CN114148534A - Patrol and examine unmanned aerial vehicle with indoor location structure - Google Patents
Patrol and examine unmanned aerial vehicle with indoor location structure Download PDFInfo
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Abstract
The invention relates to the technical field of inspection unmanned aerial vehicles, in particular to an inspection unmanned aerial vehicle with an indoor positioning structure, which comprises an unmanned aerial vehicle body, wherein a first protective cover frame is arranged on the upper surface of the unmanned aerial vehicle body, the top of the first protective cover frame is movably connected with a connecting frame, the top of the connecting frame is fixedly connected with a second protective cover frame, a sealing ring is arranged at the bottom of the connecting frame, a supporting rod is fixedly connected to the bottom of the unmanned aerial vehicle body, and a supporting bottom plate is fixedly connected to the bottom of the supporting rod. According to the invention, the unmanned aerial vehicle body, the first protective cover frame, the connecting frame, the second protective cover frame, the sealing ring, the threaded hole and the screw rod are arranged, so that the overall inspection stability of the equipment is effectively improved, and in the actual use process, a worker can install a matched high-quality ultra-wideband wireless transceiver chip in the first protective cover frame to assist the unmanned aerial vehicle body in performing stable positioning operation in the flight process.
Description
Technical Field
The invention relates to the technical field of inspection unmanned aerial vehicles, in particular to an inspection unmanned aerial vehicle with an indoor positioning structure.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle for short, and is abbreviated as UAV in English, and is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, or is operated by a vehicle-mounted computer completely or intermittently and autonomously, compared with the piloted aircraft, the unmanned aerial vehicle is often more suitable for tasks of being too dull, dirty or dangerous, the unmanned aerial vehicle can be divided into military use and civil use according to application fields, and the unmanned aerial vehicle is divided into a reconnaissance machine and a target machine in the military use, and the civil use, the unmanned aerial vehicle and industrial application are really just needed by the unmanned aerial vehicle, and the unmanned aerial vehicle can be applied to fields of aerial photography, agriculture, plant protection, micro self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief, movie and television photography, romantic manufacturing and the like, so that the application of the unmanned aerial vehicle per se is greatly expanded, and the developed countries also actively expand the industry application and the unmanned aerial vehicle technology, the unmanned aerial vehicle related technology at home and abroad is rapidly developed, the unmanned aerial vehicle system has various types and wide application range characteristics, so that the unmanned aerial vehicle has great differences in various aspects such as size, quality, range, time of flight, flight height, flight speed, tasks and the like, and due to the diversity of the unmanned aerial vehicle, different classification methods can be realized due to different considerations, the unmanned aerial vehicle can be classified according to the configuration of a flight platform, and can be divided into a fixed-wing unmanned aerial vehicle, a rotor unmanned aerial vehicle, an unmanned airship, an umbrella-wing unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle and the like, the unmanned aerial vehicle can be classified according to the application, and can be divided into a military unmanned aerial vehicle and a civil unmanned aerial vehicle, and the military unmanned aerial vehicle can be divided into a reconnaissance unmanned aerial vehicle, a bait unmanned aerial vehicle, an electronic countermeasure unmanned aerial vehicle, a communication relay unmanned aerial vehicle, an unmanned fighter, a target plane and the like; civilian unmanned aerial vehicles can be divided into patrol/watch on unmanned aerial vehicles, agricultural unmanned aerial vehicles, meteorological unmanned aerial vehicles, exploration unmanned aerial vehicles, surveying and mapping unmanned aerial vehicles, and the like.
At present, the transformer substation has two modes of routing inspection, the manual routing inspection operation efficiency is low, the cost of a large number of human vehicles is increased, a rail type suspension robot and a wheel type robot are high in investment cost and narrow in coverage area, meanwhile, the routing inspection speed of the two types of routing inspection robots is low, the efficiency is low, in recent years, the unmanned aerial vehicle technology grows up, the unmanned aerial vehicle is used for routing inspection of power transmission lines in large quantity, the unmanned aerial vehicle routing inspection has the advantages of simplicity, high efficiency, low cost performance and the like, has strong economic value, can be popularized in the whole country, but the existing unmanned aerial vehicle still cannot perform stable and accurate positioning operation in the indoor routing inspection operation process, the outdoor wide environment cannot be caused, small deviation cannot cause too large damage to the unmanned aerial vehicle, but the indoor narrow environment easily causes irreversible danger of the unmanned aerial vehicle, and is not beneficial to daily routing inspection work, therefore, it is necessary to design a patrol unmanned aerial vehicle with an indoor positioning structure to solve the above problems.
