CN104316899B - A kind of on-air radio pyroelectric monitor intelligent robot - Google Patents

Abstract

The invention discloses a kind of on-air radio pyroelectric monitor intelligent robot, by reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and navigation module are installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and the connection of radio monitoring receiving unit, the reception antenna is connected with radio monitoring receiving unit, the CPU first passes through direction finding and measures radio-signal source place direction, recycle direction finding result that the flight track of body is controlled by flight control modules, the position of radio-signal source is calculated finally by the data further monitored on flight track.The data message that CPU of the present invention is obtained in navigation module no longer carries out transfer by other parts, the time that CPU obtains geographical position residing for on-air radio pyroelectric monitor intelligent robot itself is reduced, and enhances the reliability of this ability.

Description

An intelligent robot for aerial radio monitoring

technical field

The invention relates to the field of aerial radio monitoring, in particular to an aerial radio monitoring intelligent robot which utilizes direction finding results to autonomously plan flight paths to locate signal sources.

Background technique

As a supplement to the traditional monitoring mode, aerial radio monitoring can form a multi-functional modern three-dimensional monitoring network such as remote control, joint direction finding, and key monitoring on the existing monitoring network, which will realize full-frequency, full-service, Full-time and all-round monitoring coverage, so as to comprehensively improve the level of technical management. The biggest difference between aerial monitoring and previous monitoring methods is the need for the use of carriers suitable for aerial monitoring flights, and different monitoring activities have different requirements for the types of monitoring carriers used in terms of the needs, nature and budget of monitoring tasks ;According to the current application scenarios of air monitoring tasks, air monitoring tasks can be divided into major activity support tasks, emergency response tasks and daily inspection tasks.

Air radio monitoring has great advantages, because when radio waves propagate on the ground, they will become chaotic due to refraction, reflection, and diffraction of various media; while air propagation has almost no reflection and directness, so the radio waves obtained through air monitoring The direction and position of the signal source are often very accurate; secondly, the air monitoring position changes rapidly, and it can be quickly switched from one point to another to perform three-dimensional intersection multi-point positioning. The position accuracy obtained in this way is very high, so the air platform There is an increasing need for radio monitoring.

At present, there are very few devices and methods for monitoring radio using aerial robots in my country. The control of aerial robots is mostly in the remote control stage of the ground station. The existing aerial radio monitoring platforms include: manned fixed-wing aircraft, manned single-rotor helicopter, single-rotor unmanned helicopter, and airship. Autonomous direction finding and positioning signal source in the air.

The hub airports in the United States have long been equipped with manned fixed-wing aircraft-borne radio monitoring systems, and China also put it into use in 2010, with a cost of more than tens of millions of RMB. Since the flight cost is more than hundreds of thousands of yuan each time, and it cannot hover and wait; the fixed-wing aircraft not only has a very high manufacturing cost, but also a very high flight cost. Task.

In 2007, a manned single-rotor helicopter equipped with a radio monitoring system with a cost of more than several million yuan appeared in Shenzhen. The flight cost of the single-rotor helicopter was more than 3,000 yuan per hour; the manufacturing cost was high, and the flight cost was also high.

In 2011, an airship radio monitoring system appeared in Yunnan. Although the airship is safe, the flight cost is relatively high. The cost of each helium filling is usually more than 10,000 yuan.

In 2012, a single-rotor unmanned helicopter with a cost of more than hundreds of thousands of yuan appeared in China. Although the single-rotor unmanned helicopter has lower manufacturing costs and flight costs than the previous single-rotor helicopters, fixed-wing aircraft and airship radio monitoring systems, However, it has high technical requirements for operators, which is not conducive to popularization and popularization, and is prone to crash accidents, so there is a greater potential safety hazard.

However, there are still common technical problems in the existing aerial radio monitoring technology:

1. The existing aerial radio monitoring system has high manufacturing cost and high flight cost;

2. The existing airborne radio monitoring system is difficult to operate and requires well-trained professional pilots or operators, which is not conducive to promotion and popularization;

3. The existing airborne radio monitoring system has low safety during operation, and it is difficult to take into account the flexibility required for safety and radio monitoring. Once an accident occurs, the loss will be great;

4. The existing airborne radio monitoring system has a complex structure, a huge body, and high storage and maintenance costs.

