CN110460370B - Unmanned aerial vehicle data communication and storage system, damping device and communication and storage method - Google Patents
Unmanned aerial vehicle data communication and storage system, damping device and communication and storage method Download PDFInfo
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- CN110460370B CN110460370B CN201910751772.1A CN201910751772A CN110460370B CN 110460370 B CN110460370 B CN 110460370B CN 201910751772 A CN201910751772 A CN 201910751772A CN 110460370 B CN110460370 B CN 110460370B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle data communication and storage system, a damping device and a communication and storage method.A built-in industrial control computer controls a detector working circuit and communicates with a detector probe, sends a command to a main control board and collects data information returned by the main control board, collects data sent by a GPS/BD module, butt joint a data link of the unmanned aerial vehicle, stores the received data in real time, and packs all the received data and sends the packed data to a ground station through a data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, one path of data is packaged and then stored in the embedded industrial personal computer on the embedded industrial personal computer, and the other path of data is sent to the ground station. The invention can avoid the loss of the measured data and ensure the integrity of the measured data as much as possible.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle data communication and storage system, a damping device and a communication and storage method.
Background
In recent years, unmanned aerial vehicle careers are rapidly developed, military applications are gradually developed to civilian applications, application ranges and fields are more and more extensive, along with the starting of large-scale survey of national and local resources, aerial geophysical prospecting work is developed in large areas throughout the country, and the work difficulty is increasingly increased, wherein aerial gamma spectrum survey of the unmanned aerial vehicle is an important component in the aerial geophysical prospecting work. The unmanned aerial vehicle aviation gamma spectrum survey has high requirements on all aspects of the unmanned aerial vehicle, wherein the structural design of data communication, storage and unmanned aerial vehicle mounting is important parts of the unmanned aerial vehicle aviation gamma spectrum survey. At present, data transmission of an unmanned aerial vehicle is basically in two forms, one of the two forms is that flight data are recorded by adopting a single airborne storage device, the flight data are downloaded from the airborne storage device for backup after a flight task is finished, if an accident occurs in the flight process of the aircraft, the airborne storage device is likely to be damaged or lost when the airborne device is damaged or the unmanned aerial vehicle cannot be normally recovered, and the data which we want cannot be obtained under the condition; in addition, data are transmitted to the ground station in real time in the flight process, if the flight distance exceeds the communication range or signals are blocked or shielded in the flight process due to misoperation or airplane faults and the like, partial or all data are lost, and under the condition, the situation that the data cannot be guaranteed to receive complete test data is also guaranteed. In addition, the damping design of aircraft mounting is also important, the aerial gamma spectrum system of the unmanned aerial vehicle needs to mount a detector and a working circuit thereof on the unmanned aerial vehicle, the detector is usually expensive and fragile, and the detector can be abnormally operated or even damaged due to jolting and swinging in flight, so that the damping design is indispensable, the situation that the onboard equipment is damaged due to jolting, vibrating or swinging can be greatly reduced, and the irreplaceable effect is played on the guarantee of normal operation of the aircraft and the integrity of the onboard equipment.
In summary, how to realize that the aerial gamma spectrum survey system of the unmanned aerial vehicle keeps the equipment on the aircraft stable, and the measurement and communication are normal in the flight process of the aircraft, and the receiving of complete flight or test data is a problem to be solved urgently by the technical staff in the field.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle data communication and storage system, wherein the data storage adopts a mode of synchronizing on-board storage and ground storage, has a real-time information interaction function, and simultaneously is provided with a multi-directional antenna, so that the influence on the communication with the ground and the data transmission due to signal blockage in the flight process is avoided; the invention also provides a system and a damping device, which can reduce the jolt and swing of the equipment on the unmanned aerial vehicle to the maximum extent and ensure the stability of the unmanned aerial vehicle equipment in flight.
