CN208000379U - A kind of road enforcement system based on unmanned plane and robot technology - Google Patents
A kind of road enforcement system based on unmanned plane and robot technology Download PDFInfo
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- CN208000379U CN208000379U CN201721890065.3U CN201721890065U CN208000379U CN 208000379 U CN208000379 U CN 208000379U CN 201721890065 U CN201721890065 U CN 201721890065U CN 208000379 U CN208000379 U CN 208000379U
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Abstract
The utility model discloses a kind of road enforcement system based on unmanned plane and robot technology, including robot platform, Drones for surveillance and monitoring center.User can be in monitoring center by wireless network remote control robot platform, and the location information of robot platform and Drones for surveillance is by real-time display on the map of monitoring center.When needing to obtain aerial visual angle, Drones for surveillance's automatic takeoff, when reaching designated position, Drones for surveillance opens automatic hovering function and shoots.Original flying quality, sensor information, image data are sent to robot platform by Drones for surveillance, and robot platform is packaged after getting well Data Integration and passes monitoring center back by wireless network together.Traditional fixed point monitor mode is become mobile monitor mode by the utility model, and monitoring range obviously expands, and uses more flexible and convenient, reduces human cost;In combination with unmanned air vehicle technique, the ground visual field is extended to makes the visual field of backstage personnel openr in the air.
Description
Technical field
The utility model belongs to road enforcement system field, and in particular to a kind of road based on unmanned plane and robot technology
Road enforcement system.
Background technology
What traditional road enforcement system relied on mostly is the mode of fixed probe monitors, but with the development of the times,
This traditional road law enforcement mode gradually shows following disadvantage:
1. dumb, the position of tradition probe is fixed, can only monitor fixed area;
2. it is of high cost, need the facilities such as laying-out, setting support;
3. the visual field is small, ground field of excursion can only be observed, without aerial visual angle.
It is badly in need of that a kind of action is convenient, flexible, and the visual field openr mobile road monitoring mode replaces on present society
Traditional road monitoring mode, to meet the needs of present road enforcement system.
Utility model content
To overcome existing deficiency in the prior art, the utility model to provide a kind of based on unmanned plane and robot technology
Road enforcement system, the gallery people in the system can monitor road ground situation in real time, and the unmanned plane in system can be from
Ground and aerial image information are packaged and are extremely monitored by 4G transmission of network by aerial monitoring road conditions, last robot platform
Center.
In order to solve the above technical problems, realizing above-mentioned technique effect, the utility model is achieved through the following technical solutions:
A kind of road enforcement system based on unmanned plane and robot technology, robot platform, Drones for surveillance and monitoring
Center;
The robot platform is by master control system, platform dynamical system, platform navigation system, platform communication system, power supply
Management system, solar recharging system, acousto-optic system, wireless charging transmitter and unmanned plane landing platform composition;
The master control system respectively with the platform dynamical system, the platform navigation system, the platform communication system,
The acousto-optic system, power-supply management system, solar recharging system are connected with wireless charging transmitter, are calculated for data, number
According to forwarding, image procossing and send instruction;
The platform dynamical system is used to provide mobile vehicle and power for the robot platform, and adjusts the machine
Device people's platform movement speed;
The platform navigation system is for positioning the robot platform, the fortune current for detecting the robot platform
Dynamic posture, and for scanning the current environment residing for the robot platform, and build three-dimensional land map;
The platform communication system is used between the robot platform and the monitoring center and the Drones for surveillance
Communication, for robot platform and the Drones for surveillance described in remote manual control, and be used for the robot platform and institute
State the image transmitting between monitoring center and the Drones for surveillance;
The acousto-optic system shows the profile of the unmanned plane landing platform for night auxiliary, for acquiring the machine
The live sound information of people's platform, and for playing prompting sound and carrying out intercommunication with the monitoring center;
The power-supply management system includes BMS units and lithium battery group, pipe of the BMS units as the lithium battery group
Protector is managed, for by after the lithium battery group voltage stabilization to suitable voltage, being set to all electricity consumptions in the robot platform
Available electricity, and the BMS units have the function of overvoltage protection, overcurrent protection, short-circuit protection etc. to the lithium battery group;Work as institute
When stating the voltage of lithium battery group less than preset safe voltage, the robot platform meeting autonomous operation is filled to charging station
Electricity;
The unmanned plane landing stage+module is at the top of the robot platform, including unmanned plane parking area and the sun
