CN104316899B - A kind of on-air radio pyroelectric monitor intelligent robot - Google Patents
A kind of on-air radio pyroelectric monitor intelligent robot Download PDFInfo
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- CN104316899B CN104316899B CN201410629726.1A CN201410629726A CN104316899B CN 104316899 B CN104316899 B CN 104316899B CN 201410629726 A CN201410629726 A CN 201410629726A CN 104316899 B CN104316899 B CN 104316899B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 136
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 65
- 230000005611 electricity Effects 0.000 claims description 22
- 230000001133 acceleration Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 19
- 238000002360 preparation method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 6
- 231100000572 poisoning Toxicity 0.000 claims description 5
- 230000000607 poisoning effect Effects 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000001228 spectrum Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000013480 data collection Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010338 mechanical breakdown Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000009401 outcrossing Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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
Technical field
The present invention relates to on-air radio pyroelectric monitor field, it is more particularly to a kind of using direction finding result contexture by self flight path come
The on-air radio pyroelectric monitor intelligent robot of positioning signal source.
Background technology
On-air radio pyroelectric monitor is supplemented as one kind of traditional monitoring pattern, can form long-range in existing monitoring net
The multi-function modern three-dimensional monitoring nets such as control, joint direction finding, emphasis monitoring, can be achieved to institute's administrative area full frequency band, entirely
Business, all the period of time, omnibearing monitoring are covered, so as to General Promotion technology management level.Realize aerial monitoring and conventional prison
The maximum difference of survey mode is to need using cooperatively for carrier suitable for aerial monitoring flight, and different monitoring activities from
The demand of monitoring task, property and budget front also have different requirements to the monitoring bearer type for being used；According to current sky
Aerial monitoring task can be divided into Security ensuring of important activities task, emergency response task by the middle task application scene for undertaking of monitoring
And daily patrol prison task.
On-air radio pyroelectric monitor has big advantage, because radio wave is in overland propagation, can be because a variety of media
Refraction, reflection, diffraction and become disorderly and unsystematic；And airborne spread does not almost reflect, with through property, so by aerial
The radio-signal source direction and position that monitoring is obtained is often very accurate；Secondly, aerial monitoring change in location is fast, Ke Yiyou
One point is rapidly switched to another point, carries out crossings on different level multipoint positioning, and the position precision for so obtaining is very high, so
It is more and more to the demand of aerial platform radio monitoring.
At present, it is also little in the domestic device for utilizing air-robot to be monitored radio of China, method.To aerial
The control of robot is resting on earth station's Remote stage mostly, and existing on-air radio pyroelectric monitor platform has:People drives
Fixed wing aircraft, people drive single-rotor helicopter, single rotor unmanned helicopter, four kinds of dirigible, cannot realize autonomous in the air
DF and location signal source.
The each hub in the U.S. is already equipped with manned fixed wing aircraft and carries radio monitoring system, China also in
Come into operation within 2010, cost is more than tens million of RMB.More than flight cost every time hundreds thousand of units, and can not
Hovering is waited for；So that the fixed wing aircraft not only manufacturing cost is very high, flight cost is also very high, and used as relatively large
Aircraft, needs application air route in advance, is not easy to carry out an urgent task.
There is manned single-rotor helicopter of the cost more than millions of RMB and carries radio in Shenzhen in 2007
Monitoring system, the flight cost of single-rotor helicopter are more a height of more than 3,000 yuan per hour；Manufacturing cost is higher, flight cost
It is higher.
Yunnan occurs in that dirigible radio monitoring system within 2011, although dirigible security is good, but flight cost is higher, often
It is secondary to fill helium expense generally more than 10,000 yuans.
2012 China occur in that single rotor unmanned helicopter of the cost more than hundreds thousand of RMB, although single rotor without
People's helicopter compares manufacturing cost and flight with dirigible radio monitoring system with single-rotor helicopter above, fixed wing aircraft
Cost is relatively low, but which is higher for the technical requirements of operating personnel, is unfavorable for popularizing, and easily occurs falling machine thing
Therefore, there is larger potential safety hazard.
