CN211207175U - Autonomous landing system for mine power transmission line inspection unmanned aerial vehicle accurate position and direction - Google Patents

Abstract

The utility model discloses an autonomous landing system of accurate position of unmanned aerial vehicle and direction is patrolled and examined to mine power transmission line, including unmanned aerial vehicle descending system and shut down platform indicating system, unmanned aerial vehicle descending system installs in unmanned aerial vehicle, shut down platform indicating system and install in shutting down the platform, and both pass through radio signal and connect.

Description

Autonomous landing system for mine power transmission line inspection unmanned aerial vehicle accurate position and direction

Technical Field

The utility model belongs to the technical field of the mine power transmission line is patrolled and examined, a mine power transmission line is patrolled and examined autonomic descending system of unmanned aerial vehicle accurate position and direction is related to.

Background

Coal mine resources in China are rich, and coal mines are also main sources of energy production and consumption in China. Ensuring safe mining of coal mines is always a worldwide problem and a key point of research. And the modernization and the intellectualization of energy exploitation can be realized, and safe and reliable power supply can not be provided. In recent years, people begin to use unmanned aerial vehicles to shoot images to patrol power supply lines, so that the patrol efficiency is improved, and the risk coefficient is reduced. Because mine topography is complicated, the power supply line distributes the region extensively and dispersedly, unmanned aerial vehicle airborne battery electric quantity is limited, and whole circuit is patrolled and examined in unable flight once, need independently descend the back of charging, takes off once more and continues to patrol and examine. The unmanned aerial vehicle is required to land on a mobile platform (such as a vehicle) and a narrow area (such as a small bridge) accurately and land according to an appointed landing direction, so that the unmanned aerial vehicle can be accurately connected with a charging interface after landing to realize shutdown and automatic charging. The existing automatic landing control system of the unmanned aerial vehicle is usually completed by adopting an inertial navigation system, a GPS navigation system or a navigation system combined by the inertial navigation system and the GPS navigation system, but when the unmanned aerial vehicle is landed by using the modes, the identification precision of the landing point position is not high enough, and the identification and the control of the landing direction of the unmanned aerial vehicle can not be realized.

Disclosure of Invention

An object of the embodiment of the utility model is to provide a mine power transmission line patrols and examines autonomic descending system of unmanned aerial vehicle accurate position and direction to solve the not high problem of landing point position identification precision of the automatic landing control system of current unmanned aerial vehicle, and the problem of the unable discernment and the control that realize unmanned aerial vehicle landing direction of the automatic landing control system of current unmanned aerial vehicle.

The embodiment of the utility model adopts the technical scheme that the autonomous landing system for the mine power transmission line to inspect the accurate position and direction of the unmanned aerial vehicle consists of an unmanned aerial vehicle landing system for identifying the landing point and the landing direction of the unmanned aerial vehicle and controlling the landing of the unmanned aerial vehicle, and a stop platform indicating system for indicating the landing point position and the landing direction of the unmanned aerial vehicle; unmanned aerial vehicle descending system installs in unmanned aerial vehicle, shuts down platform indicating system and installs in shutting down the platform, and unmanned aerial vehicle descending system is connected through radio signal with shutting down platform indicating system.

Further, unmanned aerial vehicle descending system is by the raspberry group module that is used for handling data and control unmanned aerial vehicle, a Camera module that is used for acquireing landing point position and landing direction information that the platform indicating system that shuts down shows, an IMU module that is used for acquireing unmanned aerial vehicle flight attitude, a GPS module that is used for acquireing the current longitude and latitude positional information of unmanned aerial vehicle, a L ora wireless communication module that is used for carrying out wireless communication with the platform indicating system that shuts down and a laser rangefinder module that is used for acquireing the current altitude information of unmanned aerial vehicle constitute, wherein, Camera module, IMU module, a GPS module and laser rangefinder module respectively with the different input electric connection of raspberry group module, first L ora wireless communication module and raspberry group module both way junction.

Further, the Camera module, the IMU module and the first GPS module are respectively connected with the raspberry pi module through USB interfaces corresponding thereto, the first L ora wireless communication module is connected with the raspberry pi module through a UART interface corresponding thereto, and the laser ranging module is connected with the raspberry pi module through an I2C bus interface corresponding thereto.

