CN211148924U - Mobile RTK base station and flight system - Google Patents

Abstract

The utility model provides a remove RTK basic station and flying system and use thereof, wherein remove the RTK basic station and include: an aircraft, a leveling device and an RTK, wherein the aircraft includes a main body and a flying assembly that can be drivingly flown, when the aircraft carries the RTK to a predetermined destination, the leveling device adjusts a leveling state of the RTK to maintain the RTK in a leveling state.

Description

Mobile RTK base station and flight system

Technical Field

The utility model relates to an unmanned aerial vehicle field especially relates to a remove RTK basic station and flight system.

Background

Unmanned aerial vehicle is widely applied to in the agricultural and can carry out intelligent control and operation to farming, has liberated human both hands and has improved farming's operating efficiency greatly.

As is well known, the width of ridges of farmlands in China is generally small, even complex terrains such as multiple hills and mountains exist, and the requirement on the precision of a flight route of a plant protection unmanned aerial vehicle is high. With regard to spraying the medicine to crops, if plant protection unmanned aerial vehicle can not accomplish accurate spraying, not only can not reach the effect of prevention and cure plant diseases and insect pests, still can produce the phytotoxicity even. In the prior art, the plant protection unmanned aerial vehicle has the problems of heavy spraying, missed spraying and the like due to GPS positioning deviation and the phenomena of falling height, flying non-straight and the like, and how to realize more accurate spraying is a technical problem which is overcome by no residual force in the industry.

It is worth mentioning that the RTK technology allows the plant protection unmanned aerial vehicle to really go on the way of more accurate operation. In more detail, the RTK technique is based on processing the carrier phases of two stations in real time. The RTK technology can provide the three-dimensional coordinates of the observation point in real time and achieve centimeter-level high precision. The RTK technology can be used for obtaining the centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to a GPS, engineering lofting and terrain mapping appear, new eosin is brought to various control measurements, and the field operation efficiency is greatly improved.

In more detail, rtk (real Time kinematic), a carrier phase difference technique, can provide a three-dimensional positioning result of a station in a designated coordinate system in real Time, and achieve centimeter-level accuracy, that is, an accurate positioning position of the plant protection unmanned aerial vehicle in a farmland, where the plant protection unmanned aerial vehicle needs to perform an agricultural task. In the RTK operation mode, the base station collects satellite data and transmits the observed value and site coordinate information to the mobile station through a data chain, and the mobile station performs real-time carrier phase difference processing on the collected satellite data and the received data chain to obtain a centimeter-level positioning result.

However, the RTK as a base station is often manually placed at a target position using a tripod, and thus, it is inconvenient to manually retrieve the RTK after use, particularly when the RTK is used for a machine with a driving assistance function. Even pass through when plant protection unmanned aerial vehicle carries out the agricultural operation to the farmland, the people still need go target location places, the debugging, and this process has obstructed plant protection unmanned aerial vehicle's operating efficiency, it is very troublesome, finish monitoring time measuring, the people still need go the target location retrieves, and this process is very heavy and complicated, has obstructed plant protection unmanned aerial vehicle's operating efficiency.

In addition, the base station cannot timely monitor moving obstacles, and in case that the moving obstacles move or topple over the base station, the plant protection unmanned plane can cause deviation of a flight path due to an unknown map, fly to a non-specified area, even crash and the like.

SUMMERY OF THE UTILITY MODEL

The utility model has the main advantages of it provides a removal RTK basic station and flying system, wherein but remove RTK basic station unmanned aerial vehicle, reduced the artifical process of placing and retrieving the basic station, the supplementary other at least unmanned machine's that has loaded a RTK locating element real-time location and promote more effectively unmanned aerial vehicle's agricultural operation's efficiency.

The utility model has the main advantage that it provides a removal RTK basic station and flight system, and wherein the aircraft carries on RTK, has reduced the artifical process of placing and retrieving RTK.

The utility model has the main advantages of it provides a removal RTK basic station and flight system, wherein remove RTK basic station automatic flight ground mode and fly to a target location and debug, make as other unmanned aerial vehicle's basic station the man-machine can carry out the farming steadily in a predetermined farming space.

Another advantage of the present invention is that it provides a method for moving an RTK base station and a flight system, which can detect in real time moving an operational state of the RTK base station and ensuring moving the RTK base station stably performs a flight monitoring task.

Another advantage of the utility model is that it provides a be suitable for a removal RTK base station and flying system, wherein need not the people and arrive the target location places and debugs, through remove RTK base station adjustable ground and guarantee remove RTK base station level and make it can be high-efficient and supplementary steadily to remove RTK base station unmanned aerial vehicle carries out intelligent farming.

Another advantage of the utility model is that it provides one kind and is suitable for a removal RTK basic station and flight system, wherein need not the people and arrives target location retrieves, retrieve through a key can with remove the RTK basic station and retrieve to a default position, improved supplementary the efficiency of unmanned aerial vehicle intelligent control farming.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system, wherein the mobile RTK base station includes an aircraft and an RTK, the aircraft is carried on the RTK, can carry out accurate positioning ground unmanned flight extremely the target position carries out the debugging, makes the RTK monitors steadily.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system wherein the mobile RTK base station can be retrieved by a key, improving the ease of use of the base station.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system wherein the aircraft can insert into the ground for ground exploration and ensure the stability of the RTK.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system wherein the aircraft can maintain a horizontal position so that the RTK is in a horizontal position and works properly.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system wherein the RTK is set by the shaft location local type in the aircraft, through adjusting the aircraft is in horizontal position and assurance the RTK is in horizontal position can work normally.

Another advantage of the present invention is that it provides a mobile RTK base station and flight system, wherein the aircraft includes an aircraft body and at least three telescoping rods, wherein the telescoping rods are set in the aircraft body, wherein the telescoping rods are inserted into the ground stably in a downward-exploring manner the aircraft further passes through the adjustable amount of the telescoping rods of the aircraft is in the horizontal position, and then adjusts the horizontal state of the RTK.

Another advantage of the present invention is that it provides a be suitable for a removal RTK base station and flying system, wherein the aircraft includes an extension rod, the extension rod is connected with the location RTK with the fuselage, through the extension rod makes RTK is set up in the fuselage by the mode of axle location, and passes through the extension rod upwards extends to a suitable height and then makes RTK monitors steadily.