But existing on-air radio pyroelectric monitor technology yet suffers from common technical problem：
1st, existing on-air radio pyroelectric monitor system, manufacturing cost are high, and flight cost is high；
2nd, existing on-air radio pyroelectric monitor system operatio is difficult, needs well-trained technical flight person or operation
Member, is unfavorable for popularizing；
3rd, operationally, security is low for existing on-air radio pyroelectric monitor system, and is difficult to compromise between security and wireless
Flexibility needed for pyroelectric monitor, once there is accident, loses very big；
4th, existing on-air radio pyroelectric monitor system architecture is complicated, and body is huge, and storage and maintenance cost are also high.
Applicant has applied for that on June 30th, 2014 Chinese invention patent of Application No. 201410303894.1 is " a kind of
The China of the on-air radio pyroelectric monitor system based on the ground remote control of many rotor robots " and Application No. 201410304041.X
Patent of invention " the on-air radio pyroelectric monitor systems based on many rotor robots ", although solve the problems referred to above, but also exist
Problems with：
A, still need ground remote control unit to control many rotor robots to perform various flight attitudes, complete wireless in the air
Pyroelectric monitor task, the requirement to operating personnel are higher；
B, the radio monitoring based on air-robot in recent years, generally existing manipulation difficulty is big, risk is high and intelligent
The low deficiency of change level, particularly lacks effective means in terms of the main direction finder station contexture by self flight path in the air；
C, existing on-air radio pyroelectric monitor system are still using ground remote control device controlling the flight track of unmanned plane, nothing
Method realizes many rotor robots according to direction finding result contexture by self flight track and by the change of flight track to aerogram
Number source is positioned.
The content of the invention
It is an object of the invention to overcome the problems referred to above that prior art is present, a kind of on-air radio pyroelectric monitor intelligence is proposed
Robot.Using navigation module is directly connected with CPU, CPU is obtained in navigation module the present invention
Data message no longer carry out transfer by other parts, reduce CPU obtain on-air radio pyroelectric monitor intelligent machine
The time in geographical position residing for device people itself, and enhance the reliability of this ability.
The present invention employs the following technical solutions to realize：
A kind of on-air radio pyroelectric monitor intelligent robot, it is characterised in that include：
For the body of flight；
For controlling the flight control modules of body flight；
For obtaining the reception antenna of radio signal；
For obtaining reception antenna direction, the corresponding azimuthal electronic compass of the direction is obtained in real time；
For receiving the radio monitoring receiving unit of radio signal；
Flare maneuver instruction, Analysis on monitoring data and record are sent for dispatching to monitoring task, to flight control modules
The CPU of Monitoring Data；
For navigation and the navigation module of self poisoning；
The reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and
Navigation module is installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and
Radio monitoring receiving unit connects, and the reception antenna is connected with radio monitoring receiving unit, the CPU
Body is controlled by flight control modules；The CPU first passes through direction finding and measures radio-signal source place direction,
Direction finding result is recycled to control body flight by flight control modules, finally according to the data for continuing to measure in flight course
Calculate the position of radio-signal source.
The navigation module is satellite navigation module.
Reception antenna will receive the radio signal transmission for needing monitoring to radio monitoring reception list in differing heights
Unit；Radio monitoring receiving unit is by the radio signal strength data is activation from differing heights to CPU；In
Central Processing Unit measures the most strong height of radio signal in the radio signal of differing heights；Again in radio signal strength most
Strong height carries out direction finding, measures radio-signal source place direction, and CPU recycles direction finding result by flight
Control module controls the flight track of body, calculates radio-signal source finally according to the data for continuing to measure in flight course
Position.