Further, Camera module, first L ora wireless communication module and laser rangefinder module are all installed in unmanned aerial vehicle organism platform bottom, raspberry group module, IMU module and first GPS module are all installed at unmanned aerial vehicle organism platform top, wherein, Camera module installs the bottom central point at unmanned aerial vehicle organism platform and its Camera lens is perpendicular downwards, IMU module installs the top central point at unmanned aerial vehicle organism platform and puts, raspberry group module, first GPS module, first L ora wireless communication module and laser rangefinder module are located the different position of unmanned aerial vehicle organism platform respectively, make the unmanned aerial vehicle load more balanced, the flight is more stable.

Further, raspberry pi module installs the front end at the IMU module, first GPS module installs the rear end at the IMU module, first L ora wireless communication module installs the right-hand member at the Camera module, laser rangefinder module installs the left end at the Camera module.

Further, the shutdown platform indication system is composed of an STM32 single chip microcomputer module used for processing data and controlling a L ED dot matrix display module to display an unmanned aerial vehicle landing point position indication graph and a landing direction indication graph, an F L ASH storage module used for storing coded data of the unmanned aerial vehicle landing point position indication graph and the landing direction indication graph, a L ED dot matrix display module used for displaying the unmanned aerial vehicle landing point position indication graph and the landing direction indication graph, a second L ora wireless communication module used for performing wireless communication with an unmanned aerial vehicle landing system and a second GPS module used for acquiring current longitude and latitude position information of the shutdown platform, wherein the second GPS module is electrically connected with an input end of the STM32 single chip microcomputer module, the L ED dot matrix display module is electrically connected with an output end of the STM32 single chip microcomputer module, and the F L ASH storage module and the second L ora wireless communication module are both in bidirectional connection with the STM32 single chip microcomputer module.

Further, F L ASH storage module is connected through the SPI interface rather than corresponding and STM32 single chip microcomputer module, L ED dot matrix display module is connected through GPIO interface rather than corresponding and STM32 single chip microcomputer module, second L ora wireless communication module is connected through the UART interface rather than corresponding and STM32 single chip microcomputer module, second GPS module is connected through the USB interface rather than corresponding and STM32 single chip microcomputer module.

Furthermore, the L ED dot matrix display module comprises a L ED dot matrix display screen, a row driving chip and a column driving chip, the L ED dot matrix display screen comprises n rows and m columns of L ED lamps and is provided with n row lines and m column lines, the input ends of the row driving chip and the column driving chip are electrically connected with different GPIO ports of the STM32 single chip microcomputer module, the output pins of the row driving chip are electrically connected with the n row lines of the L ED dot matrix display screen, and the output pins of the column driving chip are electrically connected with the m column lines of the L ED dot matrix display screen.

Furthermore, the L ED dot matrix display screen is composed of a plurality of 8 × 8 dot matrix display blocks;

and m and n are integral multiples of 8, wherein m is more than or equal to 96, and n is more than or equal to 96.

Furthermore, the row driving chip adopts U L N2803 chips, the column driving chip adopts 74HC595 chips, each 8 × 8 dot matrix display block corresponds to 1 74HC595 chip and 1U L N2803 chip, the output end of each U L N2803 chip is connected with 8 row lines of the 8 × 8 dot matrix display block corresponding to the output end of each U L N2803 chip, the output end of each 74HC595 chip is connected with 8 column lines of the 8 × 8 dot matrix display block corresponding to the output end of each U L N2803 chip, and the input end of each U L N2803 chip is electrically connected with the STM32 single chip microcomputer module (2-1) through a 74HC238 decoder corresponding to the output end of each U L N2803 chip.

The embodiment of the utility model has the advantages that, it indicates the system to shut down through the different instruction figure codes of F L ASH storage module storage, use L ED dot matrix display module to demonstrate different figure and show unmanned aerial vehicle landing point position and landing direction, unmanned aerial vehicle finds the platform initial position of shutting down through first GPS module earlier, combine unmanned aerial vehicle landing point position instruction figure and landing direction instruction figure that L ED dot matrix display module that Camera module acquireed shows again, location L ED dot matrix display module instructs landing point position and landing direction, make unmanned aerial vehicle can carry out the accurate descending according to appointed landing point position and landing direction, and instruct through the figure, can very easy acquireing the concrete position and the landing direction of landing point when unmanned aerial vehicle descends, adapt to complicated landing environment more, make unmanned aerial vehicle's landing point position more accurate, simultaneously can make unmanned aerial vehicle descending charge and retrieve more accurate reliable according to appointed landing direction, unmanned aerial vehicle landing direction discernment and control's function has been realized, the problem that existing unmanned aerial vehicle landing point position discernment precision is not high and the problem of landing direction's of landing direction can's of landing position of landing automatic control.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is the utility model discloses the autonomous landing system's of unmanned aerial vehicle accurate position and direction is patrolled and examined to mine power transmission line block diagram.