According to the utility model discloses, can realize aforementioned purpose and other purposes and advantage the utility model discloses a:

the utility model discloses a remove RTK basic station, include:

an aircraft, wherein the aircraft comprises a main body and a flying assembly, and the flying assembly can be driven to fly;

a horizontal alignment device; and

an RTK, the horizontal alignment apparatus adjusting a horizontal state of the RTK to maintain the RTK in a horizontal state when the aircraft carries the RTK to a preset destination.

The mobile RTK base station of some embodiments, wherein the horizontal alignment apparatus maintains the RTK in a horizontal state by adjusting the main body to a horizontal state.

The mobile RTK base station in some embodiments, wherein the RTK is axis-positionally connected to the main body.

The mobile RTK base station of some embodiments, wherein the horizontal alignment apparatus includes a positioning extension bar, wherein the positioning extension bar extends shaft positionally upwardly from the airframe and positions the RTK.

In some embodiments, the mobile RTK base station, wherein the horizontal alignment device comprises a horizontal sensor and at least one telescoping rod, wherein the horizontal sensor senses a horizontal state of the main body, wherein the telescoping rod aligns the main body to be kept horizontal.

The mobile RTK base station of some embodiments, wherein the horizontal alignment device comprises the horizontal sensor and three telescoping rods, wherein each telescoping rod automatically telescopes to keep the main body horizontal.

In some embodiments the mobile RTK base station, wherein the telescoping rods are individually controlled.

The mobile RTK base station of some embodiments, wherein each of the control portions is stably supported by the earth.

In some embodiments the mobile RTK base station, wherein each of the telescoping rods is driven into the ground to position the RTK.

In some embodiments, the mobile RTK base station, wherein each of the telescoping poles is drivingly extended into the ground to position the RTK, wherein each of the telescoping poles is individually extended and retracted to hold the main body horizontal.

According to the utility model discloses an aim at and advantage, the utility model discloses a flight system has still been revealed, wherein flight system includes:

a control mechanism;

a flight reference mechanism, wherein said control mechanism controls said flight reference mechanism to perform at least one of the following combinations of flying, aligning, positioning, and homing;

an RTK, wherein the flight reference mechanism carries the RTK and holds the RTK horizontal in an operating state; and

an interaction mechanism, wherein the interaction mechanism sends a command from a user or provides information to a user.

The flying system of some embodiments, wherein the flying reference mechanism comprises a flying module and an alignment module, wherein the flying module effects flight, wherein the alignment module RTK aligns a horizontal state of the RTK.

In some embodiments, the control mechanism includes a control module, a processing module, a command module, and a program module, wherein the control module invokes a program of the program module and controls the processing module to analyze and process the received command, and the command module sends a corresponding command to control the flight reference mechanism to execute the command.

In some embodiments, the flight system further comprises a control module that invokes at least one of a flight procedure, an alignment procedure, a positioning reference procedure, and a fly back procedure combination of the program module.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, which proceeds with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic perspective view of the mobile RTK base station of the first preferred embodiment.

Fig. 2 is a schematic perspective view of the mobile RTK base station of the second preferred embodiment.

Fig. 3A to 3D are schematic application scenarios of the mobile RTK base station according to the second preferred embodiment.

Fig. 4 is a schematic diagram of the terminal of the second preferred embodiment.

Fig. 5 is a schematic view of an application scenario of the mobile RTK base station according to the second preferred embodiment.

Fig. 6 is a schematic perspective view of the mobile RTK base station of the third preferred embodiment.

Fig. 7 is a schematic perspective view of the mobile RTK base station of the fourth preferred embodiment.

Fig. 8 is a schematic view of the flight system of the fifth preferred embodiment.

Fig. 9 is a schematic view of the control mechanism of the flying system of a fifth preferred embodiment.

FIG. 10 is a schematic view of the flying alignment mechanism of the flying system of the fifth preferred embodiment.

Fig. 11 is a schematic diagram of an RTK mechanism application of the flight system of the fifth preferred embodiment.

Fig. 12 is a schematic view of the application of the storage mechanism of the flying system of the fifth preferred embodiment.

Fig. 13 is a schematic application diagram of the interaction mechanism of the flight system of the fifth preferred embodiment.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1, the mobile RTK base station calls a flight system 700 and an RTK system, where the mobile RTK base station calls the RTK system to precisely position at least one drone with an RTK positioning function. The mobile RTK base station calls the flight system 700 to perform the unmanned flight debugging, so that the mobile RTK base station does not need to be manually placed at a target position, and does not need to be manually retrieved after each use, thereby shortening the operation difficulty and the operation time of the RTK system.

It is worth mentioning that the unmanned aerial vehicle needs to perform agricultural work in a preset agricultural area, and the target position is set near the preset agricultural area, so that the mobile RTK base station is used as the preset agricultural area reference and can accurately position the range of the agricultural area for the unmanned aerial vehicle, further including the edge range of the agricultural area, so that the unmanned aerial vehicle can accurately perform agricultural work on the agricultural area. Preferably, the farming includes spraying of drugs, nutrients, moisture, photographing of various degrees of plant growth, and the like.

The mobile RTK base station includes an aircraft 10, an RTK20 and a horizontal alignment device 30. The aircraft 10 carries the RTK20 so that the mobile RTK base station can fly unmanned. The horizontal alignment fixture 30 is provided to the aircraft 10, and adjusting the aircraft 10 via the horizontal alignment fixture 30 enables the RTK20 to operate using a positioning reference in a horizontal position.

Preferably, unmanned flight means that the mobile RTK base station can be placed in the target position by being remotely flown without manually placing the base station in the target position.

More preferably, the mobile RTK base station enters a positioning reference after performing flight debugging, receives the GPS positioning information of the target position, and sends the GPS positioning information and the actual geographic position information of the target position to a mobile station of the RTK system, and the mobile station performs carrier phase difference analysis on the GPS positioning information of the target position and the actual geographic position information of the target position to obtain accurate positioning information of the preset agricultural area, so that the unmanned aerial vehicle can perform accurate operation.

It is worth mentioning that the utility model discloses in, accurate operation embodies at two dimension standards: firstly, the flying is accurate; secondly, the spraying is accurate. The accurate flying refers to a high-precision autonomous flying technology; secondly, the spraying is accurate. High accuracy flight passes through the RTK system and can acquires accurate field boundary information, will plant protection unmanned aerial vehicle's course precision promotes to centimetre level from the meter level, and does not need manual remote control, realizes all independently flight and agricultural operations such as spraying liquid. In addition, through accurate positioning information, plant protection unmanned aerial vehicle can avoid barriers such as houses, trees, cables automatically, and collision and explosive accidents are avoided. The spraying accuracy can be achieved through an accurate variable spraying technology, and meanwhile, the problems of re-spraying, missing spraying and the like caused by GPS positioning deviation in the prior art are properly solved.