On June 30, 2014, the applicant applied for a Chinese invention patent with application number 201410303894.1 "An air radio monitoring system based on ground remote control of multi-rotor robots" and a Chinese invention patent with application number 201410304041.X "based on multi-rotor "Airborne Radio Monitoring System for Robots", although the above-mentioned problems have been solved, the following problems still exist:

A. The ground remote control unit is still required to control the multi-rotor robot to perform various flight attitudes and complete radio monitoring tasks in the air, which has high requirements for operators;

B. In recent years, radio monitoring based on aerial robots generally has deficiencies such as high control difficulty, high risk and low level of intelligence, especially in the aspect of autonomous direction finding and planning trajectory in the air, lack of practical and effective means;

C. The existing aerial radio monitoring system still uses the ground remote controller to control the flight path of the UAV, and it is impossible for the multi-rotor robot to independently plan the flight path according to the direction finding results and monitor the radio signal source through the change of the flight path. position.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art, and propose an intelligent robot for aerial radio monitoring. In the present invention, the navigation module is directly connected to the central processing unit, and the data information in the navigation module obtained by the central processing unit is no longer transferred through other components, which reduces the time for the central processing unit to obtain the geographic location of the air radio monitoring intelligent robot itself. And enhance the reliability of this capability.

The present invention adopts following technical scheme to realize:

An aerial radio monitoring intelligent robot is characterized in that it comprises:

airframes for flight;

A flight control module for controlling the flight of the airframe;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for scheduling monitoring tasks, sending flight action instructions to the flight control module, analyzing monitoring data, and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, electronic compass, radio monitoring receiving unit, central processing unit, flight control module and navigation module are all installed on the body, and the central processing unit is connected with the flight control module, navigation module, electronic compass and radio monitoring receiving unit respectively connected, the receiving antenna is connected to the radio monitoring receiving unit, and the central processing unit controls the body through the flight control module; The module controls the flight of the airframe, and finally calculates the position of the radio signal source based on the data measured during the continued flight.

The navigation module is a satellite navigation module.

The receiving antenna transmits the radio signals that need to be monitored to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures the radio signals at different heights The altitude with the strongest radio signal; then conduct direction finding at the height with the strongest radio signal strength to measure the direction of the radio signal source, and the central processing unit uses the direction finding results to control the flight path of the airframe through the flight control module The data measured during the flight calculate the position of the source of the radio signal.

The aerial radio monitoring intelligent robot also includes at least one ranging sensor for avoiding obstacles, the ranging sensor is connected with the central processing unit, and the central processing unit calculates in real time whether the space obstacle is within the flight path of the body through the ranging sensor Above, when the central processing unit calculates that the space obstacle is on the flight path of the airframe, the central processing unit sends the obstacle avoidance information to the flight control module, and the flight control module controls the airframe to avoid the space obstacle. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The aerial radio monitoring intelligent robot also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit automatically corrects the body through the barometer, a gyroscope and an acceleration sensor flight attitude. The barometer is used to measure the flying height of the air radio monitoring intelligent robot and provide height parameters for the control unit; the gyroscope is used to prevent the flight direction deviation of the air radio monitoring intelligent robot when it is subjected to external force, and can be used to maintain the flight direction and keep the flight stable; The acceleration sensor controls the airborne radio to monitor the flight speed of the intelligent robot and controls the flight stability.

The aerial radio monitoring intelligent robot also includes a power sensor for electric quantity detection, and the aerial radio monitoring intelligent robot includes a power supply for powering the aerial radio monitoring intelligent robot, and the power supply is connected with the central processing unit and the electric quantity sensor respectively , the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central processing unit calculates that the current remaining power is only enough to return to the place of departure or an alternate landing point, the central processing unit sends the automatic return or alternate landing information to the flight control module, and the flight control module controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power.

The aerial radio monitoring intelligent robot also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit opens the parachute through the parachute opening unit. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery and data collection of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

The receiving antenna is a directional antenna, the directional antenna is fixedly connected with the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array.