It can panel area;Wherein, the unmanned plane parking area is located at the centre of the auxiliary landing indicator light, described for parking
Drones for surveillance;
The wireless charging transmitter is mounted on the lower section of the unmanned plane landing platform, for the Drones for surveillance
Carry out wireless charging;
The solar recharging system includes solar panel and electric pressure converter, wherein the solar panel peace
Mounted in the solar panel region of the unmanned plane landing platform, for converting solar energy into electric energy;The voltage conversion
Device is used to the voltage that the solar panel exports being converted into suitable voltage to be conveyed to the lithium battery group and charge;
System for flight control computer of the Drones for surveillance by unmanned aerial vehicle rack and in the unmanned aerial vehicle rack,
Unmanned plane dynamical system, unmanned plane positioning system, UAV Communication system, monitoring unmanned system, wireless charging receiver and
Airborne lithium battery group at;
The system for flight control computer respectively with the unmanned plane dynamical system, the unmanned plane positioning system, the nothing
Man-machine communication system, the monitoring unmanned system, the wireless charging receiver are connected with the airborne lithium battery, for connecing
The flying quality of the Drones for surveillance is received and calculated, and sends out flight control instruction, to control flying for the Drones for surveillance
Row posture;
The unmanned plane positioning system is used for the positioning of the Drones for surveillance, and the essence for the Drones for surveillance
Quasi- landing;
The unmanned plane dynamical system is used to provide flying power for the Drones for surveillance;
The UAV Communication system is for the communication between the Drones for surveillance and the robot platform, Yi Jiyong
Image transmitting between the Drones for surveillance and the robot platform;
The monitoring unmanned system is used for from aerial photographing present road situation;
The wireless charging receiver is used to receive the electricity of the wireless charging transmitter transmitting on the robot platform
Magnetic signal, and to the airborne lithium battery charging;
The airborne lithium battery is used to give the Drones for surveillance upper all power supply for electrical equipment.
Further, the master control system is industrial computer, is configured with intel i5 processors, and 120G solid-states are hard
Disk, 4G DDR4 memories, and carry CAN interface, serial ports, RJ45 network interfaces and WIFI module.
Further, the platform dynamical system includes servo motor, motor driver and wheel mechanism, the servo electricity
One end of machine is connect by the motor driver with the master control system, the other end of the servo motor and the wheel machine
Structure connects;Wherein, the wheel mechanism is for four wheel mechanism or at pedrail mechanism, the mobile vehicle as the robot platform;
The servo motor is used to provide power for the wheel mechanism, is internally integrated deceleration mechanism, has the function of electromagnetic brake;Institute
Stating motor driver has network communication mouth, CAN interface and 232 serial ports, and there is Voltage Feedback, current feedback, overload to protect
The functions such as shield, as the controller of the servo motor, the rotating speed for adjusting the servo motor, and to the servo motor
It is protected.
Further, the platform navigation system includes satellite navigation module, inertial navigation module and laser navigation module,
The satellite navigation module, the inertial navigation module and the laser navigation module are connect with the master control system respectively;Its
In, the satellite navigation module includes Beidou navigation satellite system receiver, GPS navigation receiver, Galileo navigation receiver and GLONASS
Navigation neceiver, to support Chinese dipper system, GPS System in USA, European galileo system and Russian GLONASS system respectively
System is used for the positioning of the robot platform;The inertial navigation module includes six-axle acceleration sensor and platform clectronic sieve
Disk, the current kinetic posture for detecting the robot platform;The laser navigation module includes 3D laser radar sensors,
For scanning the current environment residing for the robot platform, three-dimensional land map is built.
Further, the platform communication system includes that platform data transmission module, hand-held remote controller and platform image pass
Defeated module, the platform data transmission module, the hand-held remote controller and the platform image transmission module respectively with the master
Control system connects;Wherein, the platform data transmission module includes 4G DTU modules and wireless terminal accessing device(CPE), institute
It states 4G of the 4G DTU modules between the robot platform and the monitoring center and the Drones for surveillance to communicate, support
The whole network is logical, while compatible GPRS/3G wireless telecommunications;The wireless terminal accessing device for the robot platform with it is described
WIFI communications between monitoring center and the Drones for surveillance, the WIFI nets near wireless terminal accessing device access
After network, the robot platform can be communicated with the monitoring center and other equipment being connected in WIFI network;Institute
It is wireless image transmission equipment to state platform image transmission module, is used for the point-to-point image of the robot platform and the monitoring center
Transmission;The hand-held remote controller is for manually controlling the robot platform and the Drones for surveillance.