Referring to fig. 1, the aircraft 10 includes a main body 11, a flight module 12, and a camera 13. Preferably, the flying assembly 12 extends outward from the main body 11 and flies the RTK base station. The camera 13 is provided to the main body 11 so that the camera 13 can be communicably photographed so that the camera 13 can photograph the flying state of the mobile RTK base station and the surrounding environment in real time.

Preferably, the aircraft 10 can fly with the flying assembly 12. During flight, the camera 13 can observe the flight state of the aircraft 10 and the surrounding environment in real time. After the aircraft 10 has landed, the cameras 13 may capture the ground and surrounding moving obstacles of the aircraft 10 in real time.

Preferably, the horizontal alignment apparatus 30 positions the aircraft 10 at the target position and precisely adjusts the main body 11 to a horizontal state so that the RTK20, which is shaft-positioned, can secure the RTK20 in the horizontal direction by means of the horizontal state of the main body 11, thereby enabling the RTK20 to perform a positioning reference.

The horizontal alignment device 30 includes a horizontal sensor 31, a control portion 32, a driving portion 33, at least three telescopic rods 34 and a positioning extension rod 35. The horizontal sensor 31 is provided to the machine body 11. The level sensor 31 is communicably connected to the control section 32. Under the control of the control part 32, the driving part 33 drives the telescopic rod 34 and/or the positioning extension rod 35 to move.

Preferably, the positioning extension bar 35 extends upwardly from the main body 11 and positions the main body 11 and the RTK 20.

Preferably, the positioning extension bar 35 extends upwardly from the axial center of the main body 11 so that the RTK20 is vertically positionable by the main body 11.

Preferably, the horizontal sensor 31 is disposed below the positioning extension rod 35, so that the horizontal sensor 31 senses whether the center position of the machine body 11 is in a horizontal state.

Preferably, the horizontal sensor 31 senses whether the machine body 11 is in a horizontal state and can be conducted to the control portion 32, and the control portion 32 analyzes and judges and issues an adjusting instruction to the driving portion 33 to drive the telescopic rod 34 or the positioning extension rod 35 to move. Furthermore, the horizontal sensor 31 senses that the machine body 11 is in a non-horizontal state, sends the measured information to the control part 32, the control part 32 analyzes and controls at least one of the telescopic rods 34 to adjust, and the horizontal sensor 31 detects the machine body 11 in real time to ensure that the positioning extension rod 35 is in a vertical state.

Preferably, when the horizontal sensor 31 senses that the machine body 11 is in a horizontal state, the control part 32 controls the driving part 33 to drive the positioning extension rod 35 to lift upwards, so that the positioning extension rod 35 can be communicated

Preferably, each of the telescopic rods 34 extends downwardly from the main body 11, and the telescopic rods 34 are inserted into the ground to position the aircraft 10 when the aircraft 10 flies to the target location.

Preferably, the positioning extension bar 35 is extended upwardly to position the RTK20 in a suitable position so that the RTK20 in a horizontal position can be accurately positioned.

Preferably, the leveling device 30 is stably inserted into the ground to position the aircraft 10 when the aircraft 10 is flown to the target location and the leveling adjustment is performed as a result of lifting the vintage RTK20 to adjust the position of the aircraft 10.

It is worth mentioning that the telescoping pole 34 goes down into the ground to stabilize the aerial vehicle 10 and the RTK 20. The horizontal sensor 31 senses whether the aircraft 10 is at a horizontal level or not, and sends the horizontal sensor to the control portion 32, and the control portion 32 analyzes and controls the driving portion 33 to drive at least one of the telescopic rods 34 to adjust the elongation thereof, so that the telescopic rod 34 adjusts the aircraft body 11 in a horizontal direction, and further the positioning extension rod 35 is in a vertical direction, so that the RTK20 is in a horizontal direction for accurate positioning.

Preferably, each of the telescopic bars 34 is provided to the machine body 11 and extends the machine body 11 downwardly from a lower end of the machine body 11, and the telescopic bars 34 stably support the machine body 11. Preferably, the positioning extension rod 35 is provided to the machine body 11. More preferably, the positioning extender 35 extends upwardly from the upper end of the main body 11 and connects the RTK20 with the main body 11.

Preferably, the positioning extension bar 35 is provided at an axial center position of the machine body 11, so that the positioning extension bar 35 more stably positions the RTK 20.

Preferably, the positioning extension bar 35 and each of the extension bars 34 are telescopically arranged such that the positioning extension bar 35 can communicably raise or lower the RTK20 and place the RTK20 in a proper position. Preferably, each of the telescopic rods 34 is telescopically arranged and is driven to adjust the relative height difference between the telescopic rods 34, so that each telescopic rod 34 can movably adjust the telescopic amount and ensure that the machine body 11 is in a horizontal state. In the present invention, the RTK20 is preferably positioned by the telescopic ground shaft of the positioning extension rod 35 in the machine body 11, through the machine body 11 maintains a horizontal state so that the RTK20 can accurately perform a reference work in a horizontal direction.

When the RTK20 finishes the positioning reference work, the horizontal alignment device 30 receives a command of returning with the aircraft 10 and executes the command, the positioning extension rod 35 and each telescopic rod 34 are contracted, and the aircraft 10 flies back to a specified position, so that the RTK20 is very convenient to recover, the RTK20 can be recovered by one key, a user does not need to run to the target position to recover the RTK20 one by one, and the working efficiency of unmanned agriculture is improved.

It should be noted that the horizontal sensor 31 is disposed at the axial center of the main body 11, and is inclined with the inclination of the main body 11, so as to sense whether the main body 11 is in the horizontal state.

Preferably, the horizontal sensor 31 includes at least one horizontal sensing element 311, and the horizontal sensing element 311 is disposed at an axial center of the machine body 11, and is inclined with the inclination of the machine body 11, so as to sense whether the machine body 11 is in the horizontal state.

Preferably, the telescopic bars 34 respectively extend downward from the machine body 11 such that the telescopic bars 34 stably support the machine body 11.