The flight track is to continue flying in the direction of the measured radio signal source, and the flight distance is D1; or the flight track is to continue flying in the direction where the measured radio signal source forms an included angle θ1, and the flight distance is D2 ; or the flight track is to continue flying in the direction of the measured radio signal source, the flight distance is D3, and then continue to fly in the direction of the angle θ2 in the direction of the measured radio signal source, the flight distance is D4.

The radio monitoring receiving unit is a spectrum analyzer and a monitoring receiver.

The central processing unit is a microprocessor that sends flight action instructions to the flight control module, controls the radio monitoring receiving unit to execute the radio monitoring instruction, and processes and stores monitoring data; or the central processing unit controls the radio monitoring receiving unit to execute radio monitoring. Mobile phones, personal digital assistants or tablets that monitor instructions, and process and store monitoring data.

The flight control module is an autopilot.

The weight of the aerial radio monitoring intelligent robot is 6-12 kilograms.

Compared with the prior art, the present invention has the following advantages:

1. The present invention adopts that the navigation module is directly connected with the central processing unit, and the data information obtained by the central processing unit in the navigation module is no longer transferred through other components, which reduces the time for the central processing unit to obtain the geographic location of the air radio monitoring intelligent robot itself. time, and enhances the reliability of this capability.

2. In the present invention, the navigation module can be directly connected to the built-in central processing unit, which effectively utilizes the central processing unit resources; the degree of integration is improved, and the volume of the device is reduced; the central processing unit obtains the data information in the navigation module as an internal call, which reduces the acquisition time Location response time.

3. The present invention adopts an airborne radio monitoring intelligent robot comprising a body, a flight control module, a receiving antenna, an electronic compass, a radio monitoring receiving unit, a central processing unit and a navigation module; no professional operators are required, the operation is simple, the risk is low, and the robot is intelligent. With a high level of automation, the air radio monitoring intelligent robot uses the monitoring results to independently plan the track to locate the position of the signal source, and realizes the intelligent air radio monitoring.

4. The present invention adopts the aerial radio monitoring intelligent robot and also includes at least one ranging sensor for avoiding obstacles, the ranging sensor is connected with the central processing unit, and the central processing unit calculates in real time whether the spatial obstacle is within the range through the ranging sensor. On the flight path of the airframe, when the central processing unit calculates that the space obstacle is on the flight path of the airframe, the central processing unit sends the obstacle avoidance information to the flight control module, and the flight control module controls the airframe to avoid the space obstacle thing. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, and ensure the safe flight of the air radio monitoring intelligent robot.

5. The present invention adopts the air radio monitoring intelligent robot and also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes through the barometer, the gyroscope and the acceleration sensor. The acceleration sensor automatically corrects the flight attitude of the body. The barometer is used to measure the flying height of the air radio monitoring intelligent robot and provide height parameters for the control unit; the gyroscope is used to prevent the flight direction deviation of the air radio monitoring intelligent robot when it is subjected to external force, and can be used to maintain the flight direction and keep the flight stable; The acceleration sensor controls the airborne radio to monitor the flight speed of the intelligent robot and controls the flight stability.

6. The present invention adopts that the aerial radio monitoring intelligent robot also includes an electric quantity sensor for electric quantity detection, and the aerial radio monitoring intelligent robot includes a power supply for supplying power to the airborne radio monitoring intelligent robot, and the power supply is connected with the central processing unit respectively. The unit is connected to the power sensor, and the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central processing unit calculates the current remaining power When it is only enough to return to the departure point or alternate landing point, the central processing unit sends the automatic return or alternate landing information to the flight control module, and the flight control module controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power.

7. The present invention adopts the aerial radio monitoring intelligent robot and also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit is opened by the parachute The unit deploys the parachute. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery and data collection of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

8. In the present invention, the receiving antenna is a directional antenna, the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array. The structure is simple, the operation is convenient, and the manufacturing cost is low.

9. The present invention adopts the flight track to continue flying in the direction of the measured radio signal source, and the flight distance is D1; or the flight track is to continue flying in a direction forming an included angle θ1 in the direction of the measured radio signal source , the flight distance is D2; or the flight track is to continue to fly in the direction of the measured radio signal source, the flight distance is D3, and then continue to fly in the direction where the measured radio signal source forms an included angle θ2, and the flight The distance is D4. The present invention has also adopted above-mentioned 3 kinds of flight paths, by monitoring the position change of air radio monitoring intelligent robot during flight when different flight paths, the radio signal strength level change that air radio monitoring intelligent robot measures and the azimuth of radio signal source Calculate the position of the radio signal source, realize the air radio monitoring intelligent robot to use the direction finding results to plan the track independently to locate the position of the signal source, and realize the intelligent air radio monitoring.