The on-air radio pyroelectric monitor intelligent robot also is used to hide the distance measuring sensor of obstacle, institute including at least one
State distance measuring sensor to be connected with CPU, CPU calculates spatial obstacle thing in real time by distance measuring sensor is
It is no on the flight track of body, when CPU calculates spatial obstacle thing on the flight track of body, central authorities
Processing unit will be hidden complaint message and be sent to flight control modules, and avoid spatial obstacle by flight control modules control body
Thing.On-air radio pyroelectric monitor intelligent robot can be prevented effectively from and knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent machine
Device people damages, and affects on-air radio pyroelectric monitor task, it is ensured that the safe flight of on-air radio pyroelectric monitor intelligent robot.
The on-air radio pyroelectric monitor intelligent robot also include barometer, gyroscope and acceleration transducer, it is described in
Central Processing Unit is connected with barometer, gyroscope and acceleration transducer respectively, and CPU passes through barometer, gyroscope
With the flight attitude of acceleration transducer autonomous calibration body.Barometer is used to measure on-air radio pyroelectric monitor intelligent robot
Flying height, provides height parameter for control unit；Gyroscope is used to prevent on-air radio pyroelectric monitor intelligent robot by outer
During power, there is deviation in heading, can be used to keep heading, keeps flight stability；Acceleration transducer controls on-air radio
The flying speed of pyroelectric monitor intelligent robot, controls flight stability.
The on-air radio pyroelectric monitor intelligent robot is also included for carrying out the electrical quantity sensor of electric power detection, the sky
Middle radio monitoring intelligent robot includes the power supply for powering for on-air radio pyroelectric monitor intelligent robot, the power supply point
It is not connected with CPU and electrical quantity sensor, the electrical quantity sensor is connected with CPU, the centre
Reason unit persistently detects the current residual electricity of body by electrical quantity sensor, and judges whether current electric quantity continues to fly enough
OK；When CPU calculates current residual electricity to be only sufficient to return to one's starting point or make preparation for dropping, CPU will be from
It is dynamic to make a return voyage or the information of making preparation for dropping is sent to flight control modules, and performed by flight control modules control body and make a return voyage automatically or standby
Drop.On-air radio pyroelectric monitor intelligent robot can be protected and be withdrawn in the very first time, be prevented effectively from on-air radio pyroelectric monitor intelligence
The situation that robot not enough power supply occurs and loses occurs.
The on-air radio pyroelectric monitor intelligent robot also includes parachute opening unit, parachute opening unit and central authorities
Processing unit connects, and the air-robot is provided with parachute, and the parachute is connected with parachute opening unit, and central authorities are processed
Unit is released a parachute by parachute opening unit.Parachute and setting up for parachute opening unit radio can be supervised in the air
Survey intelligent robot and mechanical breakdown when falling, electricity occur when exhausting whereabouts or when whereabouts is hit by unknown object, open drop
The umbrella that falls reduces its sinking speed, safe falling, so as to prevent which from breaking, is easy to returning for on-air radio pyroelectric monitor intelligent robot
Receive and Data Collection, effectively prevent loss of data, moreover it is possible to save aerial monitoring cost.
The reception antenna is directional aerial, and directional aerial and electronic compass are connected, and directional aerial and electronic compass are with phase
Rotate with angular speed；Or the reception antenna is direction estimation antenna array.
The flight track is to continue flight toward the radio-signal source place direction measured, and flying distance is D1；Or fly
Row flight path is that flight is continued in the direction toward the radio-signal source place direction measured into angle theta 1, and flying distance is D2；Again or
Flight track is first to continue flight toward the radio-signal source place direction measured, and flying distance is D3, then wireless toward what is measured
Flight is continued into the direction of angle theta 2 in electric signal source place direction, and flying distance is D4.
The radio monitoring receiving unit is spectrum analyzer, monitoring receiver.
The CPU is to send flare maneuver instruction, control radio monitoring to flight control modules to receive single
Unit performs radio monitoring instruction, and processes and store the microprocessor of Monitoring Data；Or the CPU is control
Radio monitoring receiving unit processed performs radio monitoring instruction, and processes and store the mobile phone of Monitoring Data, individual digital and help
Reason or panel computer.
The flight control modules are automatic pilot.