Preferably, the retractable rod 34 includes a rotating portion 341 and a rod main body 342. The rotating portion 341 is drivingly rotated by the driving device 33, so that each of the telescopic rods 34 can adjust the extension amount thereof. Preferably, the swirling portion 341 is moved relative to the lever main body 342 such that the swirling portion 341 can be relatively extended or shortened relative to the lever main body 342 to adjust the horizontal state of the machine main body 11.

Preferably, the rod main body 342 of the telescopic rod 34 is fixed to the machine main body 11 in the present embodiment. Preferably, the swirling portion 341 is swirled downward from the lever main body 342 and swirled downward with respect to the lever main body 342 such that the swirling portion 341 protrudes downward into the ground, so that the machine main body 11 is more stably fixed to the ground and its horizontal state can be adjusted.

Alternatively, the horizontal alignment device 30 may have more than three telescopic rods 34, and the present invention is not limited thereto.

Referring to fig. 2 to 5, there is shown the second preferred embodiment of the mobile RTK base station, wherein the horizontal sensor 31 of the mobile RTK base station is implemented differently to become a new embodiment, wherein the sensor 31 is disposed on the main body 11, wherein the sensing elements 311 are distributed at a plurality of positions of the main body 11, and the relative positions of the sensing elements 311 are detected to be used as a criterion for determining whether the main body 11 is in the horizontal state.

Preferably, each sensing element 311 sends height information to the control unit 31, and the control unit 31 controls the driving unit 33 to drive the telescopic rod 34 to adjust the elongation thereof according to the difference of the relative heights of the sensing elements 311, so as to ensure that the machine body 11 is in the horizontal state.

Preferably, the sensing elements 311 are respectively disposed above each of the telescopic rods 34 and at the axial center of the machine body 11, so that the control part 32 can analyze and judge whether the machine body 11 is in the horizontal state and control the adjustment of the telescopic rods 34 by transmitting the height detection of each of the sensing elements 311 to the control part 32.

It should be noted that the driving portion 33 includes a plurality of driving elements 331 for driving the rotating portion 341 to rotate respectively. Further, the control portion 32 controls the driving element 331 corresponding to each of the swirling portions 341 to drive the corresponding swirling portion 341 to adjust the elongation amount thereof.

Preferably, the driving portion 33 includes three driving elements 331, to which the driver elongation is controlled individually for each of the swirling portions 341.

Preferably, a method of flight referencing, comprising the steps of:

(a) receiving an instruction to fly to a target location:

(b) flying to the target position;

(c) positioning a reference at the target position to hold an RTK30 horizontally stable; and

(d) and (5) flying and returning.

Preferably, in the step (b), the method of flight reference further comprises the following steps:

(b1) flying to a target position;

(b2) exploring the ground for positioning;

(b3) adjusting and maintaining a RTK20 level by a level alignment device 30; and

(b4) raising the RTK20 upward.

Preferably, in the step (d) of the method for flight reference, the method further comprises the following steps:

(d1) retracting the extension bar 34 and the positioning extension bar 35 of the horizontal alignment device 30; and

(d2) flying to a designated position.

Referring to fig. 3A to 3D, the application scenario of the mobile RTK base station of this second preferred embodiment of the present invention is disclosed and explained in detail, wherein the tasks of the mobile RTK base station of flying, monitoring and one-touch recovery.

The mobile RTK base station is shown with reference to fig. 3A, wherein the aerial vehicle 10 flies from a starting position to above the target position and lands at the target position.

Preferably, the telescoping pole 34 of the horizontal alignment device 30 is controllably threaded into the ground and positions the aerial vehicle 10 in the ground.

Referring to fig. 3B, an application process of the mobile RTK base station according to this second preferred embodiment of the present invention is shown, wherein the level sensor 31 senses the level degree of the aircraft 10, and the level sensor 31 sends the level degree sensed by the level sensor to the control unit 32. Then, the driving part 33 drives at least one telescopic rod 34 to adjust the telescopic amount under the control of the control part 32, and the aircraft 10 is horizontally supported by the telescopic rods 34 through the adjustment of each telescopic rod 34 which is controlled and adjusted.

In more detail, the driving part 33 of the leveling device 30 drives each telescopic rod 34 to extend into the ground under the control of the control part 32. More specifically, the control part 32 drives the rotating part 341 of each of the telescopic rods 34 to be rotatably extended downward to be inserted into the ground.

Further, the horizontal sensor 31 of the leveling device 30 senses that the machine body 11 is in the non-horizontal state and sends the sensed data to the control portion 32, and the control portion 32 analyzes and controls at least one of the driving elements 331 of the driving portion 33 to drive the rotating portion 341 to adjust its elongation in a small amount, so that the machine body 11 is in the horizontal state, and further, the machine body 11 is in the horizontal state and the positioning extension rod 35 is in the vertical direction, thereby ensuring that the RTK20 is in a horizontal direction and can be accurately detected.

Referring to fig. 3C, under the control of the control part 32, the positioning extension bar 35 of the horizontal alignment device 30 is extended upward to a suitable distance, and the RTK20 performs a reference operation.

Referring to fig. 3D, the positioning extension rod 311 of the horizontal alignment device 30 is retracted, and each of the extension rods 34 is retracted and driven by the aircraft body 11 to be separated from the ground, and then the aircraft 10 flies back to the designated position.

Preferably, referring to the scene diagrams of the mobile RTK base station of fig. 3A to 3D, the camera 13 captures the flight condition of the mobile RTK base station and the surrounding land condition after the mobile RTK base station falls in real time.

Referring to fig. 4, the second preferred embodiment of the present invention is disclosed and explained in detail, wherein the mobile RTK base station further comprises a terminal 40, wherein the aircraft 10 is controlled by the terminal 40 to perform various operations.

Preferably, the console 40 includes an output unit 41, an input unit 42, a main control unit 43 and a communication unit 44. The output unit 41 outputs information to the user under the control of the main control unit 43, and the input unit 42 receives information from the user under the control of the main control unit 43. The master control 43 analyzes and controls the mobile RTK to fly, align or otherwise position.

Preferably, the input unit 42 may receive a command such as a motion or voice of a person. The input unit 42 can be used to transmit the received flight-related command to the main control unit 43 in a communication manner, the main control unit 43 performs analysis processing on the received flight-related information, generates a flight-related command and transmits the flight-related command to the communication unit 44, and the communication unit 44 transmits the flight-related command to the aircraft 10.

Preferably, the output part 41 may be implemented as a display part 41 so that the user can directly receive visual information.

