CN111824000A - Using method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning - Google Patents
Using method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning Download PDFInfo
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- CN111824000A CN111824000A CN202010742700.3A CN202010742700A CN111824000A CN 111824000 A CN111824000 A CN 111824000A CN 202010742700 A CN202010742700 A CN 202010742700A CN 111824000 A CN111824000 A CN 111824000A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
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- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
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- H01Q1/10—Telescopic elements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention belongs to the technical field of pipe gallery mobile platforms, and particularly relates to a using method of an unmanned aerial vehicle mobile platform for positioning an underground pipe gallery. The invention comprises the following steps: the method comprises the following steps: arranging a plurality of underground pipe gallery positioning markers which are distributed at equal intervals in an underground pipe gallery; step two: placing a mobile platform main body carrying an unmanned aerial vehicle in an underground pipe gallery, and driving the mobile platform main body to move to an appointed position through a platform driving piece; step three: the unmanned aerial vehicle is remotely controlled to take off from the mobile platform main body through the remote control command of the unmanned aerial vehicle remote controller. According to the invention, the underground pipe gallery positioning markers, the moving platform main body and the unmanned aerial vehicles are arranged in the underground pipe gallery and distributed at equal intervals, the unmanned aerial vehicles can be carried by the moving platform main body to enter the underground pipe gallery, automatic observation is realized through the unmanned aerial vehicles, the positioning information of the moving platform main body and the positioning information of the unmanned aerial vehicles in the underground pipe gallery can be rapidly known in real time, the positioning is accurate, workers do not need to enter the underground pipe gallery, and the safety is high.
Description
Technical Field
The invention belongs to the technical field of underground pipe gallery mobile platforms, and relates to a using method of an unmanned aerial vehicle mobile platform for positioning an underground pipe gallery.
Background
Along with the gradual enhancement of urban road access road, in order to alleviate this pressure, will set up the underground pipe gallery and be used for passing car or pedestrian underground, the underground pipe gallery has a great deal of benefit, but also accompanies a little drawback simultaneously, for example the underground pipe gallery environment is complicated, and poisonous harmful gas is unknown, and personnel are patrolled and examined the existence and are missed to examine heavily, personnel are patrolled and examined the burden heavier, the cost is higher etc.. In the observation process to large-scale underground passage or large-scale underground pipe gallery, when using automation equipment to observe, adopt city pipe gallery moving platform cooperation unmanned aerial vehicle to replace the manual work and observe, at pipe gallery moving platform and unmanned aerial vehicle observation process, unmanned aerial vehicle lost the direction easily, can't be fast accurate learn the locating information of locating.
In order to overcome the defects of the prior art, people continuously explore and provide various solutions, for example, a method for inspecting an urban underground comprehensive pipe gallery based on WI-FI positioning is disclosed in Chinese patent application No.: 201810088746.0], comprising: recording the MAC address and the position information of the WIFI positioning base station and the MAC address of the inspection equipment on the server; the inspection equipment automatically communicates with the WIFI positioning base station when passing through the WIFI positioning base station, the inspection information and the MAC address of the inspection equipment are sent to the server, and meanwhile, the WIFI positioning base station information communicated with the inspection equipment is also sent to the server; and the server calculates the position of the inspection equipment through a preset calculation program according to the information sent by the inspection equipment. The method has the advantages of rapidness and simplicity, can simplify the working process of the inspection personnel, and can help the management personnel to effectively supervise the inspection personnel and ensure that the inspection personnel can inspect the inspection personnel in place, thereby effectively ensuring the operation and maintenance efficiency of the urban underground comprehensive pipe gallery. But this scheme is when unmanned aerial vehicle gets into the underground pipe gallery and reconnoiters, and unmanned aerial vehicle still loses the direction easily, has the defect that can't be fast accurate learn the locating information that is located.
Disclosure of Invention
The invention aims to solve the problems and provides a using method of an unmanned aerial vehicle mobile platform for underground pipe gallery positioning.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unmanned aerial vehicle mobile platform using method for underground pipe gallery positioning comprises the following steps:
the method comprises the following steps: arranging a plurality of underground pipe gallery positioning markers which are distributed at equal intervals in an underground pipe gallery;
step two: placing a mobile platform main body carrying an unmanned aerial vehicle in an underground pipe gallery, and driving the mobile platform main body to move to an appointed position through a platform driving piece;
step three: remote control unmanned aerial vehicle takes off from the moving platform main part through unmanned aerial vehicle remote controller remote control instruction to survey in the underground pipe gallery, unmanned aerial vehicle and moving platform main part accessible underground pipe gallery location marker fix a position in real time.
In the using method of the unmanned aerial vehicle mobile platform for positioning the underground pipe gallery, the underground pipe gallery positioning marker in the step one is positioned at the top of the underground pipe gallery, the LED light-emitting panel is arranged on the underground pipe gallery positioning marker, and the LED light-emitting panel is marked with the position information of the underground pipe gallery;
be equipped with the searchlight in the mobile platform main part in the step three, the unmanned aerial vehicle front end is equipped with the head-light.
In the using method of the unmanned aerial vehicle mobile platform for positioning the underground pipe gallery, when the unmanned aerial vehicle flies in the underground pipe gallery, the headlamp irradiates the LED light-emitting panel on the positioning marker of the underground pipe gallery to obtain the positioning information of the underground pipe gallery where the unmanned aerial vehicle is located;
be equipped with rotatable mechanical rocking arm in the moving platform main part, the searchlight is located mechanical rocking arm, and the moving platform main part drives the searchlight and rotates through rotating mechanical rocking arm at the underground pipe gallery removal in-process for searchlight lamp illumination is to the LED luminescent panel on the underground pipe gallery location marker, obtains the underground pipe gallery location information that the moving platform main part was located.