Further, the acousto-optic system includes headlamp, steering indicating light, taillight, brake lamp, audible-visual alarm lamp, auxiliary drop
Fall indicator light, sound pick-up and loud speaker;Wherein, the auxiliary landing indicator light is mounted on the week of the unmanned plane landing platform
It encloses, the profile of the unmanned plane landing platform is shown for night auxiliary;The sound pick-up is for acquiring the robot platform
Live sound information;The loud speaker is for playing prompting sound and carrying out intercommunication with the monitoring center.
Further, the unmanned plane parking area is one block of square plastic plate.
Further, the wireless charging transmitter includes transmitting coil and transmitting drive module, wherein the emission lines
Circle is in the certain distance above and below the lower section of the unmanned plane landing platform, the transmitting coil without metal
It blocks.
Further, the solar panel can auto-folder, 4 pieces altogether, be separately mounted to the unmanned plane landing
The unmanned plane parking area surrounding of platform;When the unmanned plane that the Drones for surveillance drops to the unmanned plane landing platform is parked
When region, 4 pieces of solar panels are in respectively 45 ° ~ 90 ° angles with the unmanned plane parking area, form an encirclement area
The Drones for surveillance is wrapped in unmanned plane parking area by domain;When the Drones for surveillance prepare drop to it is described nobody
When the unmanned plane parking area of machine landing platform, 4 pieces of solar panels are opened completely respectively, give the Drones for surveillance
Reserve sufficiently large drop zone.
Further, the unmanned aerial vehicle rack is 6 axis rotor structures, and fuselage is carbon fibre material.
Further, the system for flight control computer includes flying control MCU, gyroscope, barometer and unmanned plane electronic compass;
Wherein, the winged control MCU is embedded chip, is calculated for flying quality and flight control instruction issues;The gyroscope is used
In the attitude angle and 3-axis acceleration data that export the Drones for surveillance;The barometer is for detecting the Drones for surveillance
The atmospheric pressure value of surrounding;The unmanned plane electronic compass is used to detect the current kinetic direction of the Drones for surveillance.
Further, the unmanned plane positioning system includes Airborne GPS navigation neceiver and airborne vision camera;Its
In, the Airborne GPS navigation neceiver is used for the positioning of the Drones for surveillance;The airborne vision camera is for capturing institute
The characteristic point on robot platform is stated, precision approach is used for.
Further, the unmanned plane dynamical system includes brushless motor, electron speed regulator and propeller;Wherein, described
Propeller is foldable, is mounted on the brushless motor, the brushless motor passes through the electron speed regulator and the unmanned plane
Flight control system connects.
Further, the UAV Communication system includes on-board data transmission module and onboard image transmission module;Its
In, the on-board data transmission module can transmit and refer to for the communication between the Drones for surveillance and the robot platform
It enables, the small amount of data such as sensor parameters;The onboard image transmission module is flat with the robot for the Drones for surveillance
Image transmitting between platform.
Further, the monitoring unmanned system includes from steady holder and high-definition camera, wherein described from steady holder
It is three axis from steady holder, the high-definition camera is GoPro high-definition digital video cameras.
Further, the wireless charging receiver includes receiving coil and voltage rectifier, wherein the receiving coil
Mounted on the bottom of the unmanned aerial vehicle rack, the electricity for receiving the wireless charging transmitter transmitting on the robot platform
Magnetic signal;The voltage rectifier is used to the ac voltage signal that the receiving coil receives being integrated into suitable DC voltage
Signal is conveyed to the airborne lithium battery charging.
After Drones for surveillance receives the instruction of taking off of monitoring center:
First, system carries out self-test, checks whether the critical components such as power supply, navigation, motor, sensor are working properly.It connects
It, robot platform observes ambient enviroment by high-definition camera and flies if appropriate for Drones for surveillance, if parameters all accord with
Takeoff condition is closed, then robot platform stops movement, and the suitable region of taking off of selection nearby, robot platform and Drones for surveillance are same
Position coordinates are walked, and changing coordinates are set as starting point, user controls robot platform, machine in monitoring center by 4G network remotes
Device people platform and Drones for surveillance obtain location information by position location satellite, and by current location information monitoring center map
Middle real-time display.Then Drones for surveillance unlocks, and brushless motor drives propeller to start idling rotation, while solar panel
It opens completely, Drones for surveillance takes off.