10. In the present invention, the radio monitoring receiving unit is used as a spectrum analyzer or a monitoring receiver. The spectrum analyzer is used to measure the signal spectrum parameters, and can transmit the measurement results to the data interface in a digital way; the monitoring receiver is used to measure the strength, frequency, bandwidth, etc. of the radio signal in the air.

11. In the present invention, the central processing unit is used to control the radio monitoring receiving unit to execute the radio monitoring instruction, and to process and store the monitoring data. It is very convenient for signal processing and parameter analysis; or the central processing unit is to control the radio monitoring The monitoring receiving unit executes radio monitoring instructions, and processes and stores the monitoring data of mobile phones, personal digital assistants or tablet computers. By using mobile phones, personal digital assistants or tablet computers, the air radio monitoring intelligent robot can interact with the control center through the network and provide real-time information. The current monitoring data and environmental information also facilitate the control center to observe the air radio monitoring intelligent robot performing air radio monitoring tasks.

12. The weight of the aerial radio monitoring intelligent robot is 6-12 kilograms, and the weight of the entire aerial radio monitoring intelligent robot is very light compared with airships and helicopters in the prior art, and the cost is low, and the light weight ensures aerial radio monitoring. Intelligent robots can successfully perform aerial radio monitoring tasks, and have low energy consumption, which is especially suitable for promotion and popularization in the field of aerial radio monitoring.

13. The invention has a high degree of intelligence, can automatically avoid obstacles during flight, and can automatically return to flight or alternate landing after the mission is completed.

14. The present invention is different from ground monitoring and direction finding. Radio monitoring in the air not only overcomes the influence of reflection, refraction, diffraction, etc., but also measures and calculates the position of the radio signal source by autonomously planning the track, which is useful for finding abnormalities. The radio signal source provides quick means.

15. The present invention has high flexibility. The invention adopts aerial monitoring, is not blocked by ground obstacles, and is suitable for monitoring in various environments of cities, suburbs or mountains.

14. The monitoring and positioning efficiency of the present invention is high. Different from vehicle-mounted or hand-held direction finding on the ground, because the air radio monitoring intelligent robot takes off and flies faster, there are no road restrictions and traffic jams, and it can naturally avoid the influence of reflection, refraction and diffraction in the air.

16. The present invention improves flight safety and flight efficiency, solves the common problems of difficult control, high risk and low level of intelligence in the prior art, and also solves the existing problems of unmanned airborne radio monitoring. According to the monitoring results, the aircraft cannot independently plan the UAV trajectory to locate the radio signal source.

Description of drawings

Fig. 1 is a schematic structural diagram of an aerial radio monitoring intelligent robot of the present invention.

Fig. 2 is a schematic structural diagram of an aerial radio monitoring intelligent robot according to Embodiment 2 of the present invention.

Fig. 3 is a schematic structural diagram of an aerial radio monitoring intelligent robot according to Embodiment 3 of the present invention.

detailed description

Below in conjunction with accompanying drawing, the present invention is further described:

Example 1:

An aerial radio monitoring intelligent robot, comprising:

airframes for flight;

A flight control module for controlling the flight of the airframe;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for scheduling monitoring tasks, analyzing monitoring data and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, electronic compass, radio monitoring receiving unit, central processing unit, flight control module and navigation module are all installed on the body, and the central processing unit is connected with the flight control module, navigation module, electronic compass and radio monitoring receiving unit respectively connected, the receiving antenna is connected to the radio monitoring receiving unit, and the central processing unit controls the body through the flight control module; The module controls the flight of the airframe, and finally calculates the position of the radio signal source based on the data measured during the continued flight.

During this process, the central control unit constantly sends position information to the flight control unit to ensure the flight according to the planned trajectory.

In the present invention, the receiving antenna is a directional antenna, and the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity.