Disclosure of Invention
The invention aims to provide an inspection unmanned aerial vehicle with an indoor positioning structure, and aims to solve the problems that the conventional unmanned aerial vehicle still cannot perform stable and accurate positioning operation in the indoor inspection operation process, the unmanned aerial vehicle cannot be greatly damaged in an outdoor wide environment and a small deviation, but is extremely easy to cause irreversible danger in the indoor narrow environment, and the unmanned aerial vehicle is not beneficial to daily inspection work.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle patrols and examines with indoor location structure includes:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a first protective cover frame is arranged on the upper surface of the unmanned aerial vehicle body, the top of the first protective cover frame is movably connected with a connecting frame, the top of the connecting frame is fixedly connected with a second protective cover frame, a sealing ring is arranged at the bottom of the connecting frame, the bottom of the unmanned aerial vehicle body is fixedly connected with a supporting rod, the bottom end of the supporting rod is fixedly connected with a supporting bottom plate, and the bottoms of two ends of the supporting bottom plate are respectively provided with a contact joint;
the electric control platform is arranged at the bottom of the electric control platform, a control panel is arranged on one side of the electric control platform, a first side frame is movably connected to one end of the electric control platform, a second side frame is movably connected to the other end of the electric control platform, a socket is formed in the surface of the electric control platform, and a contact power supply is arranged inside the socket.
Preferably, the surface of the electric control platform is provided with an anti-skidding rubber mat, and the bottom of the supporting base plate is fixedly connected with a fitting strip.
Preferably, the inner side wall of the first side frame is fixedly connected with a sliding block, and sliding grooves are formed in two sides of the electric control platform.
Preferably, one end of the first side frame is fixedly connected with a first attaching pad, and one end of the second side frame is fixedly connected with a second attaching pad.
Preferably, a first protective cushion is arranged on the surface of the first side frame, and a second protective cushion is arranged on the surface of the second side frame.
Preferably, the surface of the first protective cover frame is provided with a threaded hole, and the bottom of the connecting frame is fixedly connected with a screw rod.
Compared with the prior art, the invention has the beneficial effects that:
1. the patrol unmanned aerial vehicle with the indoor positioning structure effectively improves the overall patrol stability of the equipment through the arranged unmanned aerial vehicle body, the first protective cover frame, the connecting frame, the second protective cover frame, the sealing ring, the threaded hole and the threaded rod, in the actual using process, a worker can install a matched high-quality ultra-wideband wireless transceiver chip in the first protective cover frame to assist the unmanned aerial vehicle body to perform stable positioning operation in the flying process, and meanwhile, the stable installation operation of the connecting frame and the second protective cover frame can be realized through the threaded hole and the threaded rod, so that the equipment can perform rapid later maintenance, and meanwhile, the equipment such as an expanded radar and the like is installed in the second protective cover frame to perform rapid later-stage debugging and upgrading operation, the project selects the high-quality ultra-wideband wireless transceiver chip, and adopts an ARM chip of a Cotex-M3 core to perform data processing and coordinate calculation, the necessary power supply circuit and the protection circuit are used as auxiliary materials, and the electromagnetic compatibility, the usability and the like are designed, so that the overall positioning stability is greatly improved, and the practicability of equipment design is embodied.