Fig. 2 is the utility model discloses unmanned aerial vehicle descending system's schematic structure diagram.

Fig. 3 is a schematic structural diagram of a shutdown platform indication system according to an embodiment of the present invention.

Fig. 4 is the utility model discloses unmanned aerial vehicle's organism platform top structure sketch map.

Fig. 5 is the utility model discloses unmanned aerial vehicle's organism platform bottom structure schematic diagram.

Fig. 6 is a schematic diagram of a landing position indication graph displayed by an L ED dot matrix display module according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a landing direction indication graph displayed by an L ED dot matrix display module according to an embodiment of the present invention.

Fig. 8 is a circuit diagram of a L ED dot-matrix display screen of an L ED dot-matrix display module according to an embodiment of the present invention.

Fig. 9 is a row/column driving circuit diagram of an L ED dot matrix display module according to an embodiment of the present invention.

In the figure, 1, an unmanned aerial vehicle landing system, 1-1, a raspberry pi module, 1-2, a Camera module, 1-3, an IMU module, 1-4, a first GPS module, 1-5, a first L ora wireless communication module, 1-6, a laser ranging module, 2, a shutdown platform indication system, 2-1, an STM32 single-chip microcomputer module, 2-2, an F L ASH storage module, 2-3, L ED dot matrix display module, 2-4, a second L ora wireless communication module, and 2-5, a second GPS module.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The autonomous landing system for the mine power transmission line inspection unmanned aerial vehicle accurate position and direction, as shown in fig. 1, is composed of an unmanned aerial vehicle landing system 1 and a stop platform indicating system 2, wherein the unmanned aerial vehicle landing system 1 is installed in the unmanned aerial vehicle and is mainly used for identifying the landing point position and the landing direction of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to land; shut down platform indicating system 2 and install in shutting down the platform, mainly used clearly indicates out with unmanned aerial vehicle's landing point position and landing direction, and unmanned aerial vehicle descending system 1 is connected through wireless signal with shutting down platform indicating system 2.

The unmanned aerial vehicle landing system 1 is mainly used for acquiring main information of a unmanned aerial vehicle, and mainly used for acquiring the main information of a unmanned aerial vehicle landing system, a unmanned aerial vehicle main control platform, a unmanned aerial vehicle landing system, a unmanned aerial vehicle, and unmanned aerial vehicle landing, and unmanned aerial vehicle, wherein the unmanned aerial vehicle landing, and unmanned aerial vehicle are 1-.

As shown in fig. 2, 4 and 5, a Camera module 1-2, a first L ora wireless communication module 1-5 and a laser ranging module 1-6 are all installed at the bottom of an unmanned aerial vehicle body platform, and the raspberry sending module 1-1, an IMU module 1-3 and a first GPS module 1-4 are all installed at the top of the unmanned aerial vehicle body platform, wherein the Camera module 1-2 is installed at the bottom center of the unmanned aerial vehicle body platform, and a Camera lens thereof is vertically downward, so that ground landing point position and landing direction information can be better shot, the IMU module 1-3 is installed at the top center of the unmanned aerial vehicle body platform, so that a flying posture of the unmanned aerial vehicle can be better sensed, in the embodiment, the laser ranging module 1-6 is installed at the left end of the Camera module 1-2, and the direction thereof is vertically downward, so that the height of the unmanned aerial vehicle from the ground can be more accurately measured, the first L ora wireless communication module 1-5 is installed at the right end of the Camera module 1-2, so that wireless communication with a halt platform indicating system on the ground is more reliable, the first GPS module 1-3 is installed at the back end of the IMU module 1-3, and the first GPS module 1-3 is more reliably located at the front end of the unmanned aerial vehicle body platform, so that the unmanned aerial vehicle body platform and the unmanned aerial vehicle body platform is more stably located, and the unmanned aerial vehicle body module 1-6, so that the unmanned aerial vehicle is more.