The unmanned aerial vehicle data communication and storage system comprises a detector probe, a detector working circuit, a main control board, a GPS module, a router, an onboard embedded industrial personal computer and a ground station;
the detector probe is connected with a detector working circuit, and the detector working circuit is in communication connection with an embedded industrial personal computer on the computer through a router; the detector working circuit is used for receiving the energy spectrum data measured by the detector probe, processing the data and sending the energy spectrum data to the on-board embedded industrial personal computer through the router after the processing is finished;
the main control board is connected with the temperature sensor of each crystal on the probe of the detector and is also connected with the radar; the temperature of each crystal on the probe of the detector is collected, and the temperature is also used for collecting the flight height data of the airplane; the main control board is also connected with an embedded industrial personal computer on the machine;
the GPS/BD module is connected with the on-board embedded industrial personal computer and used for acquiring geographic information, providing high-precision timestamp data for the on-board embedded industrial personal computer and adding a GPS time identifier for each measurement data packet;
the on-board embedded industrial personal computer is used for controlling the detector probe and the detector working circuit, communicating with the detector probe, sending commands to the main control board, collecting data information returned by the main control board, collecting data sent by the GPS/BD module, butting a data link of the unmanned aerial vehicle, storing the received data in real time, and packaging all the received data and sending the data to the ground station through the data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, the formats and the contents of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, is completed, and under the condition that the measurement is finished and the embedded industrial personal computer is stably connected with the ground station, the backup data on the computer can be transmitted to the ground station in a wired transmission, copying or infinite sending mode; the other path of data is packed and the data packet is sent to the ground station in real time through a data transmission radio station;
the ground station comprises a ground embedded industrial personal computer, a data transmission/image transmission receiver, a lithium battery, a keyboard touch panel, a capacitive touch screen and an explosion-proof shock absorption shell; the embedded industrial personal computer on the unmanned aerial vehicle packages the data and then sends the data to the ground station through the Ethernet controller and the infinite transmission module, and the ground station backups the data after receiving the data sent by the unmanned aerial vehicle and displays and analyzes and processes the received data in real time; the method comprises the following steps that a ground station controls the measurement of a detector, performs multi-window real-time processing and display on measured data, controls a flight platform, displays an aerial photography view screen, backups a database and plays back and analyzes historical data;
the ground station and the embedded industrial personal computer on the machine are communicated through a data transmission radio station, and the machine and the ground station are respectively provided with the data transmission radio station; in the flight measurement process, real-time information interaction is carried out; and after the measurement is finished, the unmanned aerial vehicle is recovered, and the real-time information is interacted.
Furthermore, unmanned aerial vehicle is last the data radio station be equipped with the antenna, the antenna divide into the branch road antenna of a plurality of directions through radio frequency switching element, branch road antenna installs respectively in each side of unmanned aerial vehicle carry box, fixes on the panel of quick-witted case with locking buckle, the direction is towards ground.
The unmanned aerial vehicle data communication and storage method of the equipment comprises the following steps:
the data communication and storage system of the unmanned aerial vehicle is adopted to carry out data communication and storage;
the detector probe detects gamma energy spectrum data; the detector working circuit receives the energy spectrum data measured by the detector probe, processes the data, and sends the energy spectrum data to the onboard embedded industrial personal computer through the router after the processing is finished;
the main control board is used for acquiring the temperature of each crystal on the probe of the detector and acquiring the flight height data of the airplane;
the ground station sorts the measurement data packets according to the GPS time identification, and when the data packets received by the ground station are lost or misplaced, the data information can be recovered according to the GPS time identification of the data packets;
the work of the embedded industrial personal computer on the computer comprises the following steps: the system comprises a detector probe, a detector working circuit, a GPS/BD module, a data link of an unmanned aerial vehicle, a data transmission radio station, a data transmission module, a data receiving module, a data transmission module, a data receiving module and a data transmitting module, wherein the detector probe and the detector working circuit are controlled and communicated with the detector probe, a command is sent to the main control board, returned data information of the main control board is collected, data sent by the GPS/BD module is collected, the data link of the unmanned aerial vehicle is connected, the received data are stored in real time, and all the received data are packaged and sent to the ground station through the data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, the formats and the contents of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, is completed, and under the condition that the measurement is finished and the embedded industrial personal computer is stably connected with the ground station, the backup data on the computer can be transmitted to the ground station in a wired transmission, copying or infinite sending mode; the other path of data is packed and the data packet is sent to the ground station in real time through a data transmission radio station;
the embedded industrial personal computer on the machine packs data and then sends the data to the ground station through the Ethernet controller and the infinite transmission module, and the ground station receives the data sent by the unmanned aerial vehicle and then backups the data, and displays and analyzes and processes the received data in real time.
