF52811 or EFR32BG22, but is not limited to nRF52811 or EFR32BG22.
Further, the working frequency band of the omni-directional antenna is 2.4GHz, and the spacing distance of the omni-directional antenna is d.
Remote wireless data transmission module 3: the method is used for interacting with a positioning terminal on an unmanned inspection vehicle through an RTCM protocol and supporting wakeup of the Beidou/GPS multi-constellation ground reference station based on the LoRA protocol.
Specifically, the LoRA data transmission module is used for realizing RTCM protocol interaction between the road marking device and a positioning terminal (such as a high-precision integrated navigation module) on the unmanned inspection vehicle; meanwhile, the method supports the wakeup of the Beidou/GPS multi-constellation ground reference station based on the LoRA protocol, namely: has a wake-up function.
Further, the long-distance wireless data transmission module 3 at least includes: a digital baseband chip and a radio frequency front end chip.
Specifically, the digital baseband chip employs SX1302, but is not limited to SX1302. The rf front-end chip employs SX1250, but is not limited to SX1250. The LoRA data transmission module can support a wide range of working frequency of Sub-1GHz of a frequency band below 1GHz, the maximum wireless rate can reach 62.5Kbps based on a low-power consumption LoRA protocol, and the overall average power consumption of the active-passive hybrid unmanned inspection road marking device can be further reduced by the arrangement of the LoRA data transmission module.
Laser point cloud reflecting plate 4: the method comprises the steps of reflecting laser beams emitted by a laser radar assembled by an unmanned patrol vehicle, collecting the reflected laser beams by the laser radar, and determining the current position and direction of the unmanned patrol vehicle within a first preset distance range through continuous triangle geometric operation.
Specifically, the laser point cloud reflecting plate 4 is a passive module and is used for positioning the unmanned inspection vehicle at a short distance. The unmanned inspection vehicle is located within a first preset distance range, namely a short distance, and the first preset distance range is 0-20m, but is not limited to 0-20m.
The special visual marker 5 comprises: the color band and the special mark of the checkerboard type are utilized by the unmanned inspection vehicle to locate and navigate according to the special mark within the second preset distance range by utilizing the internal reference, the external reference and the image of the assembly camera.
Specifically, the special visual Mark (Mark) 5 is a passive module for positioning the unmanned inspection vehicle. The second preset distance range is 0-5m, but is not limited to 0-5m.
Energy supply unit 7: the system is used for acquiring and storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6 through the stored electric energy.
Further, as an embodiment, the energy supply unit 7 is a solar photovoltaic unit. Solar photovoltaic unit: the system is used for acquiring solar energy, converting the solar energy into electric energy for storage, and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6 through the stored electric energy.
Further, the solar photovoltaic unit at least comprises: the solar photovoltaic panel 71 and the energy storage battery 72, the solar photovoltaic panel 71 is connected with the energy storage battery 72.
Wherein, solar photovoltaic panel 71: the solar energy storage device is used for acquiring solar energy and converting the solar energy into electric energy to be input into the energy storage battery.
Energy storage battery 72: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6.
In particular, the specific wattage of the solar photovoltaic panel 71 is, depending on the actual situation, preferably less than 100W, for example: by default, 50w of solar photovoltaic panels 71 are used. The specific dimensions of the solar photovoltaic panel 71 are according to the actual circumstances, and the preferred dimensions of the utility model are 630mm x 540mm x 30mm.
Further, the energy storage battery 72 matched with the solar photovoltaic panel 71 adopts a low temperature resistant 12V lithium ion battery, but is not limited to a low temperature resistant 12V lithium ion battery.
Specifically, the battery capacity of the energy storage battery 72 is 80Ah, but is not limited to 80Ah, and the present utility model is preferably 80Ah. The power consumption of the active-passive hybrid unmanned inspection road sign device when all modules are started is less than 5W. The energy storage battery 72 of 80Ah after energy storage can support the continuous working time of the active-passive hybrid unmanned inspection road marking device to be more than 192 hours in a completely non-light state.