When Drones for surveillance is hovered in the air:
Flight control system control Drones for surveillance opens hovering pattern after flying to designated space position, and flight control system reads top
The posture information of spiral shell instrument corrects current pose by calculating, ensures Drones for surveillance's steadily hovering.Drones for surveillance passes through airborne
Original flying quality and sensor information are sent to robot platform by data transmission module.Then monitoring center can be controlled remotely
System is rotated from steady holder, obtains suitable visual angle, and high-definition camera starts to shoot road conditions, and image data is passed through airborne
Image transmission module sends robot platform to, and original video is compressed and encrypted by the master control system in robot platform,
Monitoring center is returned by 4G transmission of network.
After Drones for surveillance receives the landing instruction of monitoring center:
First, Drones for surveillance flies to control plans path of making a return voyage automatically, when Drones for surveillance flies to robot platform overhead
When, robot platform opens auxiliary landing indicator light, and the airborne vision camera of Drones for surveillance begins look for characteristic point, works as spy
Drones for surveillance starts slowly to land in the unmanned plane parking area of unmanned plane landing platform, after the completion of landing after sign point matching
Solar panel is packed up, and wireless charging transmitter is started to work to charge to Drones for surveillance.
Compared with prior art, the utility model has the beneficial effects that:
Traditional fixed point monitor mode is become mobile monitor mode, robot by the road enforcement system of the utility model
Platform can be moved and be cruised along road automatically, and monitoring range is no longer limited to some fixed region, uses
More flexible and convenient, human cost also greatly reduces.Meanwhile the road enforcement system of the utility model combines unmanned plane skill
Art, the unmanned plane let fly away can extend to the ground visual field in the air, and real-time pictures are sent to backstage, make regarding for backstage personnel
It is wild openr.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.Specific embodiment of the present utility model is shown in detail by following embodiment and its attached drawing.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings:
Fig. 1 is the system architecture diagram of the road enforcement system of the utility model.
Fig. 2 is the structure diagram of robot platform in the utility model road enforcement system;
Fig. 3 is the structure diagram of Drones for surveillance in the utility model road enforcement system.
Specific implementation mode
Below with reference to the accompanying drawings and in conjunction with the embodiments, the utility model is described in detail.Illustration is used for providing herein
The utility model is further understood, is constituted part of this application, the exemplary embodiment of the utility model and the description thereof
For explaining the utility model, do not constitute improper limits to the present invention.
It is shown in Figure 1, a kind of road enforcement system based on unmanned plane and robot technology, including robot platform 1,
3 three parts of Drones for surveillance 2 and monitoring center.
Shown in Figure 2, the robot platform 1 is by master control system 11, platform dynamical system 12, platform navigation system
13, platform communication system 14, power-supply management system 15, solar recharging system 16, acousto-optic system 17, wireless charging transmitter 18
It is formed with unmanned plane landing platform 19.
The master control system 11 is industrial computer, is configured to intel i5 processors, 120G solid state disks, 4G
DDR4 memories, with CAN interface, serial ports, RJ45 network interfaces, WIFI module.The master control system 11 respectively with the platform power
System 12, the platform navigation system 13, the platform communication system 14, the acousto-optic system 17, power-supply management system 15, too
Positive energy charging system 16 and wireless charging transmitter 18 connect, and refer to for data calculating, data forwarding, image procossing and transmission
It enables.