In the using method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning, in the first step, a pipe gallery positioning signal emitter is arranged in an underground pipe gallery positioning marker; be equipped with pipe gallery positioning signal receiver in the unmanned aerial vehicle in the step two, after unmanned aerial vehicle was close to underground pipe gallery location marker, pipe gallery positioning signal receiver received the positioning signal that pipe gallery positioning signal transmitter sent to confirm the position of the underground pipe gallery that unmanned aerial vehicle located.
In foretell an unmanned aerial vehicle moving platform application method for underground pipe gallery location, be equipped with data processor in the unmanned aerial vehicle, data processor and pipe gallery location signal receiver electricity federation, data processor receive pipe gallery location signal receiver's locating data and carry out the arithmetic processing, and data processor sends the locating data for the unmanned aerial vehicle remote controller in the radio signal form again.
In the above-mentioned unmanned aerial vehicle moving platform application method for underground pipe gallery location, underground pipe gallery location marker top is equipped with to extend and lets in to subaerial GPS antenna in step one, and the GPS antenna links to each other with difference GPS reference station.
In foretell an unmanned aerial vehicle moving platform application method for underground pipe gallery location, be equipped with GPS signal receiver in the underground pipe gallery location marker, GPS signal receiver links to each other with the GPS antenna.
In the using method of the unmanned aerial vehicle moving platform for underground pipe gallery positioning, a differential GPS signal processing transmitter is further arranged in the underground pipe gallery positioning marker, and a signal receiving display is arranged in the unmanned aerial vehicle in the second step.
In foretell an unmanned aerial vehicle moving platform application method for underground pipe gallery location, the moving platform main part in be equipped with unmanned aerial vehicle landing platform, unmanned aerial vehicle landing platform top be equipped with the electro-magnet mounting, the moving platform main part in still be equipped with a plurality of unmanned aerial vehicle bearing centre gripping fixed component along the moving platform main part internal central line symmetry, the moving platform main part in be equipped with the signal pole elevating platform that can follow vertical direction reciprocating linear motion, signal pole elevating platform top be equipped with and follow circumference pivoted signal pole and rotate the base, signal pole rotate the base top and be equipped with rotatable signal amplification adjusting part.
In the using method of the unmanned aerial vehicle moving platform for underground pipe gallery positioning, the platform driving piece comprises a plurality of crawler driving wheels arranged on the moving platform main body, a plurality of crawler driven wheels are arranged below the crawler driving wheels, the crawler driving wheels and the crawler driven wheels are sleeved with advancing crawlers, and the crawler driving wheels and the crawler driven wheels are respectively meshed with the advancing crawlers.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the underground pipe gallery positioning markers, the moving platform main body and the unmanned aerial vehicles are arranged in the underground pipe gallery and distributed at equal intervals, the unmanned aerial vehicles can be carried by the moving platform main body to enter the underground pipe gallery, automatic observation is realized through the unmanned aerial vehicles, the positioning information of the moving platform main body and the positioning information of the unmanned aerial vehicles in the underground pipe gallery can be rapidly known in real time, the positioning is accurate, workers do not need to enter the underground pipe gallery, and the safety is high.
2. The unmanned aerial vehicle fixing device has the advantages that the electromagnet fixing piece, the unmanned aerial vehicle bearing bracket and the unmanned aerial vehicle clamping fixing block are arranged, the unmanned aerial vehicle can be fixed in a multi-direction and multi-angle mode, the unmanned aerial vehicle can be prevented from loosening and falling off after being fixed on the moving platform main body, the fixing effect is good, the structure is stable, meanwhile, the transmitted omnidirectional signal can be converted into the directional signal through the signal amplification adjusting assembly, the function of directionally enhancing the signal of the unmanned aerial vehicle is achieved, the unmanned aerial vehicle can conveniently receive the transmission signal in the underground pipe gallery, the front directional signal and the rear directional signal can be adjusted, and the situation that the.
3. According to the invention, by arranging the limiting block and the deviation-preventing chute, in the process of moving the unmanned aerial vehicle bearing bracket, the limiting block is in sliding fit with the deviation-preventing chute, so that the unmanned aerial vehicle bearing bracket is prevented from angular deviation in the moving process, and the accuracy of the displacement of the unmanned aerial vehicle bearing bracket is improved.
4. According to the invention, by arranging the buffer abutting block, when the electric signal rod descends and retracts into the mobile platform main body, the buffer abutting block can be firstly contacted with the mobile platform main body, so that a rotating shaft between the reflector framework and the radio signal rod is prevented from directly colliding with the mobile platform main body, the rotating shaft between the reflector framework and the radio signal rod is prevented from being damaged, the service life of the rotating shaft between the reflector framework and the radio signal rod is prolonged, the bottom of the buffer abutting block is arc-shaped, and the shell clamping phenomenon in the descending process is avoided.
5. According to the invention, through the arrangement of the embedded alignment plate and the anti-deviation embedded groove and the matching between the embedded alignment plate and the anti-deviation embedded groove, the signal rod rotating base and the radio signal rod can be prevented from loosening and shaking in the rotating process, and the rotating precision is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic connection diagram of the first embodiment.
FIG. 2 is a schematic connection diagram of the second embodiment.
FIG. 3 is a schematic connection diagram of the third embodiment.
Fig. 4 is a schematic structural diagram of the present invention.
Fig. 5 is a schematic view of the structure in another direction of the present invention.
Fig. 6 is a schematic structural view in another direction of the present invention.
Fig. 7 is a schematic cross-sectional view of a drone clamp block.