Further, the ground station and the unmanned aerial vehicle end data are synchronous, if in the flight process, a certain section of data or even all data fails to be sent due to special conditions, then under the condition that the flight is finished or the connection is reconnected and stabilized, the lost data packets can be completely supplemented by comparing the timestamp information of the ground station and the unmanned aerial vehicle end database, the accuracy and the integrity of the data are ensured, and the completed measurement process and the data can be seen in the data playback function.
The method also comprises the steps that in the flight measurement process, real-time information interaction is realized, the ground end can send a control command to the unmanned aerial vehicle end at any time, and the unmanned aerial vehicle end returns a command execution result and measurement data information to the ground station; the measurement is finished, retrieve unmanned aerial vehicle the back, and the real-time information interaction is embodied, and unmanned aerial vehicle and ground satellite station are under the circumstances of stable connection, and automatic contrast time stamp information looks for the data fragment who loses, and the ground satellite station is synchronous with the data fragment who loses, completes data information.
The invention also provides a damping device of the data communication and storage system of the unmanned aerial vehicle, which comprises a main control box and two detector boxes, wherein all the parts of the data communication and storage system of the unmanned aerial vehicle are correspondingly arranged in the main control box and the two detector boxes; the two detector boxes are respectively connected with the mounting rods on the two side faces of the unmanned aerial vehicle through the detector box fixing supports; the main control box is fixed with the unmanned aerial vehicle head mounting plate through a main control box bracket;
the main control box bracket is three brackets and is connected with the main control box through bolts; the main control box bracket is connected with the unmanned aerial vehicle through a bolt, and a damping spring and a locking pin are arranged on the bolt;
the end part of the detector box fixing support is provided with a flange plate, and the detector box is connected with the flange plate through a bolt; the detector box fixing support is also provided with an upper fixing seat and a lower fixing seat, the opposite surfaces of the upper fixing seat and the lower fixing seat are respectively provided with a semicircular groove, the upper fixing seat and the lower fixing seat form a complete fixing seat, the two semicircular grooves form a circular hole for being sleeved on an unmanned aerial vehicle storage rack, and the bottoms of the semicircular grooves of the upper fixing seat and the lower fixing seat are respectively provided with a damping spring; the upper fixing seat and the lower fixing seat are fixed through bolts and locknuts.
The invention has the technical effects that:
1. the data storage mode of on-board storage and ground storage synchronization is adopted, and the ground station can perform real-time information interaction with the unmanned aerial vehicle in flight. During flight, the measured data is sent to the ground station, and simultaneously, data with the same format is backed up and stored in the onboard database, if the communication between the airplane and the ground station is interrupted, and the transmission of a certain section of data fails, the data of the lost section can be found from the onboard backup data and sent to the ground station again after the flight is finished, and the data can be supplemented. The design well avoids the loss of the measured data and ensures the integrity of the measured data as much as possible.
2. The design of the unmanned aerial vehicle antenna is changed from a traditional single antenna into a plurality of multi-directional antennas which are distributed on each mounting plane, so that the condition that the communication with a ground station is interrupted or the data transmission fails due to the fact that signals in a certain direction are blocked in the flight process is avoided.
