CN205971851U - Unmanned aerial vehicle and gaseous remote supervising system with self -align function - Google Patents
Unmanned aerial vehicle and gaseous remote supervising system with self -align function Download PDFInfo
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- CN205971851U CN205971851U CN201620858172.7U CN201620858172U CN205971851U CN 205971851 U CN205971851 U CN 205971851U CN 201620858172 U CN201620858172 U CN 201620858172U CN 205971851 U CN205971851 U CN 205971851U
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Abstract
The utility model provides an unmanned aerial vehicle and gaseous remote supervising system with self -align function, unmanned aerial vehicle includes: unmanned aerial vehicle, unmanned aerial vehicle has the function of hovering, emission module for the transmission electromagnetic wave emission module sets up unmanned aerial vehicle is last, four at least receiving module are used for receiving the electromagnetic wave four at least receiving module set up on ground, found into 4 at least triangle -shaped, the calculator, the calculator basis electromagnetic transmission and learn the distance between emission module and the arbitrary receiving module, orientation module, the orientation module basis the distance and learn unmanned aerial vehicle's spatial position. The utility model has the advantages of positioning accuracy is high, need not the GPS location.
Description
Technical field
This utility model is related to photoanalysiss, particularly to the unmanned plane with self-locating function and gas remote measurement system.
Background technology
At present, on market, unmanned plane positioning relies primarily on GPS, vision localization.The principle of vision localization is：By unmanned plane
On airborne photographic head real-time capture to the image on ground and surrounding, realize the positioning of unmanned plane by visual identity.
In order to measure resident family's interior concentration of natural gas, unmanned plane needs carrying remote methane moni tor to fly between buildings,
Following problem is had using GPS location：1) gps signal is blocked by building and is affected with weather, in lowrise layer height and the moon
Rainy day gas is often searched for less than gps signal it is impossible to position；2) GPS positioning precision itself is limited, and error is 2 meters of scopes；3) cell
Interior various building wall Reflected GPS signals, further result in GPS error and increase.
There is following shortcoming in Conventional visual positioning：1) unmanned plane need by identify ground on feature object and
Feature object on building wall faced by unmanned plane come to realize position, using inconvenience；2) ambient change, feature object is sent out
Give birth to the unmanned plane visual identity positioning that is all likely to result in such as mobile to lose efficacy；3) unmanned plane is continuous in high aerial wind speed and direction in order to ensure
Stable position in the case of change, needs the attitude angle of real-time regulation itself.The photographic head being arranged on unmanned plane is inevitable
Meeting rotate with the attitudes vibration of unmanned plane itself, affect positioning precision；4) cannot position in the case of dark.
Utility model content
For solving the deficiency in above-mentioned prior art, this utility model provides one kind without GPS, positioning precision
High, good reliability have the unmanned plane for function automatically.
The purpose of this utility model is achieved through the following technical solutions：
A kind of unmanned plane with self-locating function, described unmanned plane includes：
Unmanned aerial vehicle, described unmanned aerial vehicle has hovering function；
Transmitter module, the described transmitter module for launching electromagnetic wave is arranged on described unmanned aerial vehicle；
At least four receiver modules, described at least four receiver modules for receiving described electromagnetic wave are arranged on ground,
It is built at least 4 trianglees；
Computer, described computer is known between transmitter module and arbitrary receiver module according to the transmission of described electromagnetic wave
Distance；
Locating module, described locating module knows the locus of described unmanned aerial vehicle according to described distance.
According to above-mentioned unmanned plane, alternatively, described receiver module is four, is in identical height, and locating module exports
The two-dimensional spatial location of described unmanned aerial vehicle；Or,
Described receiver module is five or more, is in differing heights, and locating module exports the three-dimensional of described unmanned aerial vehicle
Locus.