In the present invention, the flight path includes continuing to fly in the direction of the measured radio signal source, and the flight distance is D1.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a microprocessor that sends flight action instructions to the flight control module, controls the radio monitoring receiving unit to execute the radio monitoring instructions, and processes and stores monitoring data.

In the present invention, the flight control module is an autopilot.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 6 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the described track planning and positioning radio signal source steps, the air radio monitoring intelligent robot measures the radio signal strength level S0 and the direction of the radio signal source at the height H and the position P0, and the air radio monitoring intelligent robot moves along the measured The flight distance D1 in the direction of the radio signal source reaches the position P1, and the air radio monitoring intelligent robot at the height H and position P1 measures the radio signal strength level S1 and the direction; the air radio monitoring intelligent robot is based on the variation S1 of the radio signal strength level - S0 and distance D1, calculate the position PS of the radio signal source according to the radio wave propagation model.

If the direction of the source of the radio signal measured at P1 does not change, then:

Under the free space model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/20]-1 }

Under the plane earth model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/40]-1 }

If the direction of the source of the radio signal measured at P1 changes by 180 degrees, then:

The distance between P1 and the location of the radio signal source under the free space model

= D1/{ [10(S1-S0)/20]+1 }

The distance between P1 and the position of the radio signal source under the plane earth model

= D1/{ [10(S1-S0)/40]+1 }

When the flight height is far greater than the wavelength of the monitored radio wave, the free space model of radio wave propagation is adopted; otherwise, the planar earth model is used.

Example 2:

An aerial radio monitoring intelligent robot, comprising:

airframes for flight;

A flight control module for controlling the flight of the airframe;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for scheduling monitoring tasks, analyzing monitoring data and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, electronic compass, radio monitoring receiving unit, central processing unit, flight control module and navigation module are all installed on the body, and the central processing unit is connected with the flight control module, navigation module, electronic compass and radio monitoring receiving unit respectively connected, the receiving antenna is connected to the radio monitoring receiving unit, and the central processing unit controls the body through the flight control module; The module controls the flight of the airframe, and finally calculates the position of the radio signal source based on the data measured during the continued flight.

In the present invention, the navigation module is a satellite navigation module.

In the present invention, the receiving antenna transmits the received radio signals to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures the radio signals at different heights The height of the strongest radio signal in the signal; and then conduct direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source. The data measured during the process calculates the location of the radio signal source.

During this process, the central control unit constantly sends position information to the flight control unit to ensure the flight according to the planned trajectory.

In the present invention, the aerial radio monitoring intelligent robot also includes five ranging sensors for avoiding obstacles, each of the ranging sensors is connected to the central processing unit, and the central processing unit calculates the spatial obstacles in real time through the five ranging sensors Whether the object is on the flight path of the airframe, when the central processing unit calculates that the space obstacle is on the flight path of the airframe, the central processing unit sends the obstacle avoidance information to the flight control module, and the flight control module controls the airframe to avoid space obstacles. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The distance measuring sensor is an ultrasonic distance measuring sensor.

In the present invention, the air radio monitoring intelligent robot also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes through the barometer, a gyroscope and an acceleration sensor. The sensor automatically corrects the flight attitude of the airframe. The barometer is used to measure the flying height of the air radio monitoring intelligent robot and provide height parameters for the control unit; the gyroscope is used to prevent the flight direction deviation of the air radio monitoring intelligent robot when it is subjected to external force, and can be used to maintain the flight direction and keep the flight stable; The acceleration sensor controls the airborne radio to monitor the flight speed of the intelligent robot and controls the flight stability.

In the present invention, the aerial radio monitoring intelligent robot also includes a power sensor for electric quantity detection, and the aerial radio monitoring intelligent robot includes a power supply for supplying power to the aerial radio monitoring intelligent robot, and the power supply is respectively connected to the central processing unit Connect with the power sensor, the power sensor is connected with the central processing unit, the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is enough to continue flying; when the central processing unit calculates that the current remaining power is only When it is enough to return to the departure point or alternate landing point, the central processing unit sends the automatic return or alternate landing information to the flight control module, and the flight control module controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power.

In the present invention, the receiving antenna is a directional antenna, the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array.

In the present invention, the flight path is to continue to fly in a direction forming an angle θ with the measured direction of the radio signal source, and the flight distance is D2.