The weight of the on-air radio pyroelectric monitor intelligent robot is 6-12 kilogram.
The present invention has advantages below compared with prior art：
1st, using navigation module is directly connected with CPU, CPU obtains navigation module to the present invention
In data message no longer carry out transfer by other parts, reduce CPU obtain on-air radio pyroelectric monitor intelligence
The time in geographical position residing for robot itself, and enhance the reliability of this ability.
2nd, navigation module directly built-in CPU connection can be effectively utilized central processing unit money by the present invention
Source；Integrated level is improved, and equipment volume reduces；It is intrinsic call that CPU obtains the data message in navigation module, is contracted
The response time for obtaining flight position is subtracted.
3rd, the present invention is adopted includes that body, flight control modules, reception antenna, electronic compass, radio monitoring receive list
The on-air radio pyroelectric monitor intelligent robot that unit, CPU and navigation module are formed；Professional operator is not needed, is grasped
Control is simple, and risk is low, and intelligent level is high, realizes on-air radio pyroelectric monitor intelligent robot using monitoring result contexture by self
Flight path comes the position of positioning signal source, more realizes intelligentized on-air radio pyroelectric monitor.
4th, the present invention also is used to hide obstacle including at least one using the on-air radio pyroelectric monitor intelligent robot
Distance measuring sensor, the distance measuring sensor are connected with CPU, and CPU is counted in real time by distance measuring sensor
Spatial obstacle thing is calculated whether on the flight track of body, when CPU calculates flight of the spatial obstacle thing in body
When on flight path, the information for hiding obstacle is sent to flight control modules by CPU, and by flight control modules control
Body avoids spatial obstacle thing.On-air radio pyroelectric monitor intelligent robot can be prevented effectively from and knock spatial obstacle thing, it is ensured that be empty
The safe flight of middle radio monitoring intelligent robot.
5th, using the on-air radio pyroelectric monitor intelligent robot, the present invention also includes that barometer, gyroscope and acceleration are passed
Sensor, the CPU are connected with barometer, gyroscope and acceleration transducer respectively, and CPU passes through gas
The flight attitude of pressure meter, gyroscope and acceleration transducer autonomous calibration body.Barometer is used to measure on-air radio pyroelectric monitor
The flying height of intelligent robot, provides height parameter for control unit；Gyroscope is used to prevent on-air radio pyroelectric monitor intelligence
There is deviation in robot heading when by external force, can be used to keep heading, keeps flight stability；Acceleration transducer
The flying speed of control on-air radio pyroelectric monitor intelligent robot, controls flight stability.
6th, the present invention adopts the on-air radio pyroelectric monitor intelligent robot also to include for carrying out the electricity of electric power detection
Sensor, the on-air radio pyroelectric monitor intelligent robot include the electricity for powering for on-air radio pyroelectric monitor intelligent robot
Source, the power supply are connected with CPU and electrical quantity sensor respectively, and the electrical quantity sensor is connected with CPU
Connect, the CPU persistently detects the current residual electricity of body by electrical quantity sensor, and judges that current electric quantity is
It is no to continue flight enough；When CPU calculates current residual electricity to be only sufficient to return to one's starting point or make preparation for dropping, central authorities
Processing unit is maked a return voyage automatically or the information of making preparation for dropping is sent to flight control modules, and is performed certainly by flight control modules control body
It is dynamic to make a return voyage or make preparation for dropping.On-air radio pyroelectric monitor intelligent robot can be protected and be withdrawn in the very first time, be prevented effectively from on-air radio
The situation that pyroelectric monitor intelligent robot not enough power supply occurs and loses occurs.
7th, the present invention also includes parachute opening unit using the on-air radio pyroelectric monitor intelligent robot, and parachute is opened
Open unit to be connected with CPU, the air-robot is provided with parachute, the parachute and parachute opening unit
Connection, CPU are released a parachute by parachute opening unit.Parachute and setting up for parachute opening unit can
There is mechanical breakdown when falling, electricity when exhausting whereabouts or hit by unknown object in radio monitoring intelligent robot in the air
During whereabouts, releasing a parachute reduces its sinking speed, and safe falling, so as to prevent which from breaking, is easy to on-air radio pyroelectric monitor
The recovery of intelligent robot and Data Collection, effectively prevent loss of data, moreover it is possible to save aerial monitoring cost.