According to above-mentioned unmanned plane, alternatively, when receiver module is four, receiver module is arranged at the outer of building
The foot of a wall；
When receiver module is five or more, at least four are in outer the foot of a wall of building, and at least one is in building
Thing top.
According to above-mentioned unmanned plane it is preferable that the antenna of transmitter module and receiver module is all horizontally disposed with.
According to above-mentioned unmanned plane it is preferable that the antenna of described transmitter module stretches out the housing of unmanned aerial vehicle.
The purpose of this utility model also resides in and provides a kind of gas remote measurement system, and this utility model purpose is by following skill
Art scheme is achieved：
A kind of gas remote measurement system, described gas remote measurement system includes gas remote measurement device；It is characterized in that：Described gas
Telemetry system further includes：
Unmanned plane, using above-mentioned unmanned plane；Described gas remote measurement device is fixed on described unmanned plane.
According to above-mentioned gas remote measurement system, alternatively, described gas remote measurement device includes：
Light source, described light source is arranged on described unmanned aerial vehicle, wavelength and the gas to be measured of the measurement light of described light source output
The characteristic spectral line of body corresponds to；
Detector, described detector is arranged on described unmanned aerial vehicle, and described detector is used for will be through after under test gas
The measurement light being reflected is converted to the signal of telecommunication, and is sent to analysis module；
Analysis module, described analysis module utilizes spectral technique to process the described signal of telecommunication, thus obtaining the dense of under test gas
Degree.
According to above-mentioned gas remote measurement system it is preferable that described light source is semiconductor laser with tunable.
Compared with prior art, this utility model have the advantage that for：
The unlatching of transmitter module and receiver module, closing and signal intensity are all controlled by user, do not exist to gps signal matter
The high dependency of amount；Positioned using the electromagnetic wave that itself sends, be not subject to extraneous illumination variation, surrounding objects unexpected completely
The impact of movement, reliability is high, self-align high precision, and precision is up to 2cm；Affected by UAV Attitude little, and do not needed multiple
Miscellaneous nonterminal character object is demarcated, easy to use；
Antenna stretches out the housing of unmanned aerial vehicle, efficiently reduces the interference to electromagnetic wave signal for the unmanned aerial vehicle.
Brief description
Referring to the drawings, disclosure of the present utility model will be easier to understand.Skilled addressee readily understands that
It is：These accompanying drawings are used only for illustrating the technical solution of the utility model, and are not intended to protection of the present utility model
Scope is construed as limiting.In figure：
Fig. 1 is the structure diagram of the unmanned plane according to this utility model embodiment 1.
Specific embodiment
Fig. 1 and following description describe optional embodiment of the present utility model to instruct those skilled in the art how real
Apply and reproduce this utility model.In order to instruct technical solutions of the utility model, some conventional aspects are simplified or have eliminated.Ability
Field technique personnel should be appreciated that will be in the range of this utility model from the modification of these embodiments or replacement.This area skill
Art personnel should be appreciated that following characteristics can combine in every way to form multiple modification of the present utility model.Thus, this reality
It is not limited to following optional embodiments with new, and only limited by claim and their equivalent.
Embodiment 1：
Fig. 1 schematically illustrates the structure diagram of the unmanned plane with self-locating function of the present embodiment, as Fig. 1 institute
Show, described unmanned plane includes：
The unmanned aerial vehicle 21 that can hover, such as gyroplane；
Transmitter module, the described transmitter module for launching electromagnetic wave is arranged on described unmanned aerial vehicle；
At least four receiver module 11-14, described at least four receiver modules for receiving described electromagnetic wave are respectively provided with
On ground, highly identical, it is built at least 4 trianglees；
Computer, can be realized using circuit or software, described computer knows transmitting according to the transmission of described electromagnetic wave
The distance between module and arbitrary receiver module；Described computer is the prior art in electromagnetic distance measuring instrument, and here is no longer superfluous
State；
Locating module, described locating module knows the two dimension of described unmanned aerial vehicle using triangulation, described distance
Locus.Described locating module is the prior art in geodesic survey, will not be described here.