Fig. 8 is a schematic view of the structure in another aspect of the present invention.
Fig. 9 is an enlarged schematic view at a in fig. 8.
Fig. 10 is a schematic structural view of a reflector skeleton.
Fig. 11 is a schematic cross-sectional view of a signal rod lift table.
In the figure: the unmanned aerial vehicle landing platform comprises a moving platform body 1, a platform driving piece 2, an unmanned aerial vehicle landing platform 3, an electromagnet fixing piece 4, an unmanned aerial vehicle bearing clamping and fixing component 5, an unmanned aerial vehicle bearing bracket 6, a bearing cushion pad 7, a front bearing alignment groove 8, a rear bearing alignment groove 9, a first linear driver 10, an unmanned aerial vehicle clamping and fixing block 11, a second linear driver 12, a clamping groove 13, a buffering sponge layer 14, a bearing bracket deviation-proof abutting plate 15, a deviation-proof sliding groove 16, a limiting block 17, a roadblock clearing piece 18, a crawler driving wheel 19, a crawler driven wheel 20, a traveling crawler 21, a mechanical rotating arm 22, a clamping jaw 23, a searchlight 24, a rotating arm support 25, a signal rod lifting platform 30, a signal rod rotating base 31, a signal amplification adjusting component 32, a radio signal rod 33, a reflecting cover framework 34, a torsion spring 344, a signal amplification reflecting cover 35, a buffering abutting block 355, a circumferential rotator 36 and a, The positioning device comprises an embedded alignment plate 38, a lifting platform linear driver 39, a lifting platform deviation-preventing abutting plate 40, a limiting sliding groove 41, a deviation-preventing block 42 and an underground pipe gallery positioning marker 100.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-9, a method for using an unmanned aerial vehicle mobile platform for underground pipe gallery positioning comprises the following steps:
the method comprises the following steps: arranging a plurality of underground pipe gallery positioning markers 100 which are distributed at equal intervals in an underground pipe gallery;
step two: placing a mobile platform main body 1 carrying an unmanned aerial vehicle in an underground pipe gallery, and driving the mobile platform main body 1 to move to a specified position through a platform driving piece 2;
step three: remote control unmanned aerial vehicle takes off from moving platform main part 1 through unmanned aerial vehicle remote controller remote control instruction to survey in the underground pipe gallery, unmanned aerial vehicle and 1 accessible underground pipe gallery location marker 100 of moving platform main part are fixed a position in real time.
In this embodiment, when surveying the utility tunnel through unmanned aerial vehicle, can fix a position unmanned aerial vehicle and moving platform main part 1 through utility tunnel positioning marker 100 in real time, conveniently know the position of unmanned aerial vehicle and moving platform main part 1 in the utility tunnel, the higher location accuracy
Example one
Referring to fig. 1 and 4, in the first step, the underground pipe gallery positioning marker 100 is located at the top of the underground pipe gallery, the underground pipe gallery positioning marker 100 is provided with an LED light-emitting panel, and the LED light-emitting panel is marked with underground pipe gallery position information;
be equipped with searchlight 24 on the moving platform main part 1 in the third step, the unmanned aerial vehicle front end is equipped with the head-light.
When the unmanned aerial vehicle flies in the underground pipe gallery, the headlamp irradiates the LED light-emitting panel on the underground pipe gallery positioning marker 100 to obtain the underground pipe gallery positioning information where the unmanned aerial vehicle is located;
be equipped with rotatable mechanical rocking arm 22 on the moving platform main part 1, searchlight 24 is located mechanical rocking arm 22, and moving platform main part 1 drives searchlight 24 through rotating mechanical rocking arm 22 at the underground pipe gallery removal in-process for searchlight 24 lamp illumination is to the LED luminescent panel on the underground pipe gallery location marker 100, obtains the underground pipe gallery location information that moving platform main part 1 located.
In this embodiment, shine the LED luminescent panel on the utility model gallery location marker 100 through the searchlight 24 that the head-light that unmanned aerial vehicle carried and the mobile platform main part 1 carried, it has utility gallery locating information to show on the LED luminescent panel, can directly read out unmanned aerial vehicle or mobile platform main part 1 position from the LED luminescent panel, and the location is simple and convenient.
Example two
The structure and the working principle of the first embodiment are basically the same, and the difference is that, as shown in fig. 2, a pipe gallery positioning signal emitter is arranged in the underground pipe gallery positioning marker 100 in the first step; be equipped with pipe gallery positioning signal receiver in the unmanned aerial vehicle in the step two, after unmanned aerial vehicle was close to underground pipe gallery positioning marker 100, pipe gallery positioning signal receiver received the positioning signal that pipe gallery positioning signal transmitter sent to confirm the position of the underground pipe gallery that unmanned aerial vehicle located.
Be equipped with data processor in the unmanned aerial vehicle, data processor and piping lane positioning signal receiver electricity federation, data processor receive piping lane positioning signal receiver's locating data and carry out the operation and handle, and data processor sends the locating data for the unmanned aerial vehicle remote controller according to the radio signal form again. Through the locating information that unmanned aerial vehicle located of the automatic readout of unmanned aerial vehicle remote controller, the information is more accurate, and the signal is better, does not receive the underground pipe gallery influence.
EXAMPLE III
The structure and the working principle of the first embodiment are basically the same, and the difference is that, as shown in fig. 3, a GPS antenna extending into the ground is arranged at the top of the underground pipe gallery positioning marker 100 in the first step, and the GPS antenna is connected with the differential GPS reference station.
Be equipped with GPS signal receiver in underground pipe gallery location marker 100, GPS signal receiver links to each other with the GPS antenna.