8th, the present invention adopt the reception antenna for directional aerial, and directional aerial and electronic compass are connected, directional aerial with
Electronic compass is rotated with same angular velocity；Or the reception antenna is direction estimation antenna array.Simple structure, it is easy to operate, and make
Make low cost.
9th, the present invention adopt the flight track to continue flight toward the radio-signal source place direction measured, flight away from
From for D1；Or flight track is that flight is continued in direction toward the radio-signal source place direction measured into angle theta 1, fly away from
From for D2；Again or flight track is first to continue flight toward the radio-signal source place direction measured, flying distance is D3, then past
Flight is continued into the direction of angle theta 2 in the radio-signal source place direction measured, and flying distance is D4.The present invention is additionally used
Above-mentioned 3 kinds of flight tracks, during by monitoring different flight tracks, during flight, the position of aerial radio monitoring intelligent robot becomes
The change of radio signal strength level and the bearing meter of radio-signal source that change, on-air radio pyroelectric monitor intelligent robot are measured
Calculate radio-signal source position, realize on-air radio pyroelectric monitor intelligent robot using direction finding result contexture by self flight path come
The position of positioning signal source, more realizes intelligentized on-air radio pyroelectric monitor.
10th, the present invention adopts the radio monitoring receiving unit for spectrum analyzer or monitoring receiver.The frequency
Spectrometer is used for the measurement of signal spectrum parameter, measurement result can be sent to data-interface in a digital manner；The monitoring
Receiver is used to measure the intensity of on-air radio electric signal, frequency, bandwidth etc..
11st, the present invention adopts the CPU and refers to control radio monitoring receiving unit execution radio monitoring
Order, and the microprocessor of Monitoring Data is processed and stores, it is very convenient for signal transacting and Parameter analysis；Or the central authorities
Processing unit performs radio monitoring instruction for control radio monitoring receiving unit, and processes and store the hand of Monitoring Data
Machine, personal digital assistant or panel computer, can be by on-air radio pyroelectric monitor using mobile phone, personal digital assistant or panel computer
Intelligent robot carries out interaction with control centre by network, provides the currently monitored data and environmental information in real time, is also convenient for
Control centre performs on-air radio pyroelectric monitor task to on-air radio pyroelectric monitor intelligent robot and observes.
12nd, the weight of the on-air radio pyroelectric monitor intelligent robot is 6-12 kilogram, whole on-air radio pyroelectric monitor intelligence
The weight of energy robot is very light compared with the dirigible, helicopter of prior art, and low cost, and light weight ensure that
On-air radio pyroelectric monitor intelligent robot can smoothly perform on-air radio pyroelectric monitor task, and energy consumption is also low, is particularly suitable in the air
Popularize in radio monitoring field.
13rd, degree of intelligence of the invention is high, in flight course can avoiding obstacles automatically, can also oneself after the completion of task
It is dynamic to make a return voyage or make preparation for dropping.
14th, the present invention be different from ground monitoring direction finding, carry out in the air radio monitoring not only overcome reflection, refraction,
The impact of diffraction etc., moreover it is possible to the position of radio-signal source is measured and calculated by contexture by self flight path, it is different for searching
Normal radio-signal source provides efficiently means.
15th, flexibility of the invention is high.The present invention is not stopped by ground obstacle using monitoring in the air, it is adaptable to
Monitoring under the various environment in city, suburb or mountain region.
14th, monitoring location efficiency of the invention is high.Different from ground on-vehicle formula or hand-held direction finding, due to on-air radio electricity
Monitoring intelligent robot takes off, flying speed is very fast, and no road is limited and traffic jam, and can avoid naturally in the air anti-
Penetrate, reflect, the impact of diffraction.