Embodiment 2：
The structure diagram of the unmanned plane with self-locating function of the present embodiment, described unmanned plane includes：
The unmanned aerial vehicle that can hover, such as gyroplane；
Transmitter module, the described transmitter module for launching electromagnetic wave is arranged on described unmanned aerial vehicle；
At least five receiver modules, at least four receiver modules for receiving described electromagnetic wave are arranged at ground, structure
Build up at least 4 trianglees；At least one receiver module is different from the height of the receiver module being arranged on ground, is such as arranged on and builds
Build thing top；
Computer, described computer is known between transmitter module and arbitrary receiver module according to the transmission of described electromagnetic wave
Distance；
Locating module, described locating module knows the three-dimensional of described unmanned aerial vehicle using triangulation, described distance
Locus.Described locating module is prior art, will not be described here.
Embodiment 3：
The unmanned plane of the self-locating function application examples in gas remote measurement system had according to this utility model embodiment.
In this application examples, unmanned aerial vehicle adopts many rotor wing unmanned aerial vehicles, has function of can hovering, electromagnetic radiation module sets
Put on unmanned aerial vehicle, antenna stretches out the housing of unmanned aerial vehicle；It is high that four receiver modules are fixed on before and after two by spider
At outer the foot of a wall of layer building, the antenna of four receiver modules is horizontally disposed with, highly identical, the company between the position of four receiver modules
Linear rectangularity, constructs 4 trianglees；Unmanned aerial vehicle projection on the ground is in described rectangle；Computer root
Draw the distance between unmanned aerial vehicle and receiver module according to electromagnetic distance measurement technology；Methane telemetering equipment is arranged on described unmanned aerial vehicle
On, including：Semiconductor laser with tunable, for launching the measurement light corresponding to methane signature spectral line；Detector, described detection
Device is used for receiving the measurement light that reflected through after region to be measured, and is converted to the signal of telecommunication and send analysis module；Analysis module according to
Absorption spectroscopy techniques process the described signal of telecommunication, thus knowing the content of methane in region to be measured.
Reached according to the gas remote measurement system of the present embodiment and have an advantage that：Between skyscraper, gps signal is very poor,
The two-dimensional spatial location of unmanned aerial vehicle can effectively be provided using the system, and high precision, low cost, not receive weather, light strong
Weak impact.
Embodiment 4：
The unmanned plane of the self-locating function application examples in gas remote measurement system had according to this utility model embodiment.
In this application examples, unmanned aerial vehicle adopts many rotor wing unmanned aerial vehicles, has function of can hovering, electromagnetic radiation module sets
Put on unmanned aerial vehicle, antenna stretches out the housing of unmanned aerial vehicle；It is high that four receiver modules are fixed on before and after two by spider
At outer the foot of a wall of layer building, the antenna of four receiver modules is horizontally disposed with, highly identical, the company between the position of four receiver modules
Linear rectangularity, constructs 4 trianglees；One receiving module is arranged in the middle part of skyscraper or top；Unmanned aerial vehicle exists
Projection on ground is in described rectangle；Computer draws between unmanned aerial vehicle and receiver module according to electromagnetic distance measurement technology
Distance；Methane telemetering equipment is arranged on described unmanned aerial vehicle, including：Semiconductor laser with tunable, for launching correspondence
Measurement light in methane signature spectral line；Detector, described detector is used for receiving the measurement light being reflected through after region to be measured,
And be converted to the signal of telecommunication and give analysis module；Analysis module processes the described signal of telecommunication according to absorption spectroscopy techniques, thus knowing to be measured
The content of methane in region.
Reached according to the gas remote measurement system of the present embodiment and have an advantage that：Between skyscraper, gps signal is very poor,
The three-dimensional space position of unmanned aerial vehicle can effectively be provided using the system, and high precision, low cost, not receive weather, light strong
Weak impact.