Further, as another embodiment, the energizing unit 7 is a wind energy unit. The wind energy unit is used for acquiring wind energy, converting the wind energy into electric energy for storage, and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power consumption Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6 through the stored electric energy.
Further, the wind energy unit comprises at least: the power generation fan 73 and the energy storage battery 72, the power generation fan 73 is connected with the energy storage battery 6.
Wherein, the power generation fan 73: for capturing wind energy and converting the wind energy into electrical energy for input to the energy storage battery 72.
Energy storage battery 72: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6.
Further, the energy storage battery 72 matched with the power generation fan 73 adopts a low temperature resistant 12V lithium ion battery, but is not limited to a low temperature resistant 12V lithium ion battery.
Specifically, the battery capacity of the energy storage battery 72 is 80Ah, but is not limited to 80Ah, and the present utility model is preferably 80Ah. The power consumption of the active-passive hybrid unmanned inspection road sign device when all modules are started is less than 5W. The energy storage battery 72 of 80Ah after energy storage can support the continuous working time of the active-passive hybrid unmanned inspection road marking device to be more than 192 hours in a completely non-light state.
Further, as still another embodiment, the power supply unit 7 includes at least: a power generation blower 73, a solar photovoltaic panel 71 and an energy storage battery 72; the power generation fan 73 is connected with the energy storage battery 72, the solar photovoltaic panel 71 is connected with the energy storage battery 72, and the power generation fan 73 is connected with the solar photovoltaic panel 71 in parallel.
Wherein, solar photovoltaic panel 71: the solar energy storage device is used for acquiring solar energy and converting the solar energy into electric energy to be input into the energy storage battery.
The power generation fan 73: for capturing wind energy and converting the wind energy into electrical energy for input to the energy storage battery 72.
Energy storage battery 72: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power Bluetooth beacon 2, the remote wireless data transmission module 3 and the main control unit 6.
Specifically, the wind-solar complementary mode is adopted to realize power supply, and the capacity of the storage battery is correspondingly increased, so that the continuous working time can be further prolonged, and the wind-solar complementary mode can be suitable for non-remote areas and remote areas.
The main control unit: the system is used for managing the working state of the system and carrying out state management and parameter configuration on the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power consumption Bluetooth beacon 2 and the remote wireless data transmission module 3; the operation state of the energy supply unit 7 is switched and managed, and the operation state of the energy supply unit 7 at least includes: sleep, low power consumption, on duty, and normal operation.
Further, the main control unit 6 at least includes: the main control module is provided with a communication interface, and the communication interface at least comprises: the system comprises an SPI interface, a UART interface and a multi-path GPIO interface, wherein a multi-antenna low-power Bluetooth beacon 2 is accessed through the SPI interface, and a Beidou/GPS multi-constellation ground reference station 1 is accessed through the UART interface; the remote wireless data transmission module 3 is accessed through a plurality of GPIO interfaces or UART interfaces.
And the main control module: the system is used for managing the working state of the system and carrying out state management and parameter configuration on the Beidou/GPS multi-constellation ground reference station 1, the multi-antenna low-power consumption Bluetooth beacon 2 and the remote wireless data transmission module 3; the operation state of the energy supply unit 7 is switched and managed, and the operation state of the energy supply unit 7 at least includes: sleep, low power consumption, on duty, and normal operation.
Further, the main control module adopts a low-power consumption MCU chip based on a 32-bit ARMCortex-M4F core, but is not limited to the low-power consumption MCU chip based on the 32-bit ARMCortex-M4F core, and the low-power consumption MCU chip based on the 32-bit ARMCortex-M4F core is preferable.
Further, the low power MCU chip based on the 32-bit ARMCortex-M4F core is UM324xF or MSP432E4, but is not limited to UM324xF or MSP432E4.
Specifically, the highest dominant frequency of UM324xF or MSP432E4 is greater than 100MHz.
Further, the plurality of communication interfaces further includes: I2C interface.