The system comprises an unmanned aerial vehicle (UART) 32 single-chip microcomputer module 2-1, an F L ASH storage module 2-2, an L ED dot matrix display module 2-3, a second L ora wireless communication module 2-4 and a second GPS module 2-5, wherein the second GPS module 2-5 is electrically connected with an input end of the STM32 single-chip microcomputer module 2-1, a L ED dot matrix display module 2-3 is electrically connected with an output end of the STM32 single-chip microcomputer module 2-1, the F L ASH storage module 2-2 and the second L ora wireless communication module 2-4 are bidirectionally connected with the STM32 single-chip microcomputer module 2-1, in the embodiment, the F L ASH storage module 2-2 is connected with the STM32 module 2-1 through an SPI interface corresponding to the storage module 2-2, the L ASH storage module 2-3 is connected with the STM32 module 2-1 through a GPIO interface corresponding to the STM32 wireless communication module, the second L ora wireless communication module 2-4 is connected with the STM 462-3 through a USB interface corresponding to indicate a dot matrix display module 2-3, the UART 2-2 graphic display module for displaying the landing position of the UAV landing position and the graphic data of the UAV landing position before the UAV wireless landing indication module, and the graphic display module for the graphic display module, and the graphic module for displaying the landing position of the UAV 465.

As shown in FIG. 3, an STM32 single chip microcomputer module 2-1, an F L ASH storage module 2-2, a L ED dot matrix display module 2-3, a second L ora wireless communication module 2-4 and a second GPS module 2-5 are all installed on a shutdown platform, and the F L ASH storage module 2-2, a L ED dot matrix display module 2-3, a second L ora wireless communication module 2-4 and the second GPS module 2-5 are respectively and correspondingly installed around the STM32 single chip microcomputer module 2-1, so that the reliability of data transmission is improved, and signal transmission interference is reduced.

In this embodiment, a circuit diagram of the L ED dot matrix display module 2-3 is shown in fig. 8, a main body portion of the L ED dot matrix display module 2-3 is a 630 ED dot matrix display screen composed of 144 dot matrix display blocks of 8L according to 12 rows per row, each dot matrix display block of 8L 48 is composed of L ED lamps of 8 rows and 8 columns, so that the whole L ED dot matrix display screen is a square display screen composed of L ED lamp dot matrixes of 96 × 96, the L ED lamp of each dot is turned on and off by the power-on condition of 2 pins, so that the whole L ED dot matrix display screen is turned on and off by 96 row lines and 96 column lines, it should be noted that here, the L ED dot matrix display screen may also be a rectangular display screen composed of 8 × dot matrix display blocks, the specific shape and size (i.e., the number of L ED lamps) of the rectangular display screen are selected according to actual landing requirements, but the 144 dot matrix display blocks of 468 are difficult to land on 12 rows per row, and the unmanned aerial vehicle is difficult to recognize a small size.

The U N2803 chip includes 8 NPN Darlington transistors, which have large output current and high driving capability, and thus is used as a row driving chip of an ED dot matrix display screen, the 74HC595 chip is a shift buffer for serial input and parallel output, which can convert serial data into parallel data, and thus is used as a column driving chip of a 0ED dot matrix display screen, each 8 8 dot matrix display block corresponds to 1 column driving chip 74HC595 and 1 row driving chip U1N 2803, wherein, as shown in FIGS. 8-9, QA-QH pins of each column driving chip 74HC595 are connected to 8 column line pins of its corresponding 8 dot matrix display block, all input terminals of all column driving chips 74HC595 are connected to PB ports and PD ports of STM single chip module 2-1, 1D-8D pins of each row driving chip U2N 2803 are connected to 8 row line pins of its corresponding 8 display block, which are connected to 8 column line pins of its corresponding 8 dot matrix display block, when the STM dot matrix display module is a dot matrix display screen, which is a dot matrix, and is a dot matrix, which is a dot matrix, the dot matrix, which is a dot matrix, and is a dot matrix, which is a dot matrix, the dot matrix, which is a dot matrix, such as a high dot matrix, it is a dot matrix, it is used as a dot matrix, it is high dot matrix, it is a dot matrix, it is a dot matrix, it is.

Specifically, in the embodiment, the raspberry pi module 1-1 adopts a raspberry pi 4B, which has the advantages of small size, strong CPU performance, rich interfaces and the like, and can be conveniently connected with a plurality of sensing modules to read and transmit data, the Camera pi module 1-2 uses a USB4KHDR01 visible light Camera of the acute wegian corporation, which has small volume and high resolution, and can shoot 4K high-definition images, so that a worker can more accurately detect a fault, the first GPS module 1-4 and the second GPS module 2-5 adopt a raspberry pi USB-Port-GPS module, which uses an L-39 module, integrates a CP2102USB chip, which can perform USB communication, L integrates a Patch antenna, which has power consumption and rapid positioning, and the like, the IMU module 1-3 adopts a 9dof Razor IMU sensor, which integrates a three-axis sensor, an accelerometer, a gyroscope and a magnetometer, which have measurement acceleration capability, rotation speed and magnetic field capability, the capability of rotating speed and magnetic field, the capability of rotating speed and positioning, the capability of rotating speed and magnetic field, the unmanned aerial vehicle adopts an ultra-5 wireless communication technology, the characteristics of an ask communication module 3535, a wireless ranging module, which only adopts an asr-35-6-2 r module, a wireless transceiver module, which adopts a wireless transceiver module, which has the characteristics of a wireless transceiver module, which has a wireless transceiver module, which has a wireless transceiver module, a wireless transceiver module, a transceiver module.

