CN208421639U - A kind of precise positioning overlength continuation of the journey unmanned plane inspection disaster prevention system - Google Patents
A kind of precise positioning overlength continuation of the journey unmanned plane inspection disaster prevention system Download PDFInfo
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- CN208421639U CN208421639U CN201821328448.6U CN201821328448U CN208421639U CN 208421639 U CN208421639 U CN 208421639U CN 201821328448 U CN201821328448 U CN 201821328448U CN 208421639 U CN208421639 U CN 208421639U
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Abstract
The utility model discloses a kind of precise positioning overlength continuation of the journey unmanned plane inspection disaster prevention systems, comprising: multiple locating base stations and multiple unmanned planes；Base station includes the first radio-frequency communication module and the first central processing module, and the first radio-frequency communication module is connected with the first central processing module；Unmanned plane includes that the second radio-frequency communication module, horizontal ranging and elevation carrection module, video image acquisition and transmission module and the second central processing module, the second radio-frequency communication module, horizontal ranging are connect with the second central processing module respectively with elevation carrection module, video image acquisition and transmission module；Base station the first radio-frequency communication module and unmanned plane the second radio-frequency communication module are wirelessly connected.This system is realized that unmanned plane position is positioned by the wireless communication between unmanned plane and base station and is led with cruise line pass, and realizes specified charge position positioning, and the precision of this position location information reaches Centimeter Level, has very high positioning accuracy.
Description
Technical field:
The utility model relates to air vehicle technique field more particularly to a kind of continuation of the journey unmanned plane inspection of precise positioning overlength are anti-
Calamity system.
Background technique:
Forest, grassland, farmland disaster prevention mainly fire, mouse calamity, plague of insects etc. are prevented, at present to Agriculture, forestry And Animal Husbandry
Grass prevention of taking precautions against natural calamities relies primarily on video and is monitored.
Currently, agricultural herbage, which is taken precautions against natural calamities, is monitored fire, mouse calamity, plague of insects etc. by traditional video surveillance, due to point
Setting, traditional video surveillance cannot repair in time after breaking down, and carry out blind spot to monitoring band.The swift and violent hair of unmanned air vehicle technique
Exhibition, the deficiency supplemented with traditional video surveillance camera bring the new visual field to the management of agricultural herbage, improve reply burst
The response speed of event.
Forest, grassland, farmland area are big, and cruising range is big, and unmanned plane is with needing maneuverability with clapping or checking the condition of a disaster
Situation could effectively make up the bad existing blind area of ground camera position, therefore for the cruise duration of unmanned plane and appoint
Business carry proposes higher requirement.Current unmanned plane cruising inspection system status: the location information of unmanned plane is from GPS system
System can provide a wide range of inspection location information, but the charging station for needing to navigate to designated position or platform supply nobody
The precision of machine automatic charging, GPS positioning is poor.Therefore, how to improve the charge position positioning accuracy of unmanned plane is this field skill
The problem of art personnel's urgent need to resolve.
Utility model content:
The purpose of this utility model is to provide a kind of precise positioning overlength continuation of the journey unmanned plane inspection disaster prevention systems, to solve
The deficiencies in the prior art.
The utility model is implemented by following technical solution: a kind of precise positioning overlength continuation of the journey unmanned plane inspection disaster prevention system,
It include: multiple base stations and multiple unmanned planes；The base station includes the first radio-frequency communication module and the first central processing module, described
First radio-frequency communication module is connected with the first central processing module；The unmanned plane includes the second radio-frequency communication mould, horizontal ranging
With elevation carrection module, video image acquisition and transmission module and the second central processing module, the second radio-frequency communication module, level
Ranging is connect with the second central processing module respectively with elevation carrection module, video image acquisition and transmission module；Described first
Radio-frequency communication module and the second radio-frequency communication module are wirelessly connected；Wherein, horizontal ranging and elevation carrection module are for obtaining nothing
The man-machine accurate position coordinates to base station；Video image acquisition and transmission module are for obtaining ground image information；Second center
The location information received is packaged by processing module with image real time transfer to be led to by the second radio-frequency communication module and the first radio frequency
Letter module wireless communication is sent to the first central processing module, and the first central processing module obtains the accurate of unmanned plane by processing
Position coordinates.