3. According to the invention, a complete damping and mounting scheme is designed for the onboard mounting of the unmanned aerial vehicle, so that the stability of onboard detectors, working circuits and other equipment in the flight process is ensured as much as possible, and the faults of onboard equipment dislocation or damage, poor working line contact and the like caused by air flight bump are avoided.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the data flow of an embedded industrial personal computer on the computer;
FIG. 3 is a schematic diagram of data transmission according to the present invention;
FIG. 4 is a schematic diagram of a multi-antenna configuration according to an embodiment;
FIG. 5 is a schematic view of the shock absorbing device of the present invention;
FIG. 6 is a schematic view of the main control box bracket of the present invention;
FIG. 7 is a schematic structural view of a cover plate welded with reinforcing ribs of the master control box of the present invention;
FIG. 8 is a schematic view of the master control box bracket damping mechanism of the present invention;
FIG. 9 is a schematic view of a detector box mounting bracket according to the present invention;
FIG. 10 is a schematic view of the damping mechanism of the detector box fixing bracket of the present invention;
FIG. 11 is a schematic cross-sectional view of the damping mechanism of the detector box fixing bracket of the present invention.
Detailed Description
The specific technical scheme of the invention is explained by combining the attached drawings.
As shown in fig. 1, the data communication and storage system of the unmanned aerial vehicle comprises a detector probe, a detector working circuit, a main control board, a GPS module, a router, an onboard embedded industrial personal computer, and a ground station;
the detector probe in the embodiment is composed of a sodium iodide (NaI) crystal, a photomultiplier tube (PMT) and related circuits, and is used for detecting gamma energy spectrum data.
The detector working circuit is used for receiving the energy spectrum data measured by the detector probe, processing the data and sending the energy spectrum data to the on-board embedded industrial personal computer through the router after the processing is finished;
the main control board is used for acquiring the temperature of each crystal on the probe of the detector and acquiring the flight height data of the airplane;
the ground station sorts the measurement data packets according to the GPS time identification, and when the data packets received by the ground station are lost or misplaced, the data information can be recovered according to the GPS time identification of the data packets;
the embedded industrial personal computer on the machine works by controlling a detector probe and a detector working circuit, communicating with the detector probe, sending a command to the main control board and collecting data information returned by the main control board, collecting data sent by the GPS/BD module, butting a data link of the unmanned aerial vehicle, storing the received data in real time, and packaging all the received data and sending the packaged data to the ground station through a data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses received data, then the data is divided into two paths, the format and the content of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, at present, 3 optional storage positions are provided, namely an ultra-fast small database SQLite, a Flash memory or an SD card, even if special conditions such as machine power failure occur, the three storage modes can still ensure the integrity of the data, and the data cannot be lost. Under the condition that the measurement is finished and the ground station is stably connected, the onboard backup data can be transmitted to the ground station in a wired transmission, copying or infinite sending mode; the other path of data is packaged and transmitted to the ground station for storage, display and the like in real time through the data transmission station, as shown in fig. 2.
The ground station comprises a ground embedded industrial personal computer, a data transmission/image transmission receiver, a lithium battery, a keyboard touch panel, a capacitive touch screen and an explosion-proof shock absorption shell; an onboard embedded industrial personal computer packs data and then sends the data to a ground station through an Ethernet controller and an infinite transmission module as shown in figure 3, and the ground station receives the data sent by the unmanned aerial vehicle, backups the data and displays and analyzes and processes the received data in real time; the method comprises the following steps that a ground station controls the measurement of a detector, performs multi-window real-time processing and display on measured data, controls a flight platform, displays an aerial photography view screen, backups a database and plays back and analyzes historical data; the ground station is synchronous with unmanned aerial vehicle end data, if at the flight in-process, a certain section of data, even all data send the failure because of special circumstances, then under the flight finishes or reconnection stable connection state, through the timestamp information of contrast ground station and unmanned aerial vehicle end database, can be with the whole completion of data package that loses, guarantees the accuracy of data complete, can see the measurement process and the data of accomplishing in the function of data playback.