The inspection unmanned aerial vehicle with the indoor positioning structure can greatly improve the use convenience of the whole device through the arranged electric control platform, the control panel, the first side frame, the second side frame, the socket, the contact power supply, the anti-skidding rubber mat, the joint strip, the sliding block and the sliding groove, in the daily use process, the whole unmanned aerial vehicle body can be quickly butted with the surface of the electric control platform through the supporting bottom plate at the bottom end of the supporting rod, the contact joint is quickly connected with the contact power supply in the socket on the surface of the electric control platform, the stable quick charging operation is realized through the contact joints at four corners, the charging operation of the whole unmanned aerial vehicle body is quickly completed, meanwhile, the stable joint fixing operation on the position of the supporting bottom plate can be realized through the anti-skidding rubber mat and the joint strip, the stability of the whole is further improved, the first side frame and the second side frame at the two ends of the electric control platform can be quickly slid through the sliding block and the sliding groove at the top of the electric control platform, and then realize the protection operation to the position of charging, the unmanned aerial vehicle body is whole can fall on first protection cushion and second protection cushion position, and daily can use as the extension platform simultaneously, and the high accuracy location in this research room uses multiple algorithm to fuse, combines the hundred families to be long, accomplishes more accurate location: the distance between the known unknown node and three or more known nodes is obtained through a distance measurement algorithm, a coordinate set of the unknown node is obtained, and the accurate position of the node to be measured is found by using a centroid method or a self-adaptive weighted average and other mathematical methods, so that the comprehensiveness of equipment design is reflected.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a schematic view of a first shield frame and connecting frame arrangement of the present invention in a cutaway view;
FIG. 3 is a general schematic diagram of the structure of the electric control platform of the present invention;
FIG. 4 is a schematic diagram of a positioning formula model of the structure of the present invention;
FIG. 5 is an enlarged view of the structure at A of FIG. 1 according to the present invention;
fig. 6 is an enlarged schematic view of the structure at B in fig. 1 according to the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. a first shield frame; 3. a connecting frame; 4. a second shield frame; 5. a seal ring; 6. a support bar; 7. a support base plate; 8. a contact terminal; 9. An electric control platform; 10. a control panel; 11. a first side frame; 12. a second side frame; 13. a socket; 14. a contact power supply; 15. an anti-slip rubber pad; 16. fitting strips; 17. a slider; 18. A sliding groove; 19. a first bonding pad; 20. a second bonding pad; 21. a first protective cushion; 22. a second protective cushion; 23. a threaded hole; 24. a screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, an embodiment of the present invention is shown:
the utility model provides an unmanned aerial vehicle patrols and examines with indoor location structure, unmanned aerial vehicle body 1, contact joint 8, automatically controlled platform 9, control panel 10 and contact power supply 14 that use in this application are the product that can directly purchase on the market, and its principle and connected mode are the prior art that technical personnel in the field are familiar, include:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, wherein a first protective cover frame 2 is arranged on the upper surface of the unmanned aerial vehicle body 1, a connecting frame 3 is movably connected to the top of the first protective cover frame 2, a second protective cover frame 4 is fixedly connected to the top of the connecting frame 3, a sealing ring 5 is arranged at the bottom of the connecting frame 3, a supporting rod 6 is fixedly connected to the bottom of the unmanned aerial vehicle body 1, a supporting bottom plate 7 is fixedly connected to the bottom of the supporting rod 6, contact joints 8 are arranged at the bottoms of two ends of the supporting bottom plate 7, a threaded hole 23 is formed in the surface of the first protective cover frame 2, a screw rod 24 is fixedly connected to the bottom of the connecting frame 3, a matched high-quality ultra-wideband wireless transceiver chip is installed inside the first protective cover frame 2 to assist the unmanned aerial vehicle body 1 in performing stable positioning operation in the flight process, and meanwhile, stable installation operation of the connecting frame 3 and the second protective cover frame 4 can be realized through the threaded hole 23 and the screw rod 24, the equipment can be quickly maintained in the later period, and simultaneously, the expanded equipment such as radar and the like is arranged in the second protective cover frame 4 to carry out quick debugging and upgrading in the later period, the project selects a high-quality ultra-wideband wireless transceiver chip, adopts a Cotex-M3 kernel ARM chip to carry out data processing and coordinate calculation, is assisted by a necessary power circuit and a necessary protection circuit, carries out the design in aspects such as electromagnetic compatibility, usability and the like, provides a good foundation for algorithm operation and user use, the embedded software carries out detailed design of each task process based on a real-time operating system, captures communication signals of a base station in real time, calculates the distance, operates a multi-point positioning algorithm, carries out necessary screening and filtering on data to obtain accurate position information, develops parameter-adjusting configuration software operated on a Windows system, and according to the modularized design idea, module (Module), Data (Data), architecture (architecture) and program (Procedural) design are carried out, development of multiple necessary functions such as Data display, ultra-wideband Module calibration, Data acquisition, Data transmission, ultra-wideband base station position configuration and the like is completed, humanized and friendly design is carried out on the interface, and the use by a user is facilitated;