The console 40 is a stand-alone device that carries the aircraft 10 with the RTK 20. Preferably, the aircraft 10 is unmanned. The aircraft 10 may perform such tasks as flying, calibrating, deploying, retrieving, etc. The RTK is preferably locatable without the other agricultural drones 50 providing more accurate map information.

According to the preferred embodiment, the console 40 includes the master control portion 43 and the communication portion 44 operatively connected to the master control portion 43, wherein the master control portion 43 is used to control the operation of the aircraft 10 and the communication portion 44 is used to receive the flight related information from the aircraft 10 and the positioning related data from the RTK 20.

It is worth mentioning that the RTK20 is communicably received to the console 40 and is controlled by the console 40.

Preferably, the console 40 further comprises an RTK analysis module 431 operatively connected to the main control part 43 for generating a positioning result based on the related positioning information.

The master control 43 is a microprocessor-based master controller to control the operation of the mobile RTK base station. The master control 43 includes a flight management 432 to control various components of the drone, such as the flight assembly 12 or the leveling device 30. In particular, the flight management 432 communicates the required commands to the mobile RTK base station and monitors and feeds back the motion and/or status of the mobile RKT base station and surrounding environmental information that is receiving and executing the commands. These commands are determined by the type of component of the exercise machine, which commands include, but are not limited to, raise, lower, accelerate, decelerate, position, level, adjust up.

Referring to fig. 5, the application of the mobile RTK base station of the second preferred embodiment of the present invention is disclosed and explained in detail, wherein the flight management part 432 issues a flight command, which is conductively transmitted to the aircraft 10 by the communication part 44, so that the aircraft 10 can be conductively transmitted to the aircraft 10, and the aircraft executes 10 the flight command.

Preferably, the aircraft 10 flies from a starting location to above the target location and lands at the target location.

Optionally, the flight management section 432 issues an alignment instruction that is conductively transmitted by the communication section 44 to the horizontal alignment device 30, and the horizontal alignment device 30 conductively receives the alignment instruction and executes the alignment instruction.

Preferably, the extension pole 34 of the horizontal alignment device 30 is controlled to be screwed into the ground and the aircraft 10 is positioned on the ground, and then the flight alignment device 30 adjusts the horizontal sensor 31 to be aligned in a conductive manner, the horizontal sensor 31 is conductive to align the horizontal degree of the aircraft 10, and the horizontal sensor 31 is transmitted to the control part 32. Then, the driving part 33 drives at least one telescopic rod 34 to adjust the telescopic amount under the control of the control part 32, and the aircraft 10 is horizontally supported by the telescopic rods 34 through the adjustment of each telescopic rod 34 which is controlled and adjusted.

In more detail, the driving part 33 of the leveling device 30 drives each telescopic rod 34 to extend into the ground under the control of the control part 32. More specifically, the control part 32 drives the rotating part 341 of each of the telescopic rods 34 to be rotatably extended downward to be inserted into the ground.

Further, the horizontal sensor 31 of the leveling device 30 senses that the machine body 11 is in the non-horizontal state and sends the sensed data to the control portion 32, and the control portion 32 analyzes and controls at least one of the driving elements 331 of the driving portion 33 to drive the rotating portion 341 to adjust its elongation in a small amount, so that the machine body 11 is in the horizontal state, and further, the machine body 11 is in the horizontal state and the positioning extension rod 35 is in the vertical direction, thereby ensuring that the RTK20 is in a horizontal direction and can be accurately detected.

Further, under the control of the control part 32, the positioning extension bar 35 of the horizontal alignment device 30 is extended upward to a suitable distance, and the RTK20 performs a reference work.

Preferably, the flight management 432 issues a return command that is wirelessly transmitted by the communication 44 to the leveling device 30 and the aircraft 10. The positioning extension bar 311 of the horizontal alignment device 30 is retracted, and each of the extension bars 34 is retracted and is driven by the main body 11 to be separated from the ground, and then the aircraft 10 flies back to the designated position.

Preferably, the flight management section 432 issues a listening command, which is wirelessly transmitted by the communication section 44 to the camera 13 of the aircraft 10. The camera 13 captures the flight condition of the mobile RTK base station and the surrounding land condition after the mobile RTK base station has fallen in real time.

According to the preferred embodiment, the console 40 further includes an output unit 41 controlled by the main control unit 43 for outputting information of the communication unit 44.

Alternatively, when the main control part 43 is activated in the step (1), the output part 41 may display a user interface. Alternatively, the user may enter an identification code identifying the user information.

The identification code can be implemented in various ways such as fingerprint identification, photographing, voice, password input, and the like.

Optionally, the user interface may identify other portable wireless communication devices.

Preferably, the user interface will automatically search for the portable wireless communications device. Once the portable wireless communications device is connected, preferably wirelessly, to the user interface, the console 40 is activated.

According to said step (3), said communication part 44 will collect said flight related information and said positioning related information of said mobile RTK base station during said mobile RTK base station being in motion. It is worth mentioning that, in the case that the mobile RTK base station is in motion, the mobile RTK base station is controlled only by the main control part 43.

It is further worth mentioning that the mobile RTK base station may be controlled by a plurality of the consoles 40.

It is worth mentioning that the positioning overhead information is updated directly to the RTK analysis module 431 of the console 40 in real time during the movement. In other words, the positioning-related information monitored by the RTK20 in real time is analyzed by the RTK analysis module 431 and data is updated in real time.

It should be understood that the console 40 of the preferred embodiment may be modified to a remote positioning device that can monitor the flight and positioning conditions of the mobile RTK base station and control the conditions of the mobile RTK base station in real time.

A method of controlling a mobile RTK base station, comprising the steps of:

(1) activating the console 40 to communicatively connect the mobile RTK base station;

(2) controlling various operations of the aircraft 10 through the general control section 43 of the console 40;

(3) collecting, by the communications part 44 of the console 40, the relevant flight information and relevant positioning information from the mobile RTK base station during movement of the mobile RTK base station; and

(4) generating, by the RTK analysis module 431 of the console 40, a positioning result based on the related positioning information.

Preferably, after the step (4) of the method of controlling a mobile RTK base station, the method further comprises the steps of:

(5) and storing the related flight information and the related positioning information, and calling the information in real time.

Preferably, after the step (4) of the method of controlling a mobile RTK base station, the method further comprises the steps of:

(6) a flight command, an alignment command, or a return command is issued by a flight management part 432 of the control part 40 and sent to the mobile RTK base station by the communication part 44 to control the mobile RTK base station to perform operations.