The communication between the ground station and the embedded industrial personal computer on the machine is realized through a data transmission radio station, and the data transmission radio station is respectively arranged on the machine and the ground station; in the flight measurement process, real-time information interaction is embodied in that a ground end can send a control command to an unmanned aerial vehicle end at any time, and the unmanned aerial vehicle end returns a command execution result and measurement data information to a ground station; the measurement is finished, retrieve unmanned aerial vehicle the back, and the real-time information interaction is embodied, and unmanned aerial vehicle and ground satellite station are under the circumstances of stable connection, and automatic contrast time stamp information looks for the data fragment who loses, and the ground satellite station is synchronous with the data fragment who loses, completes data information.
On unmanned aerial vehicle the data radio station be equipped with the antenna, the antenna divide into the branch road antenna of a plurality of directions through radio frequency switching element, branch road antenna installs respectively in each side of unmanned aerial vehicle carry box, fixes on the panel of quick-witted case with locking buckle, the direction is towards ground. In order to ensure the stability of wireless data transmission and avoid special situations such as communication interruption caused by blocked signals or too long distance in flight, an antenna is divided into a plurality of branch antennas through a radio frequency switching element, as shown in fig. 4, a high-gain multidirectional antenna layout design is formed, wherein the transmitting power of each branch antenna is unchanged and is the same as the transmitting power of only one antenna, so that the data transmission distance can be increased, the range of a detectable area can be enlarged, signals in a certain direction can be effectively prevented from being blocked, the stable communication with a ground station is ensured, and the efficiency of data transmission is ensured.
The data communication and storage system of the unmanned aerial vehicle is adopted to carry out data communication and storage; the specific process is as follows:
the detector probe detects gamma energy spectrum data; the detector working circuit receives the energy spectrum data measured by the detector probe, processes the data, and sends the energy spectrum data to the onboard embedded industrial personal computer through the router after the processing is finished;
the main control board is used for acquiring the temperature of each crystal on the probe of the detector and acquiring the flight height data of the airplane;
the ground station sorts the measurement data packets according to the GPS time identification, and when the data packets received by the ground station are lost or misplaced, the data information can be recovered according to the GPS time identification of the data packets;
the work of the embedded industrial personal computer on the computer comprises the following steps: the system comprises a detector probe, a detector working circuit, a GPS/BD module, a data link of an unmanned aerial vehicle, a data transmission radio station, a data transmission module, a data receiving module, a data transmission module, a data receiving module and a data transmitting module, wherein the detector probe and the detector working circuit are controlled and communicated with the detector probe, a command is sent to the main control board, returned data information of the main control board is collected, data sent by the GPS/BD module is collected, the data link of the unmanned aerial vehicle is connected, the received data are stored in real time, and all the received data are packaged and sent to the ground station through the data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, the formats and the contents of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, is completed, and under the condition that the measurement is finished and the embedded industrial personal computer is stably connected with the ground station, the backup data on the computer can be transmitted to the ground station in a wired transmission, copying or infinite sending mode; the other path of data is packed and the data packet is sent to the ground station in real time through a data transmission radio station;
the embedded industrial personal computer on the machine packs data and then sends the data to the ground station through the Ethernet controller and the infinite transmission module, and the ground station receives the data sent by the unmanned aerial vehicle and then backups the data, and displays and analyzes and processes the received data in real time.
The ground station is synchronous with unmanned aerial vehicle end data, if at the flight in-process, a certain section of data, even all data send the failure because of special circumstances, then under the flight finishes or reconnection stable connection state, through the timestamp information of contrast ground station and unmanned aerial vehicle end database, can be with the whole completion of data package that loses, guarantees the accuracy of data complete, can see the measurement process and the data of accomplishing in the function of data playback.