In the present invention, the included angle θ is 0 degree<︱θ|<90 degrees.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a mobile phone that sends flight action instructions to the flight control module, controls the radio monitoring receiving unit to execute the radio monitoring instructions, and processes and stores monitoring data.

In the present invention, the flight control module is an autopilot.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 8 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the steps of track planning and locating the radio signal source, the air radio monitoring intelligent robot first measures the direction I where the radio signal source is located at the height H and the position P0, and the air radio monitoring intelligent robot is clipped along the direction I where the radio signal source is located. The flying distance D2 in the direction of angle θ1 reaches the position P3. At the height H and the position P3, the air radio monitoring intelligent robot measures the direction II of the radio signal source; The position PS of the radio signal source is plotted.

Said 0 degree<︱θ1|<90 degrees.

Example 3:

An aerial radio monitoring intelligent robot, comprising:

airframes for flight;

A flight control module for controlling the flight of the airframe;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for scheduling monitoring tasks, analyzing monitoring data and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, electronic compass, radio monitoring receiving unit, central processing unit, flight control module and navigation module are all installed on the body, and the central processing unit is connected with the flight control module, navigation module, electronic compass and radio monitoring receiving unit respectively connected, the receiving antenna is connected to the radio monitoring receiving unit, and the central processing unit controls the body through the flight control module; The module controls the flight of the airframe, and finally calculates the position of the radio signal source based on the data measured during the continued flight.

In the present invention, the navigation module is a satellite navigation module.

In the present invention, the receiving antenna transmits the received radio signals to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures the radio signals at different heights The height of the strongest radio signal in the signal; then perform direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source, and the central processing unit uses the direction finding results to control the flight path of the body through the flight control module, and finally The position of the source of the radio signal is calculated from the data measured during the continuation of the flight.

In the present invention, the aerial radio monitoring intelligent robot also includes three range-finding sensors for avoiding obstacles, each of the range-finding sensors is respectively connected to the central processing unit, and the central processing unit calculates the space in real time through the three range-finding sensors. Whether the obstacle is on the flight path of the airframe, when the central processing unit calculates that the space obstacle is on the flight path of the airframe, the central processing unit sends the obstacle avoidance information to the flight control module, and the flight control module controls the airframe to avoid Open space obstacles. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The ranging sensor is a laser ranging sensor.

In the present invention, the air radio monitoring intelligent robot also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes through the barometer, a gyroscope and an acceleration sensor. The sensor automatically corrects the flight attitude of the airframe. The barometer is used to measure the flying height of the air radio monitoring intelligent robot and provide height parameters for the control unit; the gyroscope is used to prevent the flight direction deviation of the air radio monitoring intelligent robot when it is subjected to external force, and can be used to maintain the flight direction and keep the flight stable; The acceleration sensor controls the airborne radio to monitor the flight speed of the intelligent robot and controls the flight stability.

In the present invention, the aerial radio monitoring intelligent robot also includes a power sensor for electric quantity detection, and the aerial radio monitoring intelligent robot includes a power supply for supplying power to the aerial radio monitoring intelligent robot, and the power supply is respectively connected to the central processing unit Connect with the power sensor, the power sensor is connected with the central processing unit, the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is enough to continue flying; when the central processing unit calculates that the current remaining power is only When it is enough to return to the departure point or alternate landing point, the central processing unit sends the automatic return or alternate landing information to the flight control module, and the flight control module controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power.

The aerial radio monitoring intelligent robot also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit opens the parachute through the parachute opening unit. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery and data collection of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

In the present invention, the receiving antenna is a directional antenna, the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array.

In the present invention, the flight track is to continue flying in the direction where the radio signal source is measured, and the flight distance is D3, and then continue to fly in the direction where the direction of the radio signal source that is measured forms an included angle θ2, and the flight distance is D4.

In the present invention, the included angle θ2 is 0°<|θ2|<90°.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a tablet computer that sends flight action instructions to the flight control module, controls the radio monitoring receiving unit to execute the radio monitoring instructions, and processes and stores monitoring data.