Preferably, the step (6) of the method of controlling a mobile RTK base station further comprises the steps of:

(61) the flight command is issued by the flight management part 432, and the flight command is sent to the mobile RTK base station by the communication part 44 to control the mobile RTK base station to fly to the target position.

Preferably, the step (6) of the method of controlling a mobile RTK base station further comprises the steps of:

(62) the alignment command is issued by the flight management part 432, which is sent by the communication part 44 to the mobile RTK base station, controlling the mobile RTK base station to align.

Preferably, the step (62) of controlling the method of moving the RTK base station further comprises the steps of:

(621) the RTK20 is in a horizontal state by telescopically adjusting the extension of the telescopic rod 34 and the positioning extension rod 35 of the mobile RTK base station.

Preferably, the step (621) of the method of controlling a mobile RTK base station further comprises the steps of:

(6211) the level sensor 31 senses that the aircraft 10 is in a non-level state, and sends the sensed state to the control part 32, and the control part 32 controls the driving part 33 to drive the telescopic rod 34 to adjust the elongation of at least one of the telescopic rods, so that the aircraft body 11 of the aircraft 10 is in the level state.

Preferably, the step (6211) of controlling the method of moving an RTK base station further comprises the steps of:

(62111) The three telescopic rods are respectively controlled by the driving part 33 to extend downwards into the ground, so that the aircraft body 11 of the aircraft 10 is in the horizontal state.

Preferably, the step (62) of controlling the method of moving the RTK base station further comprises the steps of:

(622) the RTK20 is at a suitable height by extending the positioning rod 35 upwardly.

Preferably, after the step (62) of the method of controlling a mobile RTK base station, further comprising the steps of:

(63) the homing command is issued by the flight management part 432 and is sent to the flight alignment device 30 of the mobile RTK base station and the aircraft 10 through the communication part 44, wherein the aircraft 10 flies to the designated position after the horizontal alignment device 30 is recovered.

Preferably, the step (63) of the method of controlling a mobile RTK base station further comprises the steps of:

(631) after the positioning extension rod 35 is retracted, the telescopic rod 34 is retracted; and

(632) the aircraft 10 is controlled to fly to a specified location.

Optionally, after the step (5) of controlling the mobile RTK base station, the method further includes the following steps:

(7) the positioning results are transmitted from the console 40 to a mobile station 60 so that the mobile station 60 can use or view the movement results. Or, alternatively, generate a positioning result based on the relative positioning information via an RTK analysis module 431 of the console 40, wherein the RTK20 serves as a collecting means for positioning.

Referring to the third preferred embodiment of the mobile RTK base station shown in fig. 6, the implementation of the telescoping rod 34 of the horizontal alignment fixture 30 is different and a new embodiment.

Preferably, the extension bar 34 of the horizontal alignment device 30 includes a rotating part 341 and a bar main body 342. The rotating part 341 extends downward from the main body 11 and is limited by the rod main body 342.

When the level sensor 31 detects that the machine body 11 is in the non-horizontal state and is conductively transmitted to the control portion 32, the control portion 32 analyzes and determines and controls at least one of the driving elements 331 of the driving portion 33 to individually drive the rotating portion 341 to rotate so as to adjust the horizontal state of the machine body 11.

Preferably, each of the driving members 331 controls one of the rotating parts 341 to adjust the extension amount of the telescopic bar 34. In this embodiment, after the rod main body 342 is inserted into the ground to fix the aircraft 10 and the RTK20, the sensing element 311 detects that the main body 11 is in the non-horizontal state and sends the non-horizontal state to the control part 32, and the control part 32 controls each driving element 331 to drive the corresponding rotating part 341 to extend upwards to balance the main body 11, so that each rotating part 341 is adjusted and controlled separately without mutual influence.

The present embodiment is different from the method of controlling the mobile RTK base of the first preferred embodiment in that the step (6211) further includes the steps of:

(62112) The three telescopic rods are respectively controlled by the driving part 33 to extend upwards, so that the aircraft body 11 of the aircraft 10 is in the horizontal state.

Referring to fig. 7, a perspective view of a fourth embodiment of the mobile RTK base station is shown, wherein the implementation of the horizontal reference part 30 is different and becomes a new embodiment.

Preferably, the telescopic rod 34 further comprises a base 343, the base 343 fixes the rod main body 342 and the rotating part 341 connects the base 343 and the machine main body 11. In other words, the base 343 connects the spinning part 341 and the lever main body 342.

Preferably, the main body 11 is adjusted whether the main body 11 is in the horizontal state by adjusting the elongation of the rotating portion 341, and further, the telescopic rod 34 is operable to adjust the horizontal state of the main body 11 by means of three rotating portions 341.

The present embodiment is different from the method of controlling the mobile RTK base of the first preferred embodiment in that the step (6211) further includes the steps of:

(62113) The three telescopic rods are respectively controlled by the driving part 33 to extend upwards, so that the aircraft body 11 of the aircraft 10 is in the horizontal state.

Referring to fig. 8 to 13, a flight system according to the fifth preferred embodiment of the present invention is disclosed and explained in detail, wherein a flight system 700 includes a control mechanism 710, a flight reference mechanism 720, an RTK730, an interaction mechanism 740, and a storage mechanism 750. Preferably, the control mechanism 710 processes and sends instructions to the flight reference mechanism 720. The flight reference mechanism 720 executes various flight related commands sent by the control mechanism 710, and further the flight reference mechanism 720 executes a flight command, an alignment command, a monitoring command, and a navigation command. The RTK730 positions its position and provides the flight related information to the control mechanism 710. Preferably, the interaction mechanism 740 may receive instructions from a user and provide the flight related information and the positioning related information to the user. The storage mechanism 750 may store various items of the flight related information and the positioning related information for later recall.

Referring to fig. 9, the control mechanism 710 includes a first control module 711, a processing module 712, a command module 713, a first communication module 714, and a program module 715. Preferably, the first control module 711 can communicably receive a command of a user of the first communication module 714. Preferably, the first control module 711 calls a program of the program module 715, controls the processing module 712 to perform analysis processing, controls the instruction module 713 to issue an instruction about a flight or positioning reference, and sends the instruction to the flight reference mechanism 720, the RTK730, the interaction mechanism 740, or the storage mechanism 750 through the first communication module 714.