16th, the present invention improves flight safety and flight efficiency, solves that prior art generally existing manipulation difficulty is big, wind
Danger height and the low problem of intelligent level, while also solving the existing equal nothing of unmanned plane for airborne on-air radio pyroelectric monitor
The difficult problem positioned to radio-signal source according to monitoring result contexture by self unmanned aerial vehicle flight path by method.
Description of the drawings
Fig. 1 is the structural representation of on-air radio pyroelectric monitor intelligent robot of the present invention.
Structural representations of the Fig. 2 for 2 on-air radio pyroelectric monitor intelligent robot of the embodiment of the present invention.
Structural representations of the Fig. 3 for 3 on-air radio pyroelectric monitor intelligent robot of the embodiment of the present invention.
Specific embodiment
The present invention is further detailed with reference to Figure of description：
Embodiment 1：
A kind of on-air radio pyroelectric monitor intelligent robot, including：
For the body of flight；
For controlling the flight control modules of body flight；
For obtaining the reception antenna of radio signal；
For obtaining reception antenna direction, the corresponding azimuthal electronic compass of the direction is obtained in real time；
For receiving the radio monitoring receiving unit of radio signal；
For dispatching to monitoring task, Analysis on monitoring data and record Monitoring Data CPU；
For navigation and the navigation module of self poisoning；
The reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and
Navigation module is installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and
Radio monitoring receiving unit connects, and the reception antenna is connected with radio monitoring receiving unit, the CPU
Body is controlled by flight control modules；The CPU first passes through direction finding and measures radio-signal source place direction,
Direction finding result is recycled to control body flight by flight control modules, finally according to the data for continuing to measure in flight course
Calculate the position of radio-signal source.
In this process, central control unit ceaselessly sends positional information to flight control units, to guarantee by rule
The track flight drawn.
In the present invention, the reception antenna is directional aerial, and directional aerial and electronic compass are connected, directional aerial and electronics
Compass is rotated with same angular velocity.
In the present invention, the flight track includes continuing flight toward the radio-signal source place direction measured, fly away from
From for D1.
In the present invention, the radio monitoring receiving unit is monitoring receiver.
In the present invention, the CPU is to send flare maneuver instruction, control radio to flight control modules
Monitoring receiving unit performs radio monitoring instruction, and processes and store the microprocessor of Monitoring Data.
In the present invention, the flight control modules are automatic pilot.
In the present invention, the weight of the on-air radio pyroelectric monitor intelligent robot is 6 kilograms.
A kind of on-air radio pyroelectric monitor method that the present invention is applied simultaneously using applicant when in use：
The method is comprised the following steps：
1）Input Monitor Connector positional parameter：Monitoring positional parameter includes the Radio signal parameters of needs monitoring, maximum flight
Apart from Dmax, monitoring starting point height Hmin and ceiling altitude Hmax；
2）Find out direction finding height：After lift-off, on-air radio pyroelectric monitor intelligent robot is from monitoring starting point height Hmin and most
Radio signal strength detection, the maximum pair until measuring radio signal strength are carried out continuously between big flying height Hmax
The height H for answering；
3）Trajectory planning and location radio signals source：On-air radio pyroelectric monitor intelligent robot is first measured at the height H
Radio-signal source place direction, on-air radio pyroelectric monitor intelligent robot utilize the radio-signal source place direction measured certainly
Master program flight track, calculates the position of radio-signal source according to the data for continuing to measure in flight course.
In the trajectory planning and location radio signals source step, the on-air radio pyroelectric monitor intelligence at height H, the position P0
Energy robot measures radio signal strength level S0 and radio-signal source place direction, on-air radio pyroelectric monitor intelligence machine
People again along the radio-signal source place direction flying distance D1 in-position P1 that measures, the on-air radio at height H, the position P1
Pyroelectric monitor intelligent robot measures radio signal strength level S1 and direction；On-air radio pyroelectric monitor intelligent robot is according to nothing
Variable quantity S1- S0 of line electrical signal intensity level and apart from D1, extrapolate the position of radio-signal source according to radio waves propagation model
Put PS.