an electric control platform 9 is arranged at the bottom of the electric control platform 9, a control panel 10 is arranged at one side of the electric control platform 9, one end of the electric control platform 9 is movably connected with a first side frame 11, the other end of the electric control platform 9 is movably connected with a second side frame 12, a socket 13 is arranged on the surface of the electric control platform 9, a contact power supply 14 is arranged inside the socket 13, an anti-skid rubber pad 15 is arranged on the surface of the electric control platform 9, a joint strip 16 is fixedly connected with the bottom of the supporting base plate 7, a sliding block 17 is fixedly connected with the inner side wall of the first side frame 11, sliding grooves 18 are arranged at two sides of the electric control platform 9, a first joint pad 19 is fixedly connected with one end of the first side frame 11, a second joint pad 20 is fixedly connected with one end of the second side frame 12, a first protective soft pad 21 is arranged on the surface of the first side frame 11, a second protective soft pad 22 is arranged on the surface of the second side frame 12, the whole unmanned aerial vehicle body 1 can be quickly butted with the surface of an electric control platform 9 through a supporting bottom plate 7 at the bottom end of a supporting rod 6, a contact joint 8 is quickly in contact connection with a contact power supply 14 inside a socket 13 on the surface of the electric control platform 9, stable quick charging operation is realized through the contact joints 8 at four corners, the whole unmanned aerial vehicle body 1 is quickly charged, and meanwhile, stable attaching and fixing operation on the position of the supporting bottom plate 7 can be realized through an anti-skidding rubber pad 15 and an attaching strip 16, so that the indoor positioning technology has wide application prospects, the positioning mode of the indoor positioning technology is determined by an algorithm, a neighbor method, a triangulation method, a fingerprint method and the like are adopted, the defects of various algorithms are overcome, and the positioning accuracy of the neighbor method cannot be guaranteed; the triangulation method is theoretically high in accuracy, but for common equipment, parameters such as time and angle are difficult to obtain; the map drawing work load in earlier stage of fingerprint method is big, and in case the place is arranged and is changed temporarily, the signal on each position will change moreover to lead to the location inaccurate, the basic station coverage is big, and the angle will cause very big error a bit partially, and what ever the influence of various non-line of sight and multipath environment, the precision error is big, and the indoor high accuracy location of this research uses multiple algorithm to merge, combines hundreds of families long, accomplishes more accurate location: the distance between the known unknown node and three or more known nodes is obtained by a distance measurement algorithm to obtain a coordinate set of the unknown node, the accurate position of the node to be measured is found by using a mathematical method such as a centroid method or adaptive weighted average,
the coordinates of the known nodes are A (Xa, Ya), B (Xb, Yb), C (Xc, Yc), and the distances from the unknown node P (X, Y) to the known nodes are respectively: r1, r2, r3, then:
(X-Xa)^2+(Y-Ya)^2＝r1^2；
(X-Xb)^2+(Y-Yb)^2＝r2^2；
(X-Xc)^2+(Y-Yc)^2＝r3^2；
if the position information of the anchor node is accurate and the measured distance is accurate, the formula has a unique solution, namely the coordinate of the node to be measured, but an error exists in the actual measurement, the result is inaccurate, 3 circles are not intersected at one point but are intersected pairwise, at this time, 6 intersection points are obtained, the common method is to find the position of the node to be measured by using a centroid method or a weighted average method,
in practical applications, the distance measurement often has an error, so that three circles do not intersect at a point, and a common processing means is to perform simple averaging or weighted averaging by using the obtained coordinate set, that is:
Xp＝w1*Xp1＝w2*Xp2+w3*Xp3；
Yp＝w1*Yp1＝w2*Yp2+w3*Yp3；
wherein w1, w2 and w3 are the weighting coefficients, w1+ w2+ w3 is 1, w1 is w2 is w3 is 1/3 in the centroid method,
because the determination of the coefficient has strong subjectivity and tends to bring larger errors, in order to improve the positioning accuracy, an adaptive weighting factor can be applied, three known nodes A, B and C respectively need to measure the measurement distances between the known nodes A, B and C (the actual distances between the known nodes A, B and C are Dab, Dac and Dbc, the measurement distances are Dab ', Dac', Dba ', Dbc', Dca 'and Dcb'), compare the measurement distances with the actual distances to calculate the relative errors epsilon a, epsilon B and epsilon C, determine the magnitude of the weighted sparse sum of the errors with the magnitude of the relative errors,
εa＝|Dab-Dab'|/Dab+|Dac-Dac'|/Dac
εb＝|Dab-Dba'|/Dab+|Dbc-Dbc'|/Dbc