Specifically, the long-distance wireless data transmission module 3 is connected with the main control unit 6 through a plurality of GPIO interfaces, so that the long-distance wireless data transmission module 3 is supported to wake up the main control unit 6. In the normal on duty state, the main control unit 6 is in a dormant state, and the long-distance wireless data transmission module 3 is in a low-power consumption on duty state. When the remote wireless data transmission module 3 receives a request sent by the unmanned inspection vehicle, the main control unit 6 is awakened, and the main control unit 6 judges whether to awaken the Beidou/GPS multi-constellation ground reference station 2 and/or the multi-antenna low-power consumption Bluetooth beacon 2 according to a request message of the unmanned inspection vehicle.
The beneficial effects achieved by the utility model are as follows:
(1) The system is suitable for remote areas, can be used as an auxiliary positioning device to solve the problems that the existing high-precision positioning public service cannot realize global coverage in remote areas such as border and the like, power supply and communication facilities are lack, and the cost of laying commercial power and optical fibers is too high.
(2) The overall power consumption of the auxiliary positioning device is reduced in an active-passive hybrid mode, high-precision positioning and pose estimation service can be provided for unmanned inspection vehicles in remote areas only in a power supply mode of a small-size photovoltaic panel and a small-capacity energy storage battery, and construction and operation and maintenance costs are reduced.
While preferred embodiments of the present utility model have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the scope of the utility model be interpreted as including the preferred embodiments and all alterations and modifications that fall within the scope of the utility model. It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, if such modifications and variations of the present utility model fall within the scope of the present utility model and the technical equivalents thereof, the present utility model is also intended to include such modifications and variations.
Claims (10)
1. An active-passive hybrid unmanned inspection road marking device, comprising: the system comprises a Beidou/GPS multi-constellation ground reference station, a multi-antenna low-power Bluetooth beacon, a long-distance wireless data transmission module, a laser point cloud reflecting plate, a special visual mark, a main control unit and an energy supply unit; the main control unit is respectively connected with the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module through communication interfaces; the energy supply unit is respectively connected with the main control unit, the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon and the long-distance wireless data transmission module;
wherein, big dipper GPS multi-constellation ground reference station: the system is used for receiving satellite information and providing services for positioning;
multi-antenna bluetooth low energy beacon: the system is used for receiving the low-power consumption Bluetooth message, simultaneously capturing the homodromous orthogonal signal sample, and carrying out decimeter-level positioning on the unmanned inspection vehicle according to the homodromous orthogonal signal sample;
remote wireless data transmission module: the system is used for interacting with a positioning terminal on an unmanned inspection vehicle through an RTCM protocol and supporting wakeup of a Beidou/GPS multi-constellation ground reference station based on a LoRA protocol;
laser point cloud reflecting plate: for reflecting the laser beam emitted by the laser radar assembled by the unmanned inspection vehicle, collecting the reflected laser beam by the laser radar, determining the current position and direction of the unmanned inspection vehicle within a first preset distance range through continuous triangle geometric operation;
special visual indicia include: the color band and the special mark of the checkerboard type are utilized by the unmanned inspection vehicle to locate and navigate according to the special mark within the second preset distance range by utilizing the internal reference, the external reference and the image of the assembly camera;
the main control unit: the system is used for managing the working state of the system and carrying out state management and parameter configuration on the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power consumption Bluetooth beacon and the remote wireless data transmission module; switching and managing the working state of the energy supply unit, wherein the working state of the energy supply unit at least comprises: sleep, low power consumption, on duty and normal operation;
an energy supply unit: the system is used for acquiring and storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power consumption Bluetooth beacon, the remote wireless data transmission module and the main control unit through the stored electric energy.
2. The active-passive hybrid unmanned inspection road marking device of claim 1, wherein the beidou/GPS multi-constellation ground reference station employs a standard real-time dynamic reference station.