In the flight measurement process, real-time information interaction is realized in such a way that the ground end can send a control command to the unmanned aerial vehicle end at any time, and the unmanned aerial vehicle end returns a command execution result and measurement data information to the ground station; the measurement is finished, retrieve unmanned aerial vehicle the back, and the real-time information interaction is embodied, and unmanned aerial vehicle and ground satellite station are under the circumstances of stable connection, and automatic contrast time stamp information looks for the data fragment who loses, and the ground satellite station is synchronous with the data fragment who loses, completes data information.
As shown in fig. 5, the damping device of the data communication and storage system of the unmanned aerial vehicle comprises a main control box 1 and two detector boxes 3, wherein each part of the data communication and storage system of the unmanned aerial vehicle is correspondingly arranged in the main control box 1 and the two detector boxes 3; the two detector boxes 3 are respectively connected with the mounting rods on the two side faces of the unmanned aerial vehicle through the detector box fixing supports 4; the main control box 1 is fixed with an unmanned aerial vehicle head mounting plate through a main control box bracket 2;
because the machine head adopts a three-point fixing mode, the main control box bracket 2 of three corresponding brackets is designed for fixing the main control box 1, the installation position of the main control box bracket 2 is shown in figure 6, and the main control box bracket 2 is connected with the main control box 1 which is reserved with the installation hole through a bolt.
Because the main control box 1 adopts a three-point fixing mode, stress points are also corresponding mounting hole sites, and the box body is formed by welding 3mm aviation aluminum materials in order to reduce the weight of the main control box 1, and the upper cover plate is large in area and thin. Therefore, in order to prevent the deformation of the upper cover plate of the main control box 1 under long-term stress, the upper cover plate of the main control box 1 is welded with aluminum profiles to avoid the accidents caused by deformation and even fracture, and the welded three-dimensional graph is shown in fig. 7.
Because the long-term vibration that aircraft flight self and external factor lead to can exert an influence to circuit and electronic components in the master control case 1, so be connected at master control case support 2 and unmanned aerial vehicle mounting panel 5 and done special shock attenuation design. The principle of the anti-loosening device is shown in fig. 8, and the anti-loosening device mainly comprises a bolt 21, a damping spring 24, a nut 22, a locking pin 23 and the like. Wherein damping spring 24 is used for absorbing high frequency vibration, and nut 22 prevents that master control box support 2 and unmanned aerial vehicle mounting panel 5 from taking place to become flexible for damping spring 24 provides the pretightning force.
As shown in fig. 9, fig. 10 and fig. 11, a flange 41 is provided at the end of the detector box fixing support 4, and the detector box 3 is connected with the flange through a flange bolt 42; and corresponding reinforcing ribs are welded on the inner side of the crystal box mounting surface in the same way. The detector box fixing support 4 is also provided with an upper fixing seat 43 and a lower fixing seat 44, the opposite surfaces of the upper fixing seat 43 and the lower fixing seat 44 are respectively provided with a semicircular groove, the upper fixing seat 43 and the lower fixing seat 44 form a complete fixing seat, the two semicircular grooves form a circular hole for being sleeved on the unmanned aerial vehicle storage rack 6, and the bottoms of the semicircular grooves of the upper fixing seat 43 and the lower fixing seat 44 are respectively provided with a damping spring 45; the upper fixing seat 43 and the lower fixing seat 44 are fixed by a fixing seat bolt 46 and a locknut 47.
The aperture ratio unmanned aerial vehicle supporter 6 diameter of semicircular groove is 0.1mm bigger, if there is 3 body supports of effect detector case and unmanned aerial vehicle supporter 6 of spring can take place to rock, and no longer takes place to rock under two piece upper and lower shock attenuation spring 45's effect, and shock attenuation spring 45 also can absorb unmanned aerial vehicle's vibration simultaneously and avoid the influence of unmanned aerial vehicle vibration to the detector.