When the first control module 711 calls a flight program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a flight instruction. Preferably, the command module 713 sends the flight command to the first communication module 714. The flight reference mechanism 720 receives the flight command from the first communication module 714 and performs a flight task.

Preferably, the flight reference 720 flies to a target location.

Preferably, when the first control module 711 calls an alignment procedure of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue an alignment instruction. Preferably, the instruction module 713 sends the align instruction to the first communication module 714. The flight reference mechanism 720 receives the reference command from the first communication module 714 and performs a reference task.

Preferably, the flight reference module 720 adjusts its own level, altitude, etc. for reference purposes.

Preferably, when the first control module 711 calls a navigation program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a navigation instruction. Preferably, the instruction module 713 sends the return instruction to the first communication module 714. The flight reference mechanism 720 receives the return command from the first communication module 714 and performs a return task.

Preferably, the flight reference mechanism 720 invokes a plurality of partial returns.

Preferably, when the first control module 711 calls a positioning reference program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a positioning reference instruction. Preferably, the instruction module 713 sends the positioning reference instruction to the first communication module 714. The RTK mechanism 730 receives the positioning reference command from the first communication module 714 and performs a positioning task.

Preferably, the RTK mechanism 730 sends the information of the positioning to the first communication module 714 of the control mechanism 710.

Preferably, when the first control module 711 calls a monitoring program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a monitoring instruction. Preferably, the instruction module 713 sends the monitoring instruction to the first communication module 714. The flight reference mechanism 720 receives the monitoring command from the first communication module 714 and performs a monitoring task. Preferably, the flight reference mechanism 720 sends the monitored flight related information to the first communication module 714 of the control mechanism 710.

Preferably, when the first control module 711 calls a storage program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a storage instruction. The storage mechanism 750 receives the storage instruction and performs a storage task.

Preferably, when the first control module 711 calls a calling program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a calling instruction. The storage mechanism 750 receives the call instruction and performs a call task, the storage mechanism 750 executes the call task and can conductively send a called storage result to the first communication module 714, under the control of the first control module 711, the first communication module 714 can conductively send the called storage result to the interaction mechanism 740, and the interaction mechanism 740 can be conductively provided to a user.

Preferably, when the first control module 711 calls a storage program of the program module 714, the first control module 711 controls the processing module 712 to analyze and then controls the instruction module 713 to issue a storage instruction. Preferably, the storage mechanism 750 receives the storage instruction and performs a storage task.

Referring to fig. 10, the flight reference mechanism 720 includes a flight module 721, an alignment module 722, a second communication module 723, and a second control module 724. Preferably, the second control module 724 controls the flight module 721 to perform flight tasks, and the second control module 724 controls the alignment module 722 to perform alignment tasks. The second control module 724 controls the flight module 721 and the alignment module 722 to perform a homing task.

Preferably, the second communication module 723 receives commands from the control mechanism 710 and controls the flight module 721 and/or the alignment module 722 to execute the commands.

Preferably, when the second communication module 723 receives the flight instruction from the first communication module 714 of the control mechanism 710, the second communication module 723 sends the second control module 724, and the second control module 724 controls the alignment module 722 to fly to the target position.

Preferably, when the second communication module 723 receives the align command from the first communication module 714 of the control mechanism 710, the second communication module 723 sends to the second control module 724, and the second control module 724 controls the align module 722 to align.

Referring to FIG. 10, the alignment module 722 includes a positioning module 7221, a horizontal alignment module 7222, and a height alignment module 7223. Preferably, the positioning module 7221 performs a positioning task to stably position it at the target position. Preferably, the target location is a field, grass, field, or the like. The positioning module 7221 is extended into the ground of the target location for positioning.

Preferably, under the control of the second control module 724, the horizontal alignment module 7222 receives the alignment task and performs horizontal alignment such that the RTK720 is in a horizontal position.

Preferably, under the control of the second control module 724, the height alignment module 7223 receives the alignment task and performs height direction alignment to adjust the RTK730 to an appropriate height.

Preferably, the first control module 711 of the control mechanism 710 calls the flight procedure and the alignment procedure of the program module, and controls the processing module 712 to analyze and send the instruction module 713 to issue the flight instruction and the alignment instruction, and to be conductively sent to the second communication module 723 of the flight alignment mechanism 720 through the first communication module 714.

Preferably, the second communication module 723 of the flight alignment mechanism 720 receives the flight command and the alignment command and is conductively transmitted to the second control module 724, and the second control module 724 controls the flight module 721 to fly to the target position. The second control module 724 then controls the alignment module 722 to align. Preferably, the positioning unit 7221 of the alignment module 722 is extended into the ground of the target position for positioning, and the horizontal alignment unit 7222 performs horizontal alignment so that the RTK730 is in the horizontal state. The height alignment module 7223 raises the RTK730 in a suitable position.

Referring to FIG. 11, the RTK730 includes a positioning reference module 731 and a third communication module 732. Preferably, the third communication module 732 and the control mechanism 710 are communicatively coupled. The positioning reference module 731 receives information of the third communication module 732.

Preferably, the third communication module 732 of the RTK730 receives the positioning reference command of the control mechanism 710 and communicably transmits the positioning reference command to the positioning reference module 731, the positioning reference module 731 positions its position and transmits the positioning information to the third communication module 732, and the third communication module 732 communicably transmits the positioning information to the first communication module 714 of the control mechanism 710.

Preferably, the first control module 711 of the control mechanism 710 calls the stored program of the program module 715, the first control module 711 controls the processing module 712 to perform processing and send the processed stored result to the instruction module 713, and the instruction module 713 sends a storage instruction. Under the control of the first control module 711, the processing module 712 performs analysis and sends the analysis to the instruction module 713, the instruction module 713 issues the storage instruction, and the first communication module 714 sends the positioning information to the storage mechanism 750 for storage.

Optionally, the first control module 711 of the control mechanism 710 calls the call instruction and an output program of the program module 715. Preferably, the first control module 711 controls the processing module 712 to process and send the call and output result to the instruction module 713 for processing, and the instruction module 713 sends a call output instruction, where the storage mechanism 750 executes the call instruction and the interaction mechanism 740 executes the output program. Preferably, under the control of the first control module 711, the first communication module 714 receives the specified positioning information from the storage mechanism 750 and sends the specified positioning information to the interaction mechanism 740 for outputting to the user.