If the radio-signal source direction measured at P1 is constant,：
Under the free space model of radio wave propagation, the distance=D1/ { [10 of the position of P1 and radio-signal source
(S1-S0)/20]-1 }
Under the plane earth model of radio wave propagation, the distance=D1/ { [10 of the position of P1 and radio-signal source
(S1-S0)/40]-1 }
If the radio-signal source direction measured at P1 changes 180 degree,：
Under free space model, the distance of the position of P1 and radio-signal source
= D1/{ [10(S1-S0)/20]+1 }
Under plane earth model, the distance of the position of P1 and radio-signal source
= D1/{ [10(S1-S0)/40]+1 }
When flying height is far longer than monitored electric wave wavelength, using the free space model of radio wave propagation；Otherwise
By plane earth model.
Embodiment 2：
A kind of on-air radio pyroelectric monitor intelligent robot, including：
For the body of flight；
For controlling the flight control modules of body flight；
For obtaining the reception antenna of radio signal；
For obtaining reception antenna direction, the corresponding azimuthal electronic compass of the direction is obtained in real time；
For receiving the radio monitoring receiving unit of radio signal；
For dispatching to monitoring task, Analysis on monitoring data and record Monitoring Data CPU；
For navigation and the navigation module of self poisoning；
The reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and
Navigation module is installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and
Radio monitoring receiving unit connects, and the reception antenna is connected with radio monitoring receiving unit, the CPU
Body is controlled by flight control modules；The CPU first passes through direction finding and measures radio-signal source place direction,
Direction finding result is recycled to control body flight by flight control modules, finally according to the data for continuing to measure in flight course
Calculate the position of radio-signal source.
In the present invention, the navigation module is satellite navigation module.
In the present invention, the radio signal transmission for receiving is received single to radio monitoring in differing heights by reception antenna
Unit；Radio monitoring receiving unit is by the radio signal strength data is activation from differing heights to CPU；In
Central Processing Unit measures the most strong height of radio signal in the radio signal of differing heights；Again in radio signal strength most
Strong height carries out direction finding, measures radio-signal source place direction, and CPU recycles direction finding result by flight
Control module control body flight, calculates the position of radio-signal source finally according to the data for continuing to measure in flight course
Put.
In this process, central control unit ceaselessly sends positional information to flight control units, to guarantee by rule
The track flight drawn.
In the present invention, the on-air radio pyroelectric monitor intelligent robot is also including five range finding sensings for being used to hide obstacle
Device, described each distance measuring sensor are connected with CPU, and CPU is counted in real time by five distance measuring sensors
Spatial obstacle thing is calculated whether on the flight track of body, when CPU calculates flight of the spatial obstacle thing in body
When on flight path, CPU will be hidden complaint message and be sent to flight control modules, and by flight control modules control machine
Body avoids spatial obstacle thing.On-air radio pyroelectric monitor intelligent robot can be prevented effectively from and knock spatial obstacle thing, cause aerial nothing
Line pyroelectric monitor intelligent robot is damaged, and affects on-air radio pyroelectric monitor task, it is ensured that on-air radio pyroelectric monitor intelligent robot
Safe flight.
The distance measuring sensor is ultrasonic distance-measuring sensor.
In the present invention, the on-air radio pyroelectric monitor intelligent robot also includes barometer, gyroscope and acceleration sensing
Device, the CPU are connected with barometer, gyroscope and acceleration transducer respectively, and CPU passes through air pressure
The flight attitude of meter, gyroscope and acceleration transducer autonomous calibration body.Barometer is used to measure on-air radio pyroelectric monitor intelligence
The flying height of energy robot, provides height parameter for control unit；Gyroscope is used to prevent on-air radio pyroelectric monitor intelligent machine
There is deviation in device people heading when by external force, can be used to keep heading, keeps flight stability；Acceleration transducer control
The flying speed of on-air radio pyroelectric monitor intelligent robot processed, controls flight stability.