Still be equipped with difference GPS signal processing transmitter in the underground pipe gallery location marker 100, be equipped with the signal reception display in the unmanned aerial vehicle in the step two.
In this embodiment, the GPS antenna can be connected to 24 GPS satellites orbiting the earth, and since the positions of the satellites are known precisely, in GPS observation, we can obtain the distances from the satellites to the receiver, and by using a distance formula in three-dimensional coordinates, we can compose 3 equations by using 3 satellites, and solve the positions X, Y, and Z of the observation points. Considering the error between the satellite clock and the receiver clock, there are actually 4 unknowns, X, Y, Z and clock difference, so that it is necessary to introduce the 4 th satellite, form 4 equations to solve, and obtain the observation point positioning information,
the GPS signal receiver can lock more than 4 satellites, at the moment, the receiver can be divided into a plurality of groups according to the constellation distribution of the satellites, each group comprises 4 satellites, and then one group with the minimum error is selected through an algorithm to be used for positioning, so that the precision is improved.
The differential GPS reference station can improve the positioning accuracy, and the known precise coordinates of the differential GPS reference station are compared with the observed value, so that a correction number is obtained and is issued to the outside. After receiving the correction number, the GPS signal receiver compares the correction number with the observed value of the GPS signal receiver to eliminate most errors and obtain a more accurate position. Get behind the accurate position through difference GPS signal processing transmitter with locating information send to the signal reception display, the user of service can be comparatively accurate learn unmanned aerial vehicle locating information through observing the signal reception display.
As shown in fig. 4-11, an unmanned aerial vehicle moving platform application method for underground pipe gallery location, including moving platform main part 1, moving platform main part 1 bottom be equipped with platform driving piece 2, moving platform main part 1 in be equipped with unmanned aerial vehicle landing platform 3, 3 tops of unmanned aerial vehicle landing platform be equipped with electro-magnet mounting 4, moving platform main part 1 in still be equipped with a plurality of unmanned aerial vehicle bearing centre gripping fixed component 5 along moving platform main part 1 internal central line symmetry, moving platform main part 1 in be equipped with signal pole elevating platform 30 that can follow the reciprocal linear motion of vertical direction, signal pole elevating platform 30 top be equipped with and to follow circumferential direction's signal pole rotating base 31, signal pole rotating base 31 top be equipped with rotatable signal amplification adjusting part 32.
In the embodiment, the unmanned aerial vehicle bottom rod is provided with a magnet, the electromagnet fixing part 4 is an electrified magnet, the unmanned aerial vehicle can be adsorbed and fixed through magnetic force, when the underground pipe gallery needs to be observed, the unmanned aerial vehicle is carried by the mobile platform main body 1 to be used for the underground pipe gallery, then automatic observation is realized through the unmanned aerial vehicle, workers do not need to enter the underground pipe gallery, the safety is higher, the platform driving part 2 is used for driving the mobile platform main body 1 to move, when the unmanned aerial vehicle needs to land and be fixed on the mobile platform main body 1, the unmanned aerial vehicle bottom rod is fixed through the electromagnet fixing part 4 through magnetic force, after the unmanned aerial vehicle bottom rod is fixed, the unmanned aerial vehicle supporting and clamping and fixing component 5 is moved upwards at the moment, the unmanned aerial vehicle wing part is supported through the unmanned, can avoid the loosening and falling of the unmanned aerial vehicle after being fixed on the main body 1 of the mobile platform, has better fixing effect and stable structure,
when using unmanned aerial vehicle in the underground pipe gallery, after unmanned aerial vehicle takes off, through with signal pole elevating platform 30 rebound, it rotates base 31 and signal amplification adjusting part 32 to drive the signal pole and rises, when signal amplification adjusting part 32 rises to 3 tops of unmanned aerial vehicle landing platform, enlarge adjusting part 32 through rotating the signal, make signal amplification adjusting part 32 rotate for the same direction of unmanned aerial vehicle flight, turn into directional signal through signal amplification adjusting part 32 with the omnidirectional signal of transmission, play the effect of directional reinforcing unmanned aerial vehicle signal, make things convenient for unmanned aerial vehicle to accept transmission signal in the underground pipe gallery, directional signal is adjustable around, avoid appearing the condition that the signal loses in the underground pipe gallery.
Combine fig. 5, fig. 6, fig. 8, fig. 9 to show, fixed subassembly 5 of unmanned aerial vehicle bearing centre gripping can follow vertical direction straight reciprocating motion, the fixed subassembly 5 of unmanned aerial vehicle bearing centre gripping corresponding with the position of electro-magnet mounting 4, the signal enlarge adjusting part 32 run through unmanned aerial vehicle descending platform 3 and signal enlarge adjusting part 32 and unmanned aerial vehicle descending platform 3 sliding fit.
Combine fig. 6 to show, fixed subassembly 5 of unmanned aerial vehicle bearing centre gripping include a plurality of unmanned aerial vehicle support bracket 6 that set up in moving platform main part 1, unmanned aerial vehicle support bracket 6 can follow the reciprocal linear motion of vertical direction, unmanned aerial vehicle support bracket 6 top be equipped with bearing blotter 7, bearing blotter 7 in be equipped with preceding bearing counterpoint groove 8 and back bearing counterpoint groove 9, bearing blotter 7 make by rubber materials.