In the present invention, the flight control module is an autopilot.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 12 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the steps of track planning and locating the radio signal source, the air radio monitoring intelligent robot first measures the radio signal strength level S0 and the direction I of the signal source at the height H and the position P0; the air radio monitoring intelligent robot then follows the radio signal In the direction where the source is located, the flying distance D3 reaches the position P4. At the height H and the position P4, the air radio monitoring intelligent robot measures the radio signal strength level S4, and the air radio monitoring intelligent robot then according to the variation of the radio signal strength level S4-S0 Calculate the position PS1 of the radio signal source according to the radio wave propagation model and the distance D3; the air radio monitoring intelligent robot will fly along the direction of the angle θ2 with the direction I where the radio signal source is located to reach the position P5 by flying distance D4, at the height H and the position P5 The air radio monitoring intelligent robot then measures the direction III of the radio signal source, and the air radio monitoring intelligent robot draws the position PS2 of the radio signal source according to the intersection of position P0, direction I, position P5, and direction III; the air radio monitoring intelligent robot will The position PS1 of the radio signal source and the position PS2 of the radio signal source are weighted to obtain a more accurate position PS of the radio signal source.

Preferably, by estimating the angle range of the included angle θ2 through the calculated position PS1 of the radio signal source, the accuracy of cross-drawing positioning can be improved, and a more accurate position PS2 of the radio signal source can be obtained.

Said 30°<|θ2|<60°, the linear distance between P0 and P5 is D5.

If the direction of the radio signal source measured at P4 does not change, then

Under the free space model of radio wave propagation, the distance between P4 and the position PS1 of the radio signal source = D3/{ [10(S4-S0)/20]-1 }

Under the plane earth model of radio wave propagation, the distance between P4 and the position PS1 of the radio signal source = D3/{ [10(S4-S0)/40]-1 }

If the direction of the source of the radio signal measured at P4 changes by 180 degrees, then

In the free space model, the distance between P4 and the position PS1 of the radio signal source

= D3/{ [10(S4-S0)/20]+1 }

Under the plane earth model, the distance between P4 and the position PS1 of the radio signal source

= D3/{[10(S4-S0)/40]+1}.

Example 4:

The difference from Embodiments 1, 2, and 3 is that in the present invention, the airborne radio monitoring intelligent robot also includes a ranging sensor for avoiding obstacles.

The distance measuring sensor is an infrared distance measuring sensor.

Claims (9)