Preferably, the horizontal ranging and elevation carrection module are P440 radar transceiver.
Preferably, the first radio-frequency communication module, the second radio-frequency communication module are UWB module.
Preferably, the base station also passes through the first radio-frequency communication module connection cloud platform server.
Preferably, also set up temperature sensor and fluorescer spray module on the unmanned plane, the temperature sensor and
Fluorescer spray module is electrically connected with the second central processing module.
Preferably, first central processing module, the second central processing module are single-chip microcontroller or arm processor.
The advantages of the utility model:
Position positioning is realized by the wireless communication technique between unmanned plane and base station in this system, the position of unmanned plane is sat
Target location data is from base station, because base station itself has absolute coordinate, only it is to be understood that unmanned plane is apart from base station
Two-dimensional coordinate and height, so that it may obtain the location information of unmanned plane.The precision of this location information is Centimeter Level, is had non-
Often high positioning accuracy.By the coordinate and altitude location unmanned plane of unmanned plane, to position disaster point or delimit disaster region.It is logical
The absolute location coordinates for crossing base station obtain the position coordinates of unmanned plane, improve the positioning accuracy of unmanned plane.Believed according to GPS positioning
Breath control unmanned plane provides unmanned plane in large area disaster or key area inspection, and according to this system base station absolute location coordinates
The elaborate position coordinate of charging station or platform realizes that unmanned plane charges in fixed position automatically.
Detailed description of the invention:
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural block diagram of the utility model.
Fig. 2 is the P440 radar transceiver principle architecture diagram of the utility model.
Specific embodiment:
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
A kind of unmanned plane inspection disaster prevention system as shown in Figure 1, precise positioning overlength is continued a journey, comprising: multiple base stations 1 and multiple
Unmanned plane 2；Base station 1 includes the first radio-frequency communication module 11 and the first central processing module 12,11 He of the first radio-frequency communication module
The connection of first central processing module 12；Unmanned plane 2 includes the second radio-frequency communication module 21, horizontal ranging and elevation carrection module
22, video image acquisition and transmission module 23 and the second central processing module 24, the second radio-frequency communication module 21, horizontal ranging with
Elevation carrection module 22, video image acquisition and transmission module 23 are connect with the second central processing module 24 respectively；First radio frequency
Communication module 11 and the second radio-frequency communication module 21 are wirelessly connected；Wherein, horizontal ranging is with elevation carrection module 22 for obtaining
Accurate position coordinates of the unmanned plane to base station；Video image acquisition and transmission module 23 are for obtaining ground image information；Second
The location information received and image real time transfer are packaged by central processing module 24 passes through the second radio-frequency communication module and first
Radio-frequency communication module wireless communication is sent to the first central processing module 12, and the first central processing module 12 obtains nothing by processing
Man-machine 2 accurate position coordinates.
In the present embodiment, horizontal ranging and elevation carrection module 22 are P440 radar transceiver.
In the present embodiment, the first radio-frequency communication module 11, the second radio-frequency communication module 21 are UWB module.
In the present embodiment, base station 1 also connects cloud platform server by the first radio-frequency communication module 11.
In the present embodiment, temperature sensor and fluorescer spray module, temperature sensor and fluorescence are also set up on unmanned plane 2
Agent spray module is electrically connected with the second central processing module 24.
In the present embodiment, the first central processing module 12, the second central processing module 24 are single-chip microcontroller or ARM processing
Device.
In the present embodiment, video image, temperature or the other types data that unmanned plane 1 obtains are sent directly to base station 2,
Base station 2 will be uploaded to cloud platform server after video, temperature or other types data identifying processing, through cloud computing, big data
Whether data that treated may determine that has the condition of a disaster.
In the present embodiment, the classification of the condition of a disaster is fire, the plague of insects or mouse calamity, and the condition of a disaster rank is level-one, N grades of second level ....
In the present embodiment, under reference frame, measurement unmanned plane is sat in reference for horizontal ranging and elevation carrection module 22
The lower coordinate of mark system, reference frame is for the plane coordinate system that is constructed centered on base station or with others such as GPS system institutes
In coordinate system；The phase of unmanned plane is measured in horizontal ranging with elevation carrection module 22 according to the flight time of radiofrequency signal and unmanned plane
To coordinate.