Optionally, the flight reference mechanism 720 includes a monitoring module 725, and the monitoring module 725 is configured to communicatively receive a monitoring command sent by the second communication module 723 to the second control module 724. The monitoring module 725 monitors the flight related information in real time.

More preferably, the monitoring module 725 sends the flight related information to the second communication module 723, and the second communication module 723 sends the flight related information to the first communication module 711 of the control mechanism 710 under the control of the second control module 724, so that the control mechanism 710 receives the flight related information.

Preferably, the flight related information includes a condition of the flight, a surrounding land environment, and the like.

Optionally, the first control module 711 of the control mechanism 710 calls the stored program of the program module 715, the first control module 711 controls the processing module 712 to perform processing and send the processed stored result to the instruction module 713, and the instruction module 713 sends a storage instruction. Under the control of the first control module 711, the first communication module 714 transmits the flight related information to the storage mechanism 750 for storage.

Optionally, the first control module 711 of the control mechanism 710 calls the calling program and the output program of the program module 715, the first control module 711 controls the processing module 712 to process and send the calling and output results to the instruction module 713, the instruction module 713 sends the calling output instruction, wherein the storage mechanism 750 executes the calling instruction, and the interaction mechanism 740 executes the output program. Preferably, under the control of the first control module 711, the first communication module 714 receives the flight related information from the storage mechanism 750 and sends the flight related information to the interaction mechanism 740 for output to the user.

Alternatively, the output may be in a variety of forms, such as video, sound, and the like.

Referring to fig. 12, the storage mechanism 750 includes a calling module 751, a storage module 752, a database 753, and a fourth communication module 754. Preferably, the calling module 751 can call the data of the database 753. The storage module 752 stores data to the database 753. The fourth communication module 754 is communicatively coupled to the control mechanism 710 and communicatively sends data to the calling module 751 and the storage module 752.

Preferably, the fourth communication module 754 of the storage mechanism 750 receives the storage instruction and the data to be stored of the control mechanism 710, and can communicably transmit the storage instruction and the data to be stored to the storage module 752. The storage module 752 stores the storage data in the database 753.

Preferably, the fourth communication module 754 of the storage mechanism 740 can communicably receive the call instruction of the first communication module 711 of the control mechanism 710. The fourth communication module 754 can be communicatively sent to the calling module 751 for the call instruction. Preferably, the calling module 751 receives the calling instruction and calls information to the database 753.

Alternatively, the call instruction may be implemented as an instruction to call the positioning information, call the flight related information, monitor information, and so on.

It will be understood and appreciated by those skilled in the art that the database 753 may be implemented as stored hardware, as other flight systems or RTK systems, and as a cloud.

Preferably, when the first communication module 711 of the control mechanism 710 sends the positioning information and the storage instruction to the storage mechanism 750. The fourth communication module 751 receives the positioning information and the storing instruction and transmits the positioning information and the storing instruction to the storage module 752 in a communication manner, and the storage module 752 executes the storing instruction and stores the positioning information.

Referring to fig. 13, the interaction mechanism 740 includes the input module 741 and the output module 742, and the input module 741 receives various instructions from a user and transmits the instructions to the control mechanism 710 in a conducting manner. Preferably, the control mechanism 710 can send various items of information to the output module 742, and the output module 742 can output the information to a user in a communication manner.

Preferably, the input module 741 can be implemented as various input modes, such as voice, video, text, and the like.

It will be understood and appreciated by those skilled in the art that the output module 742 can be implemented in a variety of ways, such as audio, video, etc.

Preferably, the control mechanism 710, the interaction module 740, and the storage module 750 are implemented as a terminal 40.

Preferably, the flight reference mechanism 720 is implemented as the aircraft 10 and the leveling device 30.

Preferably, the RTK730 is implemented as RTK 20.

Preferably, the flight module 721 of the flight reference mechanism 720 is implemented as the flight component 712. The horizontal alignment module 722 is implemented as the horizontal alignment apparatus 30. The monitoring module 725 may be implemented as the camera 13 and may in turn be operatively implemented.

Those skilled in the art will appreciate that the embodiments of the present invention illustrated in the drawings and described above are merely examples of the invention and not limitations.

It can thus be seen that the objects of the invention have been fully and effectively accomplished. The embodiments have been fully illustrated and described for the purpose of explaining the functional and structural principles of the present invention, and the present invention is not limited by changes based on the principles of these embodiments.

Claims (11)

1. A mobile RTK base station, comprising:

an aircraft, wherein the aircraft comprises a main body and a flying assembly, the flying assembly extends from the main body;

at least one horizontal alignment device, wherein the horizontal alignment device comprises at least three telescopic bars, wherein the telescopic bars are provided to the machine body, and

an RTK, wherein the RTK is configured for loading to the airframe of the aircraft.

2. The mobile RTK base station of claim 1, wherein the RTK is axis-positionally connected to the main body.

3. The mobile RTK base station of claim 1, wherein the horizontal alignment apparatus further comprises a positioning extension bar, wherein the positioning extension bar extends up-lever from the main body and positions the RTK.

4. The mobile RTK base station of claim 1, wherein the horizontal alignment apparatus further comprises a horizontal sensor, wherein the horizontal sensor is horizontally disposed on the main body and senses a horizontal state of the main body.

5. The mobile RTK base station of claim 1, wherein each telescoping rod automatically telescopes to keep the main body horizontal.

6. The mobile RTK base station of claim 3, wherein each of the telescoping rods is individually controlled to telescope to hold the main body level.

7. The mobile RTK base station of claim 3, wherein each of the telescoping rods is earth-stably supported.

8. The mobile RTK base station of claim 3, wherein each said telescoping rod is drivingly extended into the earth to position the RTK.

9. The mobile RTK base station of claim 3, wherein each of the telescoping rods is drivingly extended into the earth to position the RTK, wherein each of the telescoping rods is individually extended and retracted to hold the main body horizontal.

10. A flying system, wherein the flying system comprises:

a control mechanism;

a flight reference mechanism, wherein said control mechanism controls said flight reference mechanism to perform at least one of the following combinations of flying, aligning, positioning, and homing;

an RTK, wherein the flight reference mechanism carries the RTK and holds the RTK horizontal in an operating state; and

an interaction mechanism, wherein the interaction mechanism sends a command from a user or provides information to a user.

11. The flying system of claim 10, wherein the flying reference mechanism comprises a flying module and an alignment module, wherein the flying module effects flight, wherein the alignment module RTK aligns a horizontal state of the RTK.

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