The platform dynamical system 12 includes servo motor 122, motor driver 121 and wheel mechanism 123, the servo
One end of motor 122 is connect by the motor driver 121 with the master control system 11, the servo motor 122 it is another
End is connect with the wheel mechanism 123.Wherein,
The wheel mechanism 123 is for four wheel mechanism or at pedrail mechanism, the mobile vehicle as the robot platform 1;
The power of the servo motor 122 is more than 500W, for providing power for the wheel mechanism 123, inside also integrated slow down
Mechanism has the function of electromagnetic brake;The motor driver 121 has network communication mouth, CAN interface and 232 serial ports,
Driving power is more than 500W, has the function of Voltage Feedback, current feedback, overload protection etc., the control as the servo motor 122
Device processed, the rotating speed for adjusting the servo motor 122, and the servo motor 122 is protected.The motor driver
121 are connect by CAN interface with the master control system 11, and the master control system 11 is controlled using the motor driver 121
The servo motor 122 is made, the operating parameter of the servo motor 122 can also be passed through CAN bus by the motor driver 121
Interface feeds back to the master control system 11.
The platform navigation system 13 includes satellite navigation module 131, inertial navigation module 132 and laser navigation module
133, the satellite navigation module 131, the inertial navigation module 132 and the laser navigation module 133 respectively with the master
Control system 11 connects.Wherein,
The satellite navigation module 131 includes Beidou navigation satellite system receiver, GPS navigation receiver, Galileo navigation receiver
With GLONASS navigation neceivers, to support Chinese dipper system, GPS System in USA, European galileo system and Russia respectively
GLONASS systems are used for the positioning of the robot platform 1;131 antenna of the satellite navigation module is mounted on the robot
The top of platform 1, antenna are connected by screened feeder with these navigation receivers, these navigation receivers are respectively by location data
It is sent to the master control system 11 by serial ports.The inertial navigation module 132 includes six-axle acceleration sensor and platform electricity
Sub- compass, the current kinetic posture for detecting the robot platform 1;The laser navigation module 133 includes 3D laser thunders
Up to sensor, scanning distance is more than 30 meters, and for scanning the current environment residing for the robot platform 1, structure is dimensionally
Shape figure.The mode that laser navigation can be used in the case of no satellite-signal realizes that laser navigation need to obtain the 3D and swash
The data of optical radar sensor, the six-axle acceleration sensor, the electronic compass, these data summarizations to the master control system
In system 11, laser navigation function is realized by algorithm.
The platform communication system 14 includes platform data transmission module 141, hand-held remote controller 143 and platform image transmitting
Module 142, the platform data transmission module 141, the hand-held remote controller 143 and the platform image transmission module 142 are divided
It is not connect with the master control system 11.Wherein,
The platform data transmission module 141 is connect by serial ports with the master control system 11, and control instruction and biography are transmitted
The small amount of data such as sensor parameter.The platform data transmission module 141 includes 4G DTU modules and wireless terminal accessing device
CPE, the 4G DTU modules are for the 4G between the robot platform 1 and the monitoring center 3 and the Drones for surveillance 2
Communication supports that the whole network is logical, while compatible GPRS/3G wireless telecommunications;The wireless terminal accessing device is flat for the robot
WIFI between platform 1 and the monitoring center 3 and the Drones for surveillance 2 is communicated, and is accessed in the wireless terminal accessing device
After neighbouring WIFI network, the robot platform 1 can with the monitoring center 3 being connected in WIFI network and other set
It is standby to be communicated.The platform image transmission module 142 is connect by AV interfaces with the master control system 11.The platform image
Transmission module 142 is wireless image transmission equipment, is used for the point-to-point image transmitting of the robot platform 1 and the monitoring center 3,
Its communication frequency is 5.8GHz, video bandwidth 8M.The hand-held remote controller 143 is for manually controlling the robot platform 1
With the Drones for surveillance 2, communication frequency 433MHz.
The acousto-optic system 17 includes headlamp 171, steering indicating light 172, taillight 173, brake lamp 174, audible-visual alarm lamp
175, auxiliary landing indicator light 176, sound pick-up 177 and loud speaker 178.Wherein,
The headlamp 171 can be manually opened by the monitoring center 3, can also be examined by included light sensor
It is automatically turned on after surveying intensity of illumination;The auxiliary landing indicator light 176 is mounted on around the unmanned plane landing platform 19, is used
The profile of the unmanned plane landing platform 19 is shown in night auxiliary;The sound pick-up 177 is for acquiring the robot platform 1
Live sound information;The loud speaker 178 is for playing prompting sound and carrying out intercommunication with the monitoring center 3;Work as appearance
When emergency, the monitoring center 3 can control the alarm of the audible-visual alarm lamp 175, achieve the effect that warning or prompting.