In the present embodiment, 24 pairs of horizontal rangings of the second central processing module of unmanned plane 2 and elevation carrection module 22 are measured
Unmanned plane coordinate and height directly pass through the first radio-frequency communication module 11 that the second radio-frequency communication module 21 is sent to base station 1,
The position coordinates of unmanned plane 2 are obtained by processing by the first central processing module 12, are obtained by the absolute location coordinates of base station 1
The position coordinates of unmanned plane 2.
The data of interaction include: and relevant data (the video figure that unmanned plane is got of taking precautions against natural calamities between unmanned plane and base station
Picture or base station command unmanned plane carry out the mark etc. in disaster area), the location data of unmanned plane.The video image of unmanned plane acquisition, temperature
The other types data such as degree are sent directly to base station, and base station is uploaded to backstage after making the identifying processings such as video, temperature, through cloud meter
It calculates, treated that data may determine that whether has the condition of a disaster (classification of the condition of a disaster is fire, the plague of insects or mouse calamity etc., the condition of a disaster for big data
Rank is level-one, second level ...).Through treated for base station, data can be interacted with unmanned plane as needed.
It is according to the utility model of background technique this programme point, can be monitored without dead angle, without blind spot, and positioning
Accurately (positioning accuracy is high).Its effect of the horizontal ranging of the utility model and elevation carrection module 22 is: under reference frame
(for example, the plane coordinate system constructed centered on base station, or with coordinate system etc. where other such as GPS systems), it is used for
Accurate position coordinates of the acquisition unmanned plane to base station.The horizontal ranging of the utility model and elevation carrection module 22 are P440 radar
Transceiver, the mono- base station radar module (MRM) of P440 are a completely relevant short distance radars, this radar is penetrated 1.4GHz's
Bandwidth is integrated in that one small-sized, in low cost, the ultra wide band OEM module of low-power consumption.Usual phase may be implemented in the MRM of P440
Should be in the radio frequency bandwidth of 10GHz and 20GHz system, but cost is the former sub-fraction.This bandwidth, which provides, is building
Resolution ratio needed for building in object and realizing clutter recognition when working in other complex environments.Center frequency when due to MRM work
Rate only has 4.3GHz, so there is better propagation characteristic.It is all these given the maximum radio frequency bandwidth of MRM and it is minimum it is possible in
Frequency of heart.
The location data of the position coordinates of unmanned plane is from base station in this system, because base station itself has absolute coordinate
Value, so only it is to be understood that two-dimensional coordinate and height of the unmanned plane apart from base station, so that it may obtain the location information of unmanned plane.It is this
The precision of location information is Centimeter Level, has very high positioning accuracy.By the coordinate and altitude location unmanned plane of unmanned plane, from
And it positions disaster point or delimit disaster region.The position coordinates of unmanned plane are obtained by the absolute location coordinates of base station, are improved
The positioning accuracy of unmanned plane.
In addition, unmanned plane can automatic charging continuation of the journey (A point sets sail, to B point charge, then proceed to cruise to C point, followed with this
Ring is reciprocal), lasting inspection in 24 hours.The charging of unmanned plane can be carried out directly using base station.When unmanned plane needs to charge,
Nearest base station is selected, the airplane parking area of base station is fallen in, charges directly, charging convenience greatly improves.Its charging modes can
Using contact charging or contactless charging.
During unmanned plane inspection can real-time and precise monitor (the unmanned plane real-time and precises such as fire behavior, the intensity of a fire and kindling area
The image data information of acquisition is uploaded to holder, through big data calculate analysis can accurately provide in real time, accurately certain area model
Enclose interior fire behavior)；A kind of harmless fluorescer can be also sprayed simultaneously, in real time, accurately monitors various pests in a certain region
(image data information of unmanned plane real-time and precise acquisition is uploaded to holder to quantity etc., and calculating analysis through big data can accurately provide
In real time, the accurately disease in certain area coverage, number of pest).