When an unmanned aerial vehicle needs to land, charge or land and recover, a raspberry sending module 1-1 controls a first L ora wireless communication module 1-5 to communicate with a parking platform indication system 2 to request landing, an STM32 single chip microcomputer module 2-1 in the parking platform indication system receives an unmanned aerial vehicle landing request signal, acquires longitude and latitude position information of a current parking platform through a second GPS module 2-5, and sends the information to an unmanned aerial vehicle landing system 1 through a second L ora wireless communication module 2-4, when the unmanned aerial vehicle landing system 1 receives the longitude and latitude position information of the parking platform, compares the current unmanned aerial vehicle position information acquired by a first GPS module 1-4 to control the unmanned aerial vehicle to fly above the parking platform, because the acquired position information has a large error, at the moment, accurate landing point pattern information cannot be displayed, the unmanned aerial vehicle sends a request to the parking platform through wireless communication, an STM32 module 2-1 of the parking platform indication system 2 sends the information displaying the accurate landing point pattern landing pattern information to display after receiving the request information displaying the accurate landing point pattern, reads the landing pattern of the landing in a landing F L H storage module 2-2, the landing control module reads the landing pattern of the landing control module, and displays the landing point pattern of the landing control module according to the dot pattern of the Camera head of the Camera model shown in the Camera model No. 7, when the Camera model of the Camera model.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. The autonomous landing system for the mine power transmission line inspection of the accurate position and direction of the unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle landing system (1) for identifying the landing point and the landing direction of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to land and a stop platform indicating system (2) for indicating the landing point position and the landing direction of the unmanned aerial vehicle; unmanned aerial vehicle descending system (1) is installed in unmanned aerial vehicle, shuts down platform indicating system (2) and installs in shutting down the platform, and unmanned aerial vehicle descending system (1) is connected through radio signal with shutting down platform indicating system (2).

2. The autonomous landing system for mine power line inspection of the precise position and direction of the unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle landing system (1) is composed of a raspberry pi module (1-1) for processing data and controlling the unmanned aerial vehicle, a Camera module (1-2) for acquiring landing point position and landing direction information displayed by the parking platform indication system (2), an IMU module (1-3) for acquiring flight attitude of the unmanned aerial vehicle, a first GPS module (1-4) for acquiring current longitude and latitude position information of the unmanned aerial vehicle, a first L ora wireless communication module (1-5) for wirelessly communicating with the parking platform indication system (2), and a laser ranging module (1-6) for acquiring current altitude information of the unmanned aerial vehicle, wherein the Camera module (1-2), the IMU module (1-3), the first GPS module (1-4), and the laser ranging module (1-6) are respectively electrically connected with different inputs of the raspberry pi module (1-1), and the first L ora wireless communication module (1-5) is bidirectionally connected with the raspberry pi module (1-1).

3. The system for automatically descending the accurate position and direction of the unmanned aerial vehicle for mine power line inspection according to claim 2, wherein the Camera module (1-2), the IMU module (1-3) and the first GPS module (1-4) are respectively connected with the raspberry pi module (1-1) through corresponding USB interfaces, the first L ora wireless communication module (1-5) is connected with the raspberry pi module (1-1) through corresponding UART interfaces, and the laser ranging module (1-6) is connected with the raspberry pi module (1-1) through corresponding I2C bus interfaces.