εc＝|Dac-Dca'|/Dac+|Dbc-Dcb'|/Dbc
epsilon a, epsilon B and epsilon C reflect the ranging precision of A, B and C, the weighting coefficients can be determined according to the ranging precision of A, B and C, the larger the ranging error is, the smaller the weighting coefficient is, therefore, the weighting coefficient can be represented by the reciprocal of the ranging error, and the normalization is performed
w1＝(1/εa)/(1/εa+1/εb+1/εc)
w2＝(1/εb)/(1/εa+1/εb+1/εc)
w3＝(1/εc)/(1/εa+1/εb+1/εc)
The weighting coefficient can be dynamically determined at each positioning by using the formula to determine the weighting coefficient W (W1, W2, W3), so that errors caused by subjective assignment or environment changes are greatly reduced, the position coordinates of unknown nodes can be determined at the moment,
[Xp，Yp]＝W*[Xp1，Yp1；Xp2，Yp2；Xp3，Yp3]”。
the working principle is as follows: when in use, a user firstly installs a matched high-quality ultra-wideband wireless transceiver chip inside the first protective cover frame 2 to assist the unmanned aerial vehicle body 1 to perform stable positioning operation in the flying process, and meanwhile, stable installation operation of the connecting frame 3 and the second protective cover frame 4 can be realized through the threaded hole 23 and the threaded rod 24, so that equipment can perform rapid later maintenance, and meanwhile, equipment such as an expanded radar and the like is installed inside the second protective cover frame 4 to perform rapid later debugging and upgrading operation, thereby greatly improving the overall positioning stability, in the daily use process, the whole unmanned aerial vehicle body 1 can be rapidly butted with the surface of the electric control platform 9 through the supporting bottom plate 7 at the bottom end of the supporting rod 6, rapidly contact-type connection is performed between the contact joint 8 and the contact power supply 14 inside the surface socket 13 of the electric control platform 9, and stable rapid charging operation is realized through the contact joints 8 at four corners, accomplish the holistic operation of charging to unmanned aerial vehicle body 1 fast, can realize the stable laminating fixed operation to the supporting baseplate 7 position simultaneously through antiskid cushion 15 and laminating strip 16, and then improve holistic stability, the first side bearer 11 and the second side bearer 12 at automatically controlled platform 9 both ends can carry out the quick slip operation through sliding block 17 and sliding tray 18 at automatically controlled platform 9 top, and then realize the protection operation to the position of charging, unmanned aerial vehicle body 1 wholly can fall in first protection cushion 21 and second protection cushion 22 position, daily can regard as the expansion platform to use simultaneously, above is all theory of operation of the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an unmanned aerial vehicle patrols and examines with indoor location structure which characterized in that includes:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein a first protective cover frame (2) is arranged on the upper surface of the unmanned aerial vehicle body (1), a connecting frame (3) is movably connected to the top of the first protective cover frame (2), a second protective cover frame (4) is fixedly connected to the top of the connecting frame (3), a sealing ring (5) is arranged at the bottom of the connecting frame (3), a supporting rod (6) is fixedly connected to the bottom of the unmanned aerial vehicle body (1), a supporting bottom plate (7) is fixedly connected to the bottom end of the supporting rod (6), and contact joints (8) are arranged at the bottoms of two ends of the supporting bottom plate (7);
automatically controlled platform (9), the bottom of automatically controlled platform (9) is provided with automatically controlled platform (9), one side of automatically controlled platform (9) is provided with control panel (10), the one end swing joint of automatically controlled platform (9) has first side bearer (11), the other end swing joint of automatically controlled platform (9) has second side bearer (12), socket (13) have been seted up on the surface of automatically controlled platform (9), the inside of socket (13) is provided with contact power supply (14).
2. The inspection unmanned aerial vehicle with indoor location structure of claim 1, characterized in that: the surface of the electric control platform (9) is provided with an anti-skidding rubber mat (15), and the bottom of the supporting bottom plate (7) is fixedly connected with a bonding strip (16).
3. The inspection unmanned aerial vehicle with indoor location structure of claim 1, characterized in that: the inner side wall of the first side frame (11) is fixedly connected with a sliding block (17), and sliding grooves (18) are formed in two sides of the electric control platform (9).
4. The inspection unmanned aerial vehicle with indoor location structure of claim 1, characterized in that: one end of the first side frame (11) is fixedly connected with a first attaching pad (19), and one end of the second side frame (12) is fixedly connected with a second attaching pad (20).
5. The inspection unmanned aerial vehicle with indoor location structure of claim 1, characterized in that: the surface of the first side frame (11) is provided with a first protective soft cushion (21), and the surface of the second side frame (12) is provided with a second protective soft cushion (22).
6. The inspection unmanned aerial vehicle with indoor location structure of claim 1, characterized in that: threaded holes (23) are formed in the surface of the first protective cover frame (2), and a screw rod (24) is fixedly connected to the bottom of the connecting frame (3).
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