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Flight platform positioning device and positioning method suitable for inferior working of chimney

A technology of positioning device and flying platform, which is applied in the direction of measurement device, use of re-radiation, re-radiation of sound waves, etc., can solve the problem that the computing power cannot support the visual positioning method and so on.

Active Publication Date: 2018-12-18
CHINA JILIANG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

The computing power of the control system of the drone aircraft is difficult to support the vision-based positioning method

Method used

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  • Flight platform positioning device and positioning method suitable for inferior working of chimney
  • Flight platform positioning device and positioning method suitable for inferior working of chimney
  • Flight platform positioning device and positioning method suitable for inferior working of chimney

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with drawings and embodiments.

[0061] Such as figure 1 As shown, the present invention includes a semi-enclosed space internal operation UAV S1, an auxiliary positioning device S2, a repeater S3 based on a rotor UAV, and a ground monitoring station S4; the semi-enclosed space internal operation UAV S1 is equipped with an auxiliary The positioning device S2, the drone S1 operating inside the semi-enclosed space is connected to the ground monitoring station S4 via the repeater S3. The ground monitoring station S4 can adopt a computer.

[0062] Such as Figure 1-Figure 3 As shown, the unmanned aerial vehicle S1 for internal operation in a semi-enclosed space includes a multi-axis aircraft support 13 and a flight controller 18 installed on the multi-axis aircraft support 13, a flight actuator 17, a power supply system 10, a lower bearing plate 11, and an integrated pan / tilt Camera 12, accelerometer 5,...

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Abstract

The invention discloses a flight platform positioning device and a positioning method suitable for inferior working of a chimney. The flight platform positioning device in the air vertically enters the chimney from the top end of the chimney, and two-dimensional spatial information is obtained by a two-dimensional annular laser radar and four-way ultrasonic sensors; absolute angle information is obtained by an onboard electronic compass, and a two-dimensional plane coordinate point is obtained by fusion solution; first height information is obtained by combining a camera of an integrated holder camera with a known total height of the chimney, second height information is obtained by a barometer, and the first height information and the second height information are fused by an auxiliary positioning processor to obtain an absolute height, thereby obtaining a spatial position. According to the flight platform positioning device and the positioning method suitable for inferior working ofthe chimney, the method is simple and is prone to implement, so that the flight platform positioning device solves positioning problems during the inferior working of the chimney, and has relatively high practical value.

Description

technical field [0001] The invention relates to the field of positioning of unmanned aerial vehicles, in particular to a positioning device and a positioning method for a flying platform suitable for internal operations of chimneys. Background technique [0002] Multi-rotor unmanned aerial vehicle, also known as multi-axis aircraft, is a multi-rotor unmanned aerial vehicle with simple structure and vertical take-off and landing. With its reliable stability, multi-rotor unmanned aerial vehicle is often used for aerial photography and bridge inspection , fixed-point cruise and other scenarios. Using the multi-rotor unmanned aerial vehicle as a platform to carry image acquisition equipment for chimney inner wall corrosion can effectively replace traditional manual inspection methods, which is conducive to improving detection efficiency, reducing personnel risks, and reducing detection costs. [0003] Positioning systems play an important role in mobile platforms such as robots...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/06G01S17/06
CPCG01S15/06G01S17/06G01S15/86G01S17/86
Inventor 郑恩辉陈嘉平王翔宇饶建民汪新露
Owner CHINA JILIANG UNIV
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