Claims (5)
1. The unmanned aerial vehicle data communication and storage system is characterized by comprising a detector probe, a detector working circuit, a main control board, a GPS module, a router, an onboard embedded industrial personal computer and a ground station;
the detector probe is connected with a detector working circuit, and the detector working circuit is in communication connection with an embedded industrial personal computer on the computer through a router; the detector working circuit is used for receiving the energy spectrum data measured by the detector probe, processing the data and sending the energy spectrum data to the on-board embedded industrial personal computer through the router after the processing is finished;
the main control board is connected with the temperature sensor of each crystal on the probe of the detector and is also connected with the radar; the temperature of each crystal on the probe of the detector is collected, and the temperature is also used for collecting the flight height data of the airplane; the main control board is also connected with an embedded industrial personal computer on the machine;
the GPS/BD module is connected with the on-board embedded industrial personal computer and used for acquiring geographic information, providing high-precision timestamp data for the on-board embedded industrial personal computer and adding a GPS time identifier for each measurement data packet;
the on-board embedded industrial personal computer is used for controlling the detector probe and the detector working circuit, communicating with the detector probe, sending commands to the main control board, collecting data information returned by the main control board, collecting data sent by the GPS/BD module, butting a data link of the unmanned aerial vehicle, storing the received data in real time, and packaging all the received data and sending the data to the ground station through the data transmission radio station; an embedded industrial personal computer on the computer controls a router to collect energy spectrum data by a high-precision timestamp provided by a GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, the formats and the contents of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, is completed, and under the condition that the measurement is finished and the embedded industrial personal computer is stably connected with the ground station, the backup data on the computer can be transmitted to the ground station in a wired transmission, copying or wireless transmission mode; the other path of data is packed and the data packet is sent to the ground station in real time through a data transmission radio station;
the ground station comprises a ground embedded industrial personal computer, a data transmission/image transmission receiver, a lithium battery, a keyboard touch panel, a capacitive touch screen and an explosion-proof shock absorption shell; the embedded industrial personal computer on the unmanned aerial vehicle packages the data and then sends the data to the ground station through the Ethernet controller and the wireless transmission module, and the ground station backups the data after receiving the data sent by the unmanned aerial vehicle and displays and analyzes and processes the received data in real time; the method comprises the following steps that a ground station controls the measurement of a detector, performs multi-window real-time processing and display on measured data, controls a flight platform, displays an aerial photography view screen, backups a database and plays back and analyzes historical data;
the ground station and the embedded industrial personal computer on the machine are communicated through a data transmission radio station, and the machine and the ground station are respectively provided with the data transmission radio station; in the flight measurement process, real-time information interaction is carried out; after the measurement is finished, the unmanned aerial vehicle is recovered, and real-time information is interacted;
each part of the unmanned aerial vehicle data communication and storage system is correspondingly arranged in the main control box and the two detector boxes; the two detector boxes are respectively connected with the mounting rods on the two side faces of the unmanned aerial vehicle through the detector box fixing supports; the main control box is fixed with the unmanned aerial vehicle head mounting plate through a main control box bracket;
the main control box bracket is three brackets and is connected with the main control box through bolts; the main control box bracket is connected with the unmanned aerial vehicle through a bolt, and a damping spring and a locking pin are arranged on the bolt;
the end part of the detector box fixing support is provided with a flange plate, and the detector box is connected with the flange plate through a bolt; the detector box fixing support is also provided with an upper fixing seat and a lower fixing seat, the opposite surfaces of the upper fixing seat and the lower fixing seat are respectively provided with a semicircular groove, the upper fixing seat and the lower fixing seat form a complete fixing seat, the two semicircular grooves form a circular hole for being sleeved on an unmanned aerial vehicle storage rack, and the bottoms of the semicircular grooves of the upper fixing seat and the lower fixing seat are respectively provided with a damping spring; the upper fixing seat and the lower fixing seat are fixed through bolts and locknuts.