The non-real-time images of unmanned plane transmit, and are that unmanned plane drops on base station down level ground, being stored in inside unmanned plane
Image data be transferred directly to control centre, and control centre need not be returned to, greatly improve unmanned plane working efficiency.Nobody
The image data information that machine is real-time, precisely acquires is uploaded to holder, and calculating analysis through big data can be related management person, participant
Data information is provided, for effectively control fire spreading and fire extinguishing, pre- protection against rodents calamity, the plague of insects, progress desinsection etc. provide portable possibility.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (6)
- A kind of unmanned plane inspection disaster prevention system 1. precise positioning overlength is continued a journey characterized by comprising multiple base stations (1) and more A unmanned plane (2)；The base station (1) includes the first radio-frequency communication module (11) and the first central processing module (12), and described the One radio-frequency communication module (11) and the first central processing module (12) connection；The unmanned plane (2) includes the second radio-frequency communication mould Block (21), horizontal ranging and elevation carrection module (22), video image acquisition and transmission module (23) and the second central processing mould Block (24), the second radio-frequency communication module (21), horizontal ranging and elevation carrection module (22), video image acquisition and transmission module (23) it is connect respectively with the second central processing module (24)；The first radio-frequency communication module (11) and the second radio-frequency communication module (21) it is wirelessly connected；Wherein, the exact position that horizontal ranging and elevation carrection module (22) are used to obtain unmanned plane to base station is sat Mark；Video image acquisition and transmission module (23) are for obtaining ground image information；Second central processing module (24) will receive The location information and image real time transfer arrived is packaged to be wirelessly communicated by the second radio-frequency communication module and the first radio-frequency communication module It is sent to the first central processing module (12), the first central processing module (12) obtains the accurate position of unmanned plane (2) by processing Set coordinate.
- The unmanned plane inspection disaster prevention system 2. a kind of precise positioning overlength according to claim 1 is continued a journey, which is characterized in that institute It states horizontal ranging and elevation carrection module (22) is P440 radar transceiver.
- The unmanned plane inspection disaster prevention system 3. a kind of precise positioning overlength according to claim 1 is continued a journey, which is characterized in that institute State the first radio-frequency communication module (11), the second radio-frequency communication module (21) is UWB module.
- The unmanned plane inspection disaster prevention system 4. a kind of precise positioning overlength according to claim 1 is continued a journey, which is characterized in that institute It states base station (1) and cloud platform server is also connected by the first radio-frequency communication module (11).
- The unmanned plane inspection disaster prevention system 5. a kind of precise positioning overlength according to claim 1 is continued a journey, which is characterized in that institute It states and also sets up temperature sensor and fluorescer spray module, the temperature sensor and fluorescer spray module on unmanned plane (2) It is electrically connected with the second central processing module (24).
- The unmanned plane inspection disaster prevention system 6. a kind of precise positioning overlength according to claim 1 is continued a journey, which is characterized in that institute State the first central processing module (12), the second central processing module (24) is single-chip microcontroller or arm processor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989682A (en) * | 2019-12-30 | 2020-04-10 | 福州大学 | Unmanned aerial vehicle accurate landing method based on single base station |
| CN115933720A (en) * | 2022-12-27 | 2023-04-07 | 内蒙古工业大学 | Grassland fireproof unmanned-machine system |
-
2018
- 2018-08-16 CN CN201821328448.6U patent/CN208421639U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989682A (en) * | 2019-12-30 | 2020-04-10 | 福州大学 | Unmanned aerial vehicle accurate landing method based on single base station |
| CN110989682B (en) * | 2019-12-30 | 2021-06-01 | 福州大学 | Unmanned aerial vehicle accurate landing method based on single base station |
| CN115933720A (en) * | 2022-12-27 | 2023-04-07 | 内蒙古工业大学 | Grassland fireproof unmanned-machine system |
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Effective date of registration: 20211214 Address after: 010020 401, 4th floor, building De, Hehai Plaza, Xinhua East Street, Saihan District, Hohhot City, Inner Mongolia Autonomous Region Patentee after: Inner Mongolia Zhongyu Lutong Technology Co., Ltd Address before: 1706, block C, Zhongguancun Science and technology development building, Zhongguancun South Street, Haidian District, Beijing 100089 Patentee before: BEIJING DIANLIANYU TECHNOLOGY CO.,LTD. |
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