Claims (9)
1. a kind of unmanned plane with self-locating function it is characterised in that：Described unmanned plane includes：
Unmanned aerial vehicle, described unmanned aerial vehicle has hovering function；
Transmitter module, the described transmitter module for launching electromagnetic wave is arranged on described unmanned aerial vehicle；
At least four receiver modules, described at least four receiver modules for receiving described electromagnetic wave are arranged on ground, build
Become at least 4 trianglees；
Computer, described computer known according to the transmission of described electromagnetic wave between transmitter module and arbitrary receiver module away from
From；
Locating module, described locating module knows the locus of described unmanned aerial vehicle according to described distance.
2. unmanned plane according to claim 1 it is characterised in that：Described unmanned aerial vehicle is gyroplane.
3. unmanned plane according to claim 1 it is characterised in that：Described receiver module is four, is in identical height, fixed
Position module exports the two-dimensional spatial location of described unmanned aerial vehicle；Or,
Described receiver module is five or more, is in differing heights, and locating module exports the three dimensions of described unmanned aerial vehicle
Position.
4. unmanned plane according to claim 1 it is characterised in that：When receiver module is four, receiver module is respectively provided with
Outer the foot of a wall in building；
When receiver module is five or more, at least four are in outer the foot of a wall of building, and at least one is in building top.
5. unmanned plane according to claim 1 it is characterised in that：The equal level of antenna of transmitter module and receiver module sets
Put.
6. the unmanned plane according to claim 1 or 4 it is characterised in that：The antenna of described transmitter module stretches out unmanned aerial vehicle
Housing.
7. a kind of gas remote measurement system, described gas remote measurement system includes gas remote measurement device；It is characterized in that：Described gas is distant
Examining system further includes：
Unmanned plane, using the arbitrary described unmanned plane of claim 1-6；Described gas remote measurement device is fixed on described unmanned plane
On.
8. gas remote measurement system according to claim 7 it is characterised in that：Described gas remote measurement device includes：
Light source, described light source is arranged on described unmanned aerial vehicle, the wavelength of measurement light and the under test gas of described light source output
Characteristic spectral line corresponds to；
Detector, described detector is arranged on described unmanned aerial vehicle, and described detector is used for will be anti-through after under test gas
The measurement light penetrated is converted to the signal of telecommunication, and is sent to analysis module；
Analysis module, described analysis module utilizes spectral technique to process the described signal of telecommunication, thus obtaining the concentration of under test gas.
9. gas remote measurement system according to claim 8 it is characterised in that：Described light source is tunable semiconductor laser
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620858172.7U CN205971851U (en) | 2016-08-09 | 2016-08-09 | Unmanned aerial vehicle and gaseous remote supervising system with self -align function |
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| CN201620858172.7U CN205971851U (en) | 2016-08-09 | 2016-08-09 | Unmanned aerial vehicle and gaseous remote supervising system with self -align function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950976A (en) * | 2017-02-28 | 2017-07-14 | 北京天恒长鹰科技股份有限公司 | Indoor airship 3 D locating device and method based on Kalman and particle filter |
| CN113238288A (en) * | 2021-05-20 | 2021-08-10 | 桂林电子科技大学 | Rotor wing target feature extraction method based on difference spectral line |
-
2016
- 2016-08-09 CN CN201620858172.7U patent/CN205971851U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950976A (en) * | 2017-02-28 | 2017-07-14 | 北京天恒长鹰科技股份有限公司 | Indoor airship 3 D locating device and method based on Kalman and particle filter |
| CN113238288A (en) * | 2021-05-20 | 2021-08-10 | 桂林电子科技大学 | Rotor wing target feature extraction method based on difference spectral line |
| CN113238288B (en) * | 2021-05-20 | 2022-07-01 | 桂林电子科技大学 | Rotor wing target feature extraction method based on difference spectral line |
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