2. The data communication and storage system for unmanned aerial vehicles according to claim 1, wherein the data transmission station of the unmanned aerial vehicle is provided with an antenna, the antenna is divided into branch antennas in multiple directions through a radio frequency switching element, the branch antennas are respectively installed on each side surface of the unmanned aerial vehicle mounting box body and fixed on the panel of the case through an anti-loosening buckle, and the direction faces the ground.
3. A method for data communication and storage of unmanned aerial vehicles, characterized in that the unmanned aerial vehicle data communication and storage system of claim 1 or 2 is adopted for data communication and storage; the method comprises the following steps:
the detector probe detects gamma energy spectrum data; the detector working circuit receives the energy spectrum data measured by the detector probe, processes the data, and sends the energy spectrum data to the onboard embedded industrial personal computer through the router after the processing is finished;
the main control board is used for acquiring the temperature of each crystal on the probe of the detector and acquiring the flight height data of the airplane;
the GPS/BD module = acquires geographic information and provides high-precision timestamp data for an embedded industrial personal computer on the computer, the GPS/BD module provides high-precision timestamp data, a GPS time identifier is added for each measured data packet, the ground station sorts the measured data packets according to the GPS time identifiers, and when the data packets received by the ground station are lost or misplaced, the data information can be recovered according to the GPS time identifiers of the data packets;
the work of the embedded industrial personal computer on the computer comprises the following steps: the system comprises a detector probe, a detector working circuit, a GPS/BD module, a data link of an unmanned aerial vehicle, a data transmission radio station, a data transmission module, a data receiving module, a data transmission module, a data receiving module and a data transmitting module, wherein the detector probe and the detector working circuit are controlled and communicated with the detector probe, a command is sent to the main control board, returned data information of the main control board is collected, data sent by the GPS/BD module is collected, the data link of the unmanned aerial vehicle is connected, the received data are stored in real time, and all the received data are packaged and sent to the ground station through the data transmission radio station; the industrial personal computer controls the router to collect energy spectrum data by a high-precision timestamp provided by the GPS/BD module, and timestamp information and geographical position information are added to the data collected each time; the embedded industrial personal computer preprocesses the received data, then the data is divided into two paths, the formats and the contents of the two paths of data are completely the same, one path of data is packaged and then stored in the embedded industrial personal computer on the computer, the data storage on the computer, namely data backup, is completed, and under the condition that the measurement is finished and the embedded industrial personal computer is stably connected with the ground station, the backup data on the computer can be transmitted to the ground station in a wired transmission, copying or wireless transmission mode; the other path of data is packed and the data packet is sent to the ground station in real time through a data transmission radio station;
the embedded industrial computer on the computer packs the data and then sends the data to the ground station through the Ethernet controller and the wireless transmission module, and the ground station backups the data after receiving the data sent by the unmanned aerial vehicle and displays and analyzes and processes the received data in real time.
4. The method for data communication and storage of unmanned aerial vehicle according to claim 3, further comprising synchronizing the ground station with the data at the unmanned aerial vehicle end, and if a certain section of data, even all data, fails to be sent due to a special condition during the flight, the lost data packets can be completely supplemented by comparing the timestamp information of the ground station and the database at the unmanned aerial vehicle end when the flight is finished or the connection is reconnected to a stable connection state, so as to ensure the accuracy and integrity of the data, and the completed measurement process and data can be seen in the function of data playback.
5. The method for data communication and storage of the unmanned aerial vehicle according to claim 3, further comprising the steps that during flight measurement, real-time information interaction is realized, the ground side can send a control command to the unmanned aerial vehicle side at any time, and the unmanned aerial vehicle side returns a command execution result and measurement data information to the ground station; the measurement is finished, retrieve unmanned aerial vehicle the back, and the real-time information interaction is embodied, and unmanned aerial vehicle and ground satellite station are under the circumstances of stable connection, and automatic contrast time stamp information looks for the data fragment who loses, and the ground satellite station is synchronous with the data fragment who loses, completes data information.
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