1. An aerial radio monitoring intelligent robot is characterized in that it comprises: airframes for flight; A flight control module for controlling the flight of the airframe; Receiving antennas for acquiring radio signals; An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time; a radio monitoring receiving unit for receiving radio signals; A central processing unit for scheduling monitoring tasks, analyzing monitoring data and recording monitoring data; Navigation module for navigation and self-positioning; The receiving antenna, electronic compass, radio monitoring receiving unit, central processing unit, flight control module and navigation module are all installed on the body, and the central processing unit is connected with the flight control module, navigation module, electronic compass and radio monitoring receiving unit respectively connected, the receiving antenna is connected to the radio monitoring receiving unit, and the central processing unit controls the body through the flight control module; The module controls the flight path of the airframe, and calculates the position of the radio signal source according to the data measured during the continuous flight; The flight track is to continue flying in the direction where the radio signal source is measured, and the flight distance is D1; in the process of planning and positioning the radio signal source in this flight track, the air radio monitoring intelligent robot at the altitude H and the position P0 Measure the radio signal strength level S0 and the direction of the radio signal source, and then the air radio monitoring intelligent robot will fly along the measured direction of the radio signal source to the position P1 at a distance of D1. Get the radio signal strength level S1 and direction; the air radio monitoring intelligent robot calculates the position PS of the radio signal source according to the radio wave propagation model according to the variation S1-S0 of the radio signal strength level and the distance D1; If the direction of the source of the radio signal measured at P1 does not change, then: Under the free space model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/20]-1 } Under the plane earth model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/40]-1 } If the direction of the source of the radio signal measured at P1 changes by 180 degrees, then: The distance between P1 and the location of the radio signal source under the free space model = D1/{ [10(S1-S0)/20]+1 } The distance between P1 and the position of the radio signal source under the plane earth model = D1/{ [10(S1-S0)/40]+1 } When the flight height is much greater than the wavelength of the monitored radio waves, the free space model of radio wave propagation is used; otherwise, the plane earth model is used; Or the flight track is to continue flying in the direction of the measured radio signal source, the flight distance is D3, and then continue to fly in the direction where the measured radio signal source forms an included angle θ2, and the flight distance is D4; In the steps of flight track planning and radio signal source positioning, the air radio monitoring intelligent robot first measures the radio signal strength level S0 and the direction I of the signal source at the height H and position P0; the air radio monitoring intelligent robot then follows the radio signal source The flight distance D3 in direction I reaches position P4, and the air radio monitoring intelligent robot measures the radio signal strength level S4 at the height H and position P4, and the air radio monitoring intelligent robot then according to the variation of the radio signal strength level S4-S0 and The distance D3 calculates the position PS1 of the radio signal source according to the radio wave propagation model; the air radio monitoring intelligent robot then flies along the direction that forms an angle θ2 with the direction I where the radio signal source is located, and reaches the position P5 at a distance D4, and reaches the position P5 at the height H and the position P5. The radio monitoring intelligent robot then measures the direction III of the radio signal source, and then draws the position PS2 of the radio signal source according to the intersection of position P0, direction I, position P5, and direction III; The position PS1 of the signal source and the position PS2 of the radio signal source are weighted to obtain a more accurate position PS of the radio signal source. 2. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: the weight of described aerial radio monitoring intelligent robot is 6-12 kilograms. 3. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: receiving antenna will receive the radio signal that needs monitoring at different heights and transmit to radio monitoring receiving unit; Radio monitoring receiving unit will come from different heights The radio signal strength data is sent to the central processing unit; the central processing unit measures the height of the strongest radio signal among the radio signals at different heights, and then performs direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source; The processing unit uses the direction finding results to control the flight path of the airframe through the flight control module, and finally calculates the position of the radio signal source based on the data measured during the continued flight. 4. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: described aerial radio monitoring intelligent robot also comprises at least one ranging sensor for avoiding obstacles, and described ranging sensor and central processing unit connection, the central processing unit calculates in real time whether the space obstacle is on the flight path of the body through the ranging sensor, and when the central processing unit calculates that the space obstacle is on the flight path of the body, the central processing unit sends the information of avoiding the obstacle to to the flight control module, and the flight control module controls the body to avoid space obstacles. 5. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: described aerial radio monitoring intelligent robot also comprises barometer, gyroscope and accelerometer, and described central processing unit is connected with barometer, gyroscope respectively. The instrument is connected with the accelerometer, and the central processing unit automatically corrects the flight attitude of the body through the barometer, gyroscope and accelerometer. 6. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: described aerial radio monitoring intelligent robot also comprises the electric quantity sensor that is used for electric quantity detection, and described aerial radio monitoring intelligent robot includes for Air radio monitors the power supply of the intelligent robot. The power supply is connected to the central processing unit and the power sensor respectively. The power sensor is connected to the central processing unit. The central processing unit continuously detects the current remaining power of the body through the power sensor and judges Whether the current power is enough to continue the flight; when the central processing unit calculates that the current remaining power is only enough to return to the departure point or the alternate landing point, the central processing unit will send the automatic return or alternate landing information to the flight control module, and the flight control module will control the body Perform automatic return or alternate landing. 7. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: described aerial radio monitoring intelligent robot also comprises parachute opening unit, and parachute opening unit is connected with central processing unit, and described aerial robot is provided with parachute , the parachute is connected with the parachute opening unit, and the central processing unit opens the parachute through the parachute opening unit. 8. A kind of aerial radio monitoring intelligent robot according to claim 1, characterized in that: the receiving antenna is a directional antenna, the directional antenna is fixedly connected with the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the The receiving antenna is a direction finding antenna array. 9. A kind of aerial radio monitoring intelligent robot according to claim 1, is characterized in that: described radio monitoring receiving unit is spectrum analyzer, monitoring receiver; Described central processing unit is to control radio monitoring receiving unit to carry out radio monitoring Instructions, and a microprocessor that processes and stores monitoring data; or the central processing unit executes radio monitoring instructions for controlling the radio monitoring receiving unit, and processes and stores monitoring data of mobile phones, personal digital assistants or tablet computers; the flight control The module is an autopilot; the navigation module is a satellite navigation module.