4. The autonomous landing system for mine power line inspection of unmanned aerial vehicle accurate position and direction according to claim 2, wherein the Camera module (1-2), the first L ora wireless communication module (1-5) and the laser ranging module (1-6) are all installed at the bottom of the unmanned aerial vehicle body platform, the raspberry pi module (1-1), the IMU module (1-3) and the first GPS module (1-4) are all installed at the top of the unmanned aerial vehicle body platform, wherein the Camera module (1-2) is installed at the bottom center position of the unmanned aerial vehicle body platform and the Camera lens thereof is vertically downward, the IMU module (1-3) is installed at the top center position of the unmanned aerial vehicle body platform, the raspberry pi module (1-1), the first GPS module (1-4), the first L ora wireless communication module (1-5) and the laser ranging module (1-6) are respectively located at different orientations of the unmanned aerial vehicle body platform, so that the unmanned aerial vehicle is more balanced in load and stable in flight.

5. The autonomous landing system for mine power line inspection unmanned aerial vehicle precise position and direction according to claim 4, wherein the raspberry pi module (1-1) is installed at the front end of the IMU module (1-3), the first GPS module (1-4) is installed at the rear end of the IMU module (1-3), the first L ora wireless communication module (1-5) is installed at the right end of the Camera module (1-2), and the laser ranging module (1-6) is installed at the left end of the Camera module (1-2).

6. The autonomous landing system for mine power transmission line inspection of the accurate position and direction of the unmanned aerial vehicle according to any one of claims 1 to 5, wherein the shutdown platform indication system (2) is composed of an STM32 single chip microcomputer module (2-1) for performing data processing and controlling L ED dot matrix display modules (2-3) to display an unmanned aerial vehicle landing point position indication graph and a landing direction indication graph, an F L ASH storage module (2-2) for storing encoded data of the unmanned aerial vehicle landing point position indication graph and the landing direction indication graph, a L ED dot matrix display module (2-3) for displaying the unmanned aerial vehicle landing point position indication graph and the landing direction indication graph, a second L ora wireless communication module (2-4) for performing wireless communication with the unmanned aerial vehicle landing system (1), and a second GPS module (2-5) for acquiring current longitude and latitude position information of the shutdown platform, wherein the second GPS module (2-5) is electrically connected with an input end of the STM32 module (2-1), a L ED dot matrix display module (2-3) is electrically connected with an STM 3528 module (2-829) and an output end of the STM 862-493 module (23) and a bidirectional communication module (3).

7. The autonomous landing system for mine power transmission line inspection unmanned aerial vehicle accurate position and direction according to claim 6, wherein the F L ASH storage module (2-2) is connected with the STM32 single chip microcomputer module (2-1) through the SPI interface corresponding to the storage module, the L ED dot matrix display module (2-3) is connected with the STM32 single chip microcomputer module (2-1) through the GPIO interface corresponding to the storage module, the second L ora wireless communication module (2-4) is connected with the STM32 single chip microcomputer module (2-1) through the UART interface corresponding to the storage module, and the second GPS module (2-5) is connected with the STM32 single chip microcomputer module (2-1) through the USB interface corresponding to the second GPS module.

8. The autonomous landing system for the accurate position and direction of the mine power transmission line inspection unmanned aerial vehicle according to claim 6, wherein the L ED dot matrix display module (2-3) is composed of a L ED dot matrix display screen, a row driving chip and a column driving chip, the L ED dot matrix display screen is composed of n rows and m columns of L ED lamps and is provided with n row lines and m column lines, input ends of the row driving chip and the column driving chip are electrically connected with different GPIO ports of the STM32 single chip microcomputer module (2-1), output pins of the row driving chip are electrically connected with the n row lines of the L ED dot matrix display screen, and output pins of the column driving chip are electrically connected with the m column lines of the L ED dot matrix display screen.

9. The system for autonomous descent of a mine power line inspection unmanned aerial vehicle in a precise position and direction according to claim 8, wherein the L ED dot matrix display screen is composed of a plurality of 8 × 8 dot matrix display blocks;

and m and n are integral multiples of 8, wherein m is more than or equal to 96, and n is more than or equal to 96.

10. The autonomous landing system for the accurate position and direction of the mine power transmission line inspection unmanned aerial vehicle according to claim 9, wherein the row driving chips are U L N2803 chips, the column driving chips are 74HC595 chips, each 8 × 8 dot matrix display block corresponds to 1 74HC595 chip and 1U L N2803 chip, the output end of each U L N2803 chip is connected with 8 row lines of the 8 × 8 dot matrix display block corresponding to the output end of the U L N2803 chip, the output end of each 74HC595 chip is connected with 8 column lines of the 8 × 8 dot matrix display block corresponding to the output end of the U L N2803 chip, and the input end of each U L N2803 chip is electrically connected with an STM32 single chip microcomputer module (2-1) through a 74HC238 decoder corresponding to the input end of the U L N2803 chip.

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