In this embodiment, when needs carry out the bearing fixed to unmanned aerial vehicle wing part, with 6 rebound of unmanned aerial vehicle support bracket, make unmanned aerial vehicle support bracket 6 and the bearing of unmanned aerial vehicle wing bottom, fixed effect has been improved, when the bearing contacts, bearing blotter 7 contacts with unmanned aerial vehicle wing bottom earlier, can avoid causing surface damage to unmanned aerial vehicle wing bottom, preceding bearing counterpoint groove 8 and back bearing counterpoint groove 9 are used for counterpointing the unmanned aerial vehicle wing, make the unmanned aerial vehicle wing imbed to preceding bearing counterpoint groove 8 and back bearing counterpoint groove 9 in, accomplish the counterpoint, can further prevent that unmanned aerial vehicle from taking place to slide, technical personnel in the art should understand, bearing blotter 7 can be made by isoprene rubber or butadiene rubber.
Referring to fig. 6 and 7, a plurality of first linear drivers 10 are arranged in the mobile platform body 1, a power shaft of each first linear driver 10 is connected with an unmanned aerial vehicle support bracket 6, an unmanned aerial vehicle clamping fixing block 11 capable of performing linear reciprocating motion along one end close to or far away from an unmanned aerial vehicle landing platform 3 is arranged in each unmanned aerial vehicle support bracket 6, a second linear driver 12 is further arranged in each unmanned aerial vehicle support bracket 6, the power shaft of each second linear driver 12 is connected with the corresponding unmanned aerial vehicle clamping fixing block 11, a clamping groove 13 is formed in one end, close to the unmanned aerial vehicle landing platform 3, of each unmanned aerial vehicle clamping fixing block 11, each clamping groove 13 is arc-shaped, a buffering sponge layer 14 is arranged in each clamping groove 13, each buffering sponge layer 14 is also arc-shaped, a plurality of support bracket deviation-resisting plates 15 symmetrical along the central line of the mobile platform body 1 are arranged in the mobile platform body 1, support bracket prevent that inclined to one side butt plate 15 is close to unmanned aerial vehicle support bracket 6 one end and is equipped with and prevents inclined to one side spout 16, unmanned aerial vehicle support bracket 6 be close to support bracket prevent that inclined to one side butt plate 15 one end is equipped with and extends to let in to preventing stopper 17 in the inclined to one side spout 16, stopper 17 with prevent inclined to one side spout 16 sliding fit.
In this embodiment, when the unmanned aerial vehicle support bracket 6 needs to be moved, the first linear actuator 10 is started, the unmanned aerial vehicle support bracket 6 is driven to move by the power shaft of the first linear actuator 10, and after the unmanned aerial vehicle support bracket 6 supports and fixes the wings of the unmanned aerial vehicle, the second linear actuator 12 is started, the power shaft of the second linear actuator 12 drives the unmanned aerial vehicle clamping and fixing block 11 to move towards one end of the unmanned aerial vehicle landing platform 3, so as to clamp and fix the middle position of the bottom rod of the unmanned aerial vehicle, thereby preventing the unmanned aerial vehicle from loosening, further improving the fixing effect of the unmanned aerial vehicle, and the skilled person will understand that the first linear actuator 10 and the second linear actuator 12 can be cylinders, oil cylinders or linear motors,
the clamping groove 13 is arc-shaped, the buffering sponge layer 14 is also arc-shaped and is matched with the shape of the bottom rod of the unmanned aerial vehicle, when the unmanned aerial vehicle clamping fixing block 11 clamps the bottom rod part of the unmanned aerial vehicle, the buffering sponge layer 14 can avoid hard collision on the bottom rod of the unmanned aerial vehicle, and plays a role in buffering,
at the in-process that removes unmanned aerial vehicle support bracket 6, through stopper 17 and prevent the sliding fit between the inclined to one side spout 16, can avoid unmanned aerial vehicle support bracket 6 to take place the angular deviation at the removal in-process, improved the accuracy of unmanned aerial vehicle support bracket 6 displacement.
Combine 8-11 to show, signal amplification adjusting part 32 including setting up in the radio signal pole 33 at signal pole rotating base 31 top, radio signal pole 33 on be equipped with a plurality of rotatable bowl skeletons 34, bowl skeleton 34 on be connected with signal amplification bowl 35, bowl skeleton 34 be the annular array along radio signal pole 33 central point and distribute, bowl skeleton 34 and radio signal pole 33 between be connected through the pivot, bowl skeleton 34 and radio signal pole 33 between the pivot on the cover be equipped with torsion spring 344.
In this embodiment, when the signal of the unmanned aerial vehicle needs to be received and transmitted, the radio signal rod 33 and the reflector framework 34 are lifted, the radio signal rod 33 is rotated to a position opposite to the unmanned aerial vehicle, at this time, the reflector framework 34 is rotated to open the signal amplification reflector 35 into an umbrella shape, the reflector framework 34 plays a role of fixed connection for the signal amplification reflector 35, and the omnidirectional signal of the radio signal rod 33 is converted into a directional signal in the opening direction of the signal amplification reflector 35 by the signal amplification reflector 35, and those skilled in the art will understand that the signal amplification reflector 35 is made of an aluminum foil material, so that the signal amplification reflector has a good signal reflection effect,
be connected through the pivot between bowl skeleton 34 and the radio signal pole 33, on-line electric signal pole 33 rises to unmanned aerial vehicle descending platform 3 top after, the elastic action through torsion spring 344 opens bowl skeleton 34 is automatic, thereby drive signal amplification bowl 35 and strut it, carry out the directional reflection, when needing to draw in bowl skeleton 34 and signal amplification bowl 35 again, with line electric signal pole 33 decline, draw in can with bowl skeleton 34 and signal amplification bowl 35 automatically through the butt effect.