The power-supply management system 15 includes BMS units 151 and lithium battery group 152, described in the BMS units 151 are used as
The administrative protection device of lithium battery group 152, for by after 152 voltage stabilization to suitable voltage of the lithium battery group, giving the machine
All power supply for electrical equipment in people's platform 1, and the BMS units 151 have overvoltage protection, mistake to the lithium battery group 152
Flow the functions such as protection, short-circuit protection.When the voltage of the lithium battery group 152 is less than preset safe voltage, the robot
The meeting autonomous operation of platform 1 charges to charging station.
The unmanned plane landing platform 19 be mounted on the robot platform 1 top, including unmanned plane parking area and
Solar panel region.Wherein, the unmanned plane parking area is the square plastic plate of one piece of 80cm*80cm, is located at institute
The centre for stating auxiliary landing indicator light 176, for parking the Drones for surveillance 2.
The wireless charging transmitter 18 includes transmitting coil and transmitting drive module, wherein the transmitting coil is mounted on
The lower section of the unmanned plane landing platform 19 is blocked at 10cm without metal above and below the transmitting coil.The hair
The input voltage for penetrating drive module is 12V, maximum power 100W.
The solar recharging system 16 includes solar panel and electric pressure converter, wherein the solar panel
Mounted on the solar panel region of the unmanned plane landing platform 19, for converting solar energy into electric energy.The voltage
Converter, which is used to the voltage that the solar panel exports being converted into suitable voltage to be conveyed to the lithium battery group 152, to be filled
Electricity.
The solar panel can auto-folder, size 40cm*80cm 4 pieces altogether, is separately mounted to the nothing
The unmanned plane parking area surrounding of man-machine landing platform 19;When the Drones for surveillance 2 drops to the unmanned plane landing platform
When 19 unmanned plane parking area, 4 pieces of solar panels are in respectively 45 ° ~ 90 ° angles with the unmanned plane parking area,
An enclosing region is formed, the Drones for surveillance 2 is wrapped in unmanned plane parking area, the Drones for surveillance 2 is protected,
It prevents from falling from platform;When the unmanned plane that the Drones for surveillance 2 prepares to drop to the unmanned plane landing platform 19 is parked
When region, 4 pieces of solar panels are opened completely respectively, and sufficiently large drop zone is reserved to the Drones for surveillance 2.
Shown in Figure 3, the Drones for surveillance 2 is by unmanned aerial vehicle rack 21, system for flight control computer 22, unmanned mechanomotive force
System 23, unmanned plane positioning system 24, UAV Communication system 25, monitoring unmanned system 26,27 and of wireless charging receiver
Airborne lithium battery 28 forms.The system for flight control computer 22 is fixed with the unmanned plane dynamical system 23, the unmanned plane respectively
Position system 24, the UAV Communication system 25, the monitoring unmanned system 26, the wireless charging receiver 27 and described
Airborne lithium battery 28 connects.
The unmanned aerial vehicle rack 21 is 6 axis rotor structures, and fuselage is carbon fibre material.
The system for flight control computer 22 includes flying control MCU221, gyroscope 222, barometer 223 and unmanned plane electronics sieve
Disk 224.Wherein, the winged control MCU221 is embedded chip, is calculated for flying quality and flight control instruction issues.It is described
Gyroscope 222 is used to export the attitude angle and 3-axis acceleration data of the Drones for surveillance 2.The barometer 223 is for examining
Survey the atmospheric pressure value around the Drones for surveillance 2;The unmanned plane electronic compass 224 is for detecting the Drones for surveillance's 2
Current kinetic direction.
The unmanned plane positioning system 24 includes Airborne GPS navigation neceiver 241 and airborne vision camera 242.Wherein,
The Airborne GPS navigation neceiver 241 is used for the positioning of the Drones for surveillance 2.The airborne vision camera 242 is for catching
The characteristic point on the robot platform 1 is obtained, precision approach is used for.
The unmanned plane dynamical system 23 includes brushless motor 231, electron speed regulator 232 and propeller 233.Wherein, institute
It states electron speed regulator electric current and is more than 30A.The propeller 233 is foldable, is mounted on the brushless motor 231, described brushless
Motor 231 is connect by the electron speed regulator 232 with the system for flight control computer 22.