3. The active-passive hybrid unmanned inspection road marking device according to claim 1, wherein the multi-antenna bluetooth low energy beacon comprises at least: a low-power consumption Bluetooth chip and an antenna array unit;
wherein, bluetooth low energy chip: for receiving bluetooth low energy messages; carrying out decimeter-level positioning on the unmanned inspection vehicle according to the homodromous orthogonal signal sample;
the antenna array unit at least comprises: a radio frequency switch and a plurality of omni-directional antennas for capturing co-directional orthogonal signal samples.
4. The active-passive hybrid unmanned inspection road marking device according to claim 3, wherein the bluetooth low energy chip employs nRF52811 or EFR32BG22.
5. The active-passive hybrid unmanned inspection road marking device of claim 1, wherein the energy supply unit is a solar photovoltaic unit comprising at least: the solar photovoltaic panel is connected with the energy storage battery;
wherein, solar photovoltaic panel: the solar energy generation device is used for acquiring solar energy, converting the solar energy into electric energy and inputting the electric energy into the energy storage battery;
an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
6. The active-passive hybrid unmanned inspection road marking device of claim 1, wherein the energizing unit is a wind energy unit comprising at least: the power generation fan is connected with the energy storage battery;
wherein, the power generation fan: the energy storage battery is used for acquiring wind energy, converting the wind energy into electric energy and inputting the electric energy into the energy storage battery;
an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
7. The active-passive hybrid unmanned road marking device of claim 5 or 6, wherein the energy storage battery is a low temperature resistant 12V lithium ion battery.
8. The active-passive hybrid unmanned road marking device of claim 5 or 6, wherein the battery capacity of the energy storage battery is 80Ah.
9. The active-passive hybrid unmanned inspection road marking device according to claim 1, wherein the energy supply unit comprises at least: the solar energy photovoltaic panel comprises a power generation fan, a solar photovoltaic panel and an energy storage battery; the power generation fan is connected with the energy storage battery, the solar photovoltaic panel is connected with the energy storage battery, and the power generation fan is connected with the solar photovoltaic panel in parallel;
wherein, solar photovoltaic panel: the solar energy generation device is used for acquiring solar energy, converting the solar energy into electric energy and inputting the electric energy into the energy storage battery;
generating fan: the energy storage battery is used for acquiring wind energy, converting the wind energy into electric energy and inputting the electric energy into the energy storage battery;
an energy storage battery: the system is used for storing electric energy and supplying energy to the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power Bluetooth beacon, the long-distance wireless data transmission module and the main control unit.
10. The active-passive hybrid unmanned inspection road marking device according to claim 1, wherein the main control unit comprises at least: the main control module is provided with a communication interface, and the communication interface at least comprises: the system comprises an SPI interface, a UART interface and a multi-path GPIO interface, wherein a multi-antenna low-power Bluetooth beacon is accessed through the SPI interface, and a Beidou/GPS multi-constellation ground reference station is accessed through the UART interface; accessing a remote wireless data transmission module through a plurality of GPIO interfaces or UART interfaces;
and the main control module: the system is used for managing the working state of the system and carrying out state management and parameter configuration on the Beidou/GPS multi-constellation ground reference station, the multi-antenna low-power consumption Bluetooth beacon and the remote wireless data transmission module; and switching and managing the working state of the energy supply unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321363387.8U CN220019858U (en) | 2023-05-31 | 2023-05-31 | Active-passive hybrid unmanned road sign device that patrols and examines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321363387.8U CN220019858U (en) | 2023-05-31 | 2023-05-31 | Active-passive hybrid unmanned road sign device that patrols and examines |
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| Publication Number | Publication Date |
|---|---|
| CN220019858U true CN220019858U (en) | 2023-11-14 |
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|---|---|---|---|
| CN202321363387.8U Active CN220019858U (en) | 2023-05-31 | 2023-05-31 | Active-passive hybrid unmanned road sign device that patrols and examines |
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| Country | Link |
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| CN (1) | CN220019858U (en) |
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2023
- 2023-05-31 CN CN202321363387.8U patent/CN220019858U/en active Active
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