Referring to fig. 8, 9 and 10, a buffer abutting block 355 is arranged at the bottom of the rotating shaft between the reflector framework 34 and the radio signal rod 33, the bottom of the buffer abutting block 355 is arc-shaped, a circumferential rotator 36 is arranged in the signal rod lifting platform 30, the rotating shaft of the circumferential rotator 36 is connected with the signal rod rotating base 31, an anti-deviation inner embedded groove 37 is arranged in the signal rod lifting platform 30, and an embedded aligning plate 38 which extends into the anti-deviation inner embedded groove 37 and is matched with the anti-deviation inner embedded groove 37 in shape is arranged at the bottom of the signal rod rotating base 31.
In this embodiment, when the line electric signal rod 33 descends and retracts into the mobile platform body 1, the buffer abutting block 355 will contact with the mobile platform body 1 first, so as to prevent the rotating shaft between the reflector framework 34 and the radio signal rod 33 from directly colliding with the mobile platform body 1, prevent the rotating shaft between the reflector framework 34 and the radio signal rod 33 from being damaged, prolong the service life of the rotating shaft between the reflector framework 34 and the radio signal rod 33, form an arc shape at the bottom of the buffer abutting block 355, prevent the shell from being jammed in the descending process,
when the signal rod rotating base 31 and the radio signal rod 33 need to be rotated, the circumferential rotator 36 is started, the rotating shaft of the circumferential rotator 36 drives the signal rod rotating base 31 and the radio signal rod 33 to rotate circumferentially, and in the rotating process of the signal rod rotating base 31, through the matching between the embedded aligning plate 38 and the anti-deviation embedded groove 37, the signal rod rotating base 31 and the radio signal rod 33 can be prevented from loosening and shaking in the rotating process, and the rotating precision is improved.
Referring to fig. 9 and 10, the deviation-preventing inner caulking groove 37 is annular, the inner alignment plate 38 is also annular, the annular alignment plate 38 is in sliding fit with the annular inner caulking groove 37, the moving platform body 1 is internally provided with a lifting platform linear driver 39, and a power shaft of the lifting platform linear driver 39 is connected with the signal rod lifting platform 30.
In this embodiment, when the signal rod lifting platform 30 needs to be lifted, the lifting platform linear actuator 39 is started, and the power shaft of the lifting platform linear actuator 39 drives the signal rod lifting platform 30 to move up and down, and those skilled in the art should understand that the lifting platform linear actuator 39 may be an air cylinder, an oil cylinder, or a linear motor.
As shown in fig. 9, the movable platform body 1 is provided with a plurality of lifting platform deviation-preventing supporting plates 40 symmetrical along the center line of the movable platform body 1, the signal rod lifting platform 30 is in sliding fit with the lifting platform deviation-preventing supporting plates 40, one end of the lifting platform deviation-preventing supporting plates 40 close to the signal rod lifting platform 30 is provided with a limiting sliding groove 41, the signal rod lifting platform 30 is provided with a deviation-preventing block 42 extending into the limiting sliding groove 41, and the deviation-preventing block 42 is in sliding fit with the limiting sliding groove 41.
In this embodiment, in the lifting process of the signal rod lifting platform 30, through the sliding fit between the signal rod lifting platform 30 and the lifting platform deviation-preventing abutting plate 40 and the sliding fit between the deviation-preventing block 42 and the limiting sliding groove 41, the occurrence of angle and position deviation in the lifting process of the signal rod lifting platform 30 can be avoided, and the displacement accuracy of the signal rod lifting platform 30 is improved.
Referring to fig. 4, the movable platform body 1 is provided with a rotatable roadblock removing member 18, the platform driving member 2 includes a plurality of crawler driving wheels 19 disposed on the movable platform body 1, a plurality of crawler driven wheels 20 are disposed below the crawler driving wheels 19, traveling crawlers 21 are respectively sleeved on the crawler driving wheels 19 and the crawler driven wheels 20, and the crawler driving wheels 19 and the crawler driven wheels 20 are respectively engaged with the traveling crawlers 21.
In this embodiment, when there is a roadblock such as a stone in the place ahead of the mobile platform main body 1, clear away the roadblock through the roadblock clearance piece 18, when the mobile platform main body 1 that needs to travel, rotate the track drive wheel 19, drive through the track drive wheel 19 and advance track 21 and rotate, the track is followed driving wheel 20 and is played the effect of fixed track 21 of advancing.
Referring to fig. 4, the roadblock removing part 18 includes a mechanical rotating arm 22 disposed on the mobile platform body 1, the mechanical rotating arm 22 is provided with a rotatable clamping jaw 23, the mechanical rotating arm 22 is provided with a searchlight 24, and the mechanical rotating arm 22 is connected to the mobile platform body 1 through a rotating arm bracket 25.
In this embodiment, when the roadblock needs to be cleared, the mechanical rotating arm 22 is rotated to drive the clamping jaw 23 to move, the roadblock is grabbed by the clamping jaw 23 and then placed outside the traveling route, the rotating arm bracket 25 plays a role of fixedly supporting the mechanical rotating arm 22, and the searchlight 24 can search the road condition ahead.