The UAV Communication system 25 includes on-board data transmission module 251 and onboard image transmission module 252.Its
In, the on-board data transmission module 251 is described for the communication between the Drones for surveillance 2 and the robot platform 1
The communication frequency of Drones for surveillance 2 and the robot platform 1 is 433MHz, can transmit a small amount of numbers such as instruction, sensor parameters
According to.The onboard image transmission module 252 is used for the image transmitting between the Drones for surveillance 2 and the robot platform 1,
Its communication frequency is 5.8GHz.Communication frequency between the Drones for surveillance 2 and the hand-held remote controller 143 is 2.4G.
The monitoring unmanned system 26 includes from steady holder 261 and high-definition camera 262, wherein described from steady holder
261 be three axis from steady holder.The high-definition camera is GoPro high-definition digital video cameras.
The wireless charging receiver 27 includes receiving coil and voltage rectifier, wherein the receiving coil is mounted on
The bottom of the unmanned aerial vehicle rack 21, for receiving the electricity that the wireless charging transmitter 18 emits on the robot platform 1
Magnetic signal.The voltage rectifier is used to the ac voltage signal that the receiving coil receives being integrated into suitable DC voltage
Signal is conveyed to the airborne lithium battery 28 and charges.
The airborne lithium battery 28 is used for power supply for electrical equipment all on the Drones for surveillance 2.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of road enforcement system based on unmanned plane and robot technology, it is characterised in that:Robot platform(1), investigation
Unmanned plane(2)And monitoring center(3);
The robot platform(1)By master control system(11), platform dynamical system(12), platform navigation system(13), platform it is logical
Letter system(14), power-supply management system(15), solar recharging system(16), acousto-optic system(17), wireless charging transmitter
(18)With unmanned plane landing platform(19)Composition;
The master control system(11)Respectively with the platform dynamical system(12), the platform navigation system(13), the platform
Communication system(14), the acousto-optic system(17), power-supply management system(15), solar recharging system(16)It is sent out with wireless charging
Emitter(18)Connection;
The power-supply management system(15)Including BMS units(151)And lithium battery group(152), the BMS units(151)As
The lithium battery group(152)Administrative protection device, the lithium battery group(152)For the robot platform(1)Interior all electricity consumptions
Equipment is powered;
The unmanned plane landing platform(19)Mounted on the robot platform(1)Top, including unmanned plane parking area and
Solar panel region;Wherein, the unmanned plane parking area is located at auxiliary landing indicator light(176)Centre;
The wireless charging transmitter(18)Mounted on the unmanned plane landing platform(19)Lower section;
The solar recharging system(16)Including solar panel and electric pressure converter, wherein the solar panel
Mounted on the unmanned plane landing platform(19)Solar panel region;
The Drones for surveillance(2)By unmanned aerial vehicle rack(21)And it is mounted on the unmanned aerial vehicle rack(21)On unmanned plane fly
Control system(22), unmanned plane dynamical system(23), unmanned plane positioning system(24), UAV Communication system(25), unmanned plane prison
Control system(26), wireless charging receiver(27)With airborne lithium battery(28)Composition;The system for flight control computer(22)Respectively
With the unmanned plane dynamical system(23), the unmanned plane positioning system(24), the UAV Communication system(25), the nothing
Man-machine monitoring system(26), the wireless charging receiver(27)With the airborne lithium battery(28)Connection;
The system for flight control computer(22)Including flying control MCU(221), gyroscope(222), barometer(223)With unmanned electromechanics
Sub- compass(224);The winged control MCU(221)For embedded chip;
The unmanned plane dynamical system(23)Including brushless motor(231), electron speed regulator(232)And propeller(233), described
Propeller(233)Mounted on the brushless motor(231)On, the brushless motor(231)Pass through the electron speed regulator(232)
With the system for flight control computer(22)Connection;
The wireless charging receiver(27)For the airborne lithium battery(28)Charging;
The airborne lithium battery(28)For the Drones for surveillance(2)Upper all power supply for electrical equipment.
2. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Platform dynamical system(12)Including servo motor(122), motor driver(121)And wheel mechanism(123), the servo motor
(122)One end pass through the motor driver(121)With the master control system(11)Connection, the servo motor(122)'s
The other end and the wheel mechanism(123)Connection;Wherein, the wheel mechanism(123)For four wheel mechanism or at pedrail mechanism;Institute
State servo motor(122)It is internally integrated deceleration mechanism;The motor driver(121)With network communication mouth, CAN interface
With 232 serial ports.
3. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Platform navigation system(13)Including satellite navigation module(131), inertial navigation module(132)And laser navigation module(133), institute
State satellite navigation module(131), the inertial navigation module(132)With the laser navigation module(133)Respectively with the master
Control system(11)Connection;Wherein, the satellite navigation module(131)Including Beidou navigation satellite system receiver, GPS navigation receiver, gal
Profit slightly navigation neceiver and GLONASS navigation neceivers;The inertial navigation module(132)Including six-axle acceleration sensor and
Platform clectronic compass;The laser navigation module(133)Including 3D laser radar sensors, scanning distance is more than 30 meters.
4. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Platform communication system(14)Including platform data transmission module(141), hand-held remote controller(143)With platform image transmission module
(142), the platform data transmission module(141), the hand-held remote controller(143)With the platform image transmission module
(142)Respectively with the master control system(11)Connection;Wherein, the platform data transmission module(141)Including 4G DTU modules
And wireless terminal accessing device;The platform image transmission module(142)For wireless image transmission equipment.
5. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Acousto-optic system(17)Including headlamp(171), steering indicating light(172), taillight(173), brake lamp(174), audible-visual alarm lamp
(175), auxiliary landing indicator light(176), sound pick-up(177)And loud speaker(178);Wherein, the auxiliary landing indicator light
(176)Mounted on the unmanned plane landing platform(19)Around.
6. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Wireless charging transmitter(18)Including transmitting coil and transmitting drive module, wherein the transmitting coil be mounted on it is described nobody
Machine landing platform(19)Lower section, and blocked without metal in the certain distance above and below the transmitting coil.
7. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Solar panel can auto-folder have 4 pieces altogether, be separately mounted to the unmanned plane landing platform(19)Unmanned plane diamond
Domain surrounding;As the Drones for surveillance(2)Drop to the unmanned plane landing platform(19)Unmanned plane parking area when, 4 pieces
The solar panel is in respectively 45 ° ~ 90 ° angles with the unmanned plane parking area, forms an enclosing region, is detectd described
Look into unmanned plane(2)It is wrapped in unmanned plane parking area;As the Drones for surveillance(2)Preparation drops to the unmanned plane landing
Platform(19)Unmanned plane parking area when, 4 pieces of solar panels are opened completely respectively.
8. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
Unmanned plane positioning system(24)Including Airborne GPS navigation neceiver(241)With airborne vision camera(242).
9. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:It is described
UAV Communication system(25)Including on-board data transmission module(251)With onboard image transmission module(252).
10. the road enforcement system according to claim 1 based on unmanned plane and robot technology, it is characterised in that:Institute
State wireless charging receiver(27)Including receiving coil and voltage rectifier, one end of the voltage rectifier and the reception line
Circle connection, the other end of the voltage rectifier and the airborne lithium battery(28)Connection;Wherein, the receiving coil is mounted on
The unmanned aerial vehicle rack(21)Bottom.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721890065.3U CN208000379U (en) | 2017-12-29 | 2017-12-29 | A kind of road enforcement system based on unmanned plane and robot technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721890065.3U CN208000379U (en) | 2017-12-29 | 2017-12-29 | A kind of road enforcement system based on unmanned plane and robot technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764905A (en) * | 2018-12-06 | 2019-05-17 | 华南理工大学 | A kind of unmanned plane for nuclear radiation environment and robot monitor system |
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| RU2739067C1 (en) * | 2020-06-30 | 2020-12-21 | Федеральное государственное бюджетное учреждение "16 Центральный научно-исследовательский испытательный ордена Красной Звезды институт имени маршала войск связи А.И. Белова" Министерства обороны Российской Федерации | Mobile communication and control system |
-
2017
- 2017-12-29 CN CN201721890065.3U patent/CN208000379U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764905A (en) * | 2018-12-06 | 2019-05-17 | 华南理工大学 | A kind of unmanned plane for nuclear radiation environment and robot monitor system |
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| RU2739067C1 (en) * | 2020-06-30 | 2020-12-21 | Федеральное государственное бюджетное учреждение "16 Центральный научно-исследовательский испытательный ордена Красной Звезды институт имени маршала войск связи А.И. Белова" Министерства обороны Российской Федерации | Mobile communication and control system |
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