The working principle of the invention is as follows:
when the unmanned aerial vehicle is used in an underground pipe gallery, after the unmanned aerial vehicle takes off, the lifting platform linear driver 39 is started, the power shaft of the lifting platform linear driver 39 drives the signal rod lifting platform 30 to move upwards, the signal rod rotating base 31 and the radio signal rod 33 to ascend, when the radio signal rod 33 ascends to the upper part of the unmanned aerial vehicle landing platform 3, the reflecting cover framework 34 is automatically opened through the elastic force action of the torsion spring 344, so that the signal amplification reflecting cover 35 is driven to be unfolded into an umbrella shape for directional reflection,
the radio signal rod 33 is rotated to a position opposite to the unmanned aerial vehicle, the reflector framework 34 plays a role in fixed connection to the signal amplification reflector 35, the omnidirectional signal of the radio signal rod 33 is converted into a directional signal in the opening direction of the signal amplification reflector 35 through the signal amplification reflector 35, the function of directionally enhancing the signal of the unmanned aerial vehicle is played, the unmanned aerial vehicle can conveniently receive and transmit signals in the underground pipe gallery, the front directional signal and the rear directional signal can be adjusted, the condition that the signal is lost in the underground pipe gallery is avoided,
when the line electric signal pole 33 descends and retracts into the mobile platform main body 1, the buffer abutting block 355 can be firstly contacted with the mobile platform main body 1, the direct collision between the rotating shaft between the reflector framework 34 and the radio signal pole 33 and the mobile platform main body 1 is avoided, the rotating shaft between the reflector framework 34 and the radio signal pole 33 is prevented from being damaged, the service life of the rotating shaft between the reflector framework 34 and the radio signal pole 33 is prolonged, the bottom of the buffer abutting block 355 is arc-shaped, and the shell clamping phenomenon in the descending process is avoided.
When the signal rod rotating base 31 and the radio signal rod 33 need to be rotated, the circumferential rotator 36 is started, the rotating shaft of the circumferential rotator 36 drives the signal rod rotating base 31 and the radio signal rod 33 to rotate circumferentially, and in the rotating process of the signal rod rotating base 31, through the matching between the embedded aligning plate 38 and the anti-deviation embedded groove 37, the signal rod rotating base 31 and the radio signal rod 33 can be prevented from loosening and shaking in the rotating process, and the rotating precision is improved.
In the lifting process of the signal rod lifting platform 30, through the sliding fit between the signal rod lifting platform 30 and the lifting platform deviation-preventing abutting plate 40 and the sliding fit between the deviation-preventing block 42 and the limiting sliding groove 41, the occurrence of angle and position deviation in the lifting process of the signal rod lifting platform 30 can be avoided, and the displacement accuracy of the signal rod lifting platform 30 is improved.
The unmanned aerial vehicle sill bar is provided with a magnet, the electromagnet fixing piece 4 is an electrified magnet, the unmanned aerial vehicle can be adsorbed and fixed through magnetic force, when the underground pipe gallery needs to be observed, the unmanned aerial vehicle is carried by the mobile platform main body 1 to carry out the underground pipe gallery, then automatic observation is realized through the unmanned aerial vehicle, workers do not need to enter the underground pipe gallery, the safety is higher, the platform driving piece 2 is used for driving the mobile platform main body 1 to move, when the unmanned aerial vehicle needs to land and be fixed on the mobile platform main body 1, the unmanned aerial vehicle sill bar is fixed through the magnetic force through the electromagnet fixing piece 4, the unmanned aerial vehicle sill bar is fixed,
when needs carry out the bearing fixed to unmanned aerial vehicle wing part, with 6 rebound of unmanned aerial vehicle support bracket, make unmanned aerial vehicle support bracket 6 carry out the bearing with unmanned aerial vehicle wing bottom, fixed effect has been improved, when the bearing contact, bearing blotter 7 contacts with unmanned aerial vehicle wing bottom earlier, can avoid causing surface damage to unmanned aerial vehicle wing bottom, preceding bearing counterpoint groove 8 and back bearing counterpoint groove 9 are used for counterpointing the unmanned aerial vehicle wing, make the unmanned aerial vehicle wing imbed to preceding bearing counterpoint groove 8 and back bearing counterpoint groove 9 in, accomplish the counterpoint, can further prevent that unmanned aerial vehicle from taking place to slide.
After unmanned aerial vehicle bearing frame 6 carries out the bearing to the unmanned aerial vehicle wing and fixes, start second linear actuator 12, power shaft through second linear actuator 12 drives unmanned aerial vehicle centre gripping fixed block 11 and removes to 3 one ends of unmanned aerial vehicle descending platform, it is fixed to carry out the centre gripping to unmanned aerial vehicle sill bar middle part position, prevent that unmanned aerial vehicle from taking place not hard up, further improved the fixed effect to unmanned aerial vehicle, it is the arc to hold groove 13, buffering sponge layer 14 also is the arc, match with the unmanned aerial vehicle sill bar shape and fit, when 11 centre gripping unmanned aerial vehicle sill bar positions of unmanned aerial vehicle centre gripping fixed block, buffering sponge layer 14 can avoid causing the rigid collision to the unmanned aerial vehicle sill bar, play the effect of buffering. The realization is fixed to unmanned aerial vehicle's diversified multi-angle, can avoid unmanned aerial vehicle to fix and take place not hard up and drop on moving platform main part 1 after, and fixed effect is better, stable in structure.
At the in-process that removes unmanned aerial vehicle support bracket 6, through stopper 17 and prevent the sliding fit between the inclined to one side spout 16, can avoid unmanned aerial vehicle support bracket 6 to take place the angular deviation at the removal in-process, improved the accuracy of unmanned aerial vehicle support bracket 6 displacement.
When the front of the movable platform body 1 is provided with a roadblock such as a stone and other foreign matters, the roadblock can be removed through the roadblock removing piece 18, when the movable platform body 1 needs to run, the crawler driving wheel 19 is rotated, the crawler driving wheel 19 drives the running crawler 21 to rotate, and the crawler driven wheel 20 plays a role in fixing the running crawler 21.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit of the invention.
Although the mobile platform body 1, the platform driving member 2, the unmanned aerial vehicle landing platform 3, the electromagnet fixing member 4, the unmanned aerial vehicle bearing clamping fixing component 5, the unmanned aerial vehicle bearing bracket 6, the bearing cushion 7, the front bearing aligning groove 8, the rear bearing aligning groove 9, the first linear driver 10, the unmanned aerial vehicle clamping fixing block 11, the second linear driver 12, the clamping groove 13, the buffer sponge layer 14, the bearing bracket deviation-preventing abutting plate 15, the deviation-preventing sliding groove 16, the limiting block 17, the roadblock clearing member 18, the crawler driving wheel 19, the crawler driven wheel 20, the traveling crawler 21, the mechanical rotating arm 22, the clamping jaw 23, the searchlight 24, the rotating arm support 25, the signal rod lifting platform 30, the signal rod rotating base 31, the signal amplification adjusting component 32, the radio signal rod 33, the reflection cover framework 34, the torsion spring 344, the signal amplification reflection cover 35, the buffer abutting block 355, The terms circumferential rotator 36, anti-deflection inner embedded slot 37, embedded alignment plate 38, elevator platform linear drive 39, elevator platform anti-deflection abutment plate 40, limit runner 41, anti-deflection block 42, underground pipe gallery positioning marker 100, etc., but do not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention and they are to be interpreted as any additional limitation which is not in accordance with the spirit of the present invention.
Claims (10)
1. The use method of the unmanned aerial vehicle mobile platform for positioning the underground pipe gallery is characterized by comprising the following steps:
the method comprises the following steps: arranging a plurality of underground pipe gallery positioning markers (100) which are distributed at equal intervals in an underground pipe gallery;
step two: placing a mobile platform main body (1) carrying an unmanned aerial vehicle in an underground pipe gallery, and driving the mobile platform main body (1) to move to a specified position through a platform driving piece (2);
step three: remote control unmanned aerial vehicle takes off from moving platform main part (1) through unmanned aerial vehicle remote controller remote control instruction to survey in the underground pipe gallery, unmanned aerial vehicle and moving platform main part (1) accessible underground pipe gallery location marker (100) are fixed a position in real time.
2. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 1, wherein the underground pipe gallery positioning marker (100) in the first step is located at the top of the underground pipe gallery, the underground pipe gallery positioning marker (100) is provided with an LED light-emitting panel, and the LED light-emitting panel is marked with underground pipe gallery position information;
be equipped with searchlight (24) on mobile platform main part (1) in the third step, the unmanned aerial vehicle front end is equipped with the head-light.
3. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 2, wherein when the unmanned aerial vehicle flies in the underground pipe gallery, the headlamp irradiates the LED light-emitting panel on the underground pipe gallery positioning marker (100) to obtain the underground pipe gallery positioning information where the unmanned aerial vehicle is located;
be equipped with rotatable mechanical rocking arm (22) on mobile platform main part (1), searchlight (24) are located mechanical rocking arm (22), and mobile platform main part (1) is at the underground pipe gallery removal in-process, through rotating mechanical rocking arm (22), drives searchlight (24) and rotates for searchlight (24) lamp illumination is to the LED luminescent panel on underground pipe gallery location marker (100), obtains the underground pipe gallery location information that mobile platform main part (1) located.
4. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 1, wherein in the first step, a pipe gallery positioning signal transmitter is arranged in the underground pipe gallery positioning marker (100); be equipped with pipe gallery positioning signal receiver in the unmanned aerial vehicle in the step two, unmanned aerial vehicle is close to underground pipe gallery positioning marker (100) back, and pipe gallery positioning signal receiver receives the positioning signal that pipe gallery positioning signal transmitter sent to confirm the position of the underground pipe gallery that unmanned aerial vehicle located.
5. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 4, wherein a data processor is arranged in the unmanned aerial vehicle, the data processor is electrically connected with the pipe gallery positioning signal receiver, the data processor receives the positioning data of the pipe gallery positioning signal receiver for operation processing, and the data processor sends the positioning data to the unmanned aerial vehicle remote controller in a radio signal form.
6. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 1, wherein in the first step, the top of the underground pipe gallery positioning marker (100) is provided with a GPS antenna extending to the ground, and the GPS antenna is connected with the differential GPS reference station.
7. Use method of unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 6, characterized in that a GPS signal receiver is arranged in the underground pipe gallery positioning marker (100), and the GPS signal receiver is connected with a GPS antenna.
8. The use method of the unmanned aerial vehicle mobile platform for underground pipe gallery positioning according to claim 7, wherein a differential GPS signal processing transmitter is further arranged in the underground pipe gallery positioning marker (100), and a signal receiving display is arranged in the unmanned aerial vehicle in the second step.
9. The use method of the unmanned aerial vehicle moving platform for underground pipe gallery positioning according to claim 1, characterized in that an unmanned aerial vehicle landing platform (3) is arranged in the moving platform body (1), an electromagnet fixing member (4) is arranged at the top of the unmanned aerial vehicle landing platform (3), a plurality of unmanned aerial vehicle bearing clamping fixing components (5) symmetrical along the central line in the moving platform body (1) are further arranged in the moving platform body (1), a signal rod lifting platform (30) capable of reciprocating linear motion along the vertical direction is arranged in the moving platform body (1), a signal rod rotating base (31) capable of rotating along the circumferential direction is arranged at the top of the signal rod lifting platform (30), and a rotatable signal amplification adjusting component (32) is arranged at the top of the signal rod rotating base (31).
10. The use method of the unmanned aerial vehicle moving platform for underground pipe gallery positioning as claimed in claim 1, wherein the platform driving member (2) comprises a plurality of crawler driving wheels (19) arranged on the moving platform body (1), a plurality of crawler driven wheels (20) are arranged below the crawler driving wheels (19), traveling crawlers (21) are sleeved on the crawler driving wheels (19) and the crawler driven wheels (20), and the crawler driving wheels (19) and the crawler driven wheels (20) are respectively meshed with the traveling crawlers (21).
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