In the present invention, the on-air radio pyroelectric monitor intelligent robot also includes sensing for the electricity for carrying out electric power detection
Device, the on-air radio pyroelectric monitor intelligent robot include the power supply for powering for on-air radio pyroelectric monitor intelligent robot,
The power supply is connected with CPU and electrical quantity sensor respectively, and the electrical quantity sensor is connected with CPU,
The CPU persistently detects the current residual electricity of body by electrical quantity sensor, and judges whether current electric quantity is sufficient
It is enough to continue flight；When CPU calculates current residual electricity to be only sufficient to return to one's starting point or make preparation for dropping, central authorities are processed
Unit is maked a return voyage automatically or the information of making preparation for dropping is sent to flight control modules, and is returned by flight control modules control body execution automatically
Boat is made preparation for dropping.On-air radio pyroelectric monitor intelligent robot can be protected and be withdrawn in the very first time, be prevented effectively from on-air radio electricity prison
Survey the situation generation that intelligent robot not enough power supply occurs and loses.
In the present invention, the reception antenna is directional aerial, and directional aerial and electronic compass are connected, directional aerial and electronics
Compass is rotated with same angular velocity；Or the reception antenna is direction estimation antenna array.
In the present invention, the flight track is that the direction toward the radio-signal source place direction measured into angle theta is continued
Flight, flying distance is D2.
In the present invention, the angle of the angle theta is 90 degree of 0 degree of ＜ ︱ θ ︱ ＜.
In the present invention, the radio monitoring receiving unit is monitoring receiver.
In the present invention, the CPU is to send flare maneuver instruction, control radio to flight control modules
Monitoring receiving unit performs radio monitoring instruction, and processes and store the mobile phone of Monitoring Data.
In the present invention, the flight control modules are automatic pilot.
In the present invention, the weight of the on-air radio pyroelectric monitor intelligent robot is 8 kilograms.
A kind of on-air radio pyroelectric monitor method that the present invention is applied simultaneously using applicant when in use：
The method is comprised the following steps：
1）Input Monitor Connector positional parameter：Monitoring positional parameter includes the Radio signal parameters of needs monitoring, maximum flight
Apart from Dmax, monitoring starting point height Hmin and ceiling altitude Hmax；
2）Find out direction finding height：After lift-off, on-air radio pyroelectric monitor intelligent robot is from monitoring starting point height Hmin and most
Radio signal strength detection, the maximum pair until measuring radio signal strength are carried out continuously between big flying height Hmax
The height H for answering；
3）Trajectory planning and location radio signals source：On-air radio pyroelectric monitor intelligent robot is first measured at the height H
Radio-signal source place direction, on-air radio pyroelectric monitor intelligent robot utilize the radio-signal source place direction measured certainly
Master program flight track, calculates the position of radio-signal source according to the data for continuing to measure in flight course.
In the trajectory planning and location radio signals source step, the on-air radio pyroelectric monitor intelligence at height H, the position P0
Energy robot first measures radio-signal source place direction I, on-air radio pyroelectric monitor intelligent robot edge and radio-signal source
The direction flying distance D2 in-position P3 of I one-tenth of place direction angle theta 1, the on-air radio pyroelectric monitor intelligence at height H, the position P3
Energy robot measures radio-signal source place direction II；On-air radio pyroelectric monitor intelligent robot is according to position P0, I and of direction
The position PS for drawing radio-signal source is handed in position P3, direction II.
90 degree of 0 degree of ＜ ︱ θ, 1 ︱ ＜.
Embodiment 3：
A kind of on-air radio pyroelectric monitor intelligent robot, including：
For the body of flight；
For controlling the flight control modules of body flight；
For obtaining the reception antenna of radio signal；
For obtaining reception antenna direction, the corresponding azimuthal electronic compass of the direction is obtained in real time；
For receiving the radio monitoring receiving unit of radio signal；
For dispatching to monitoring task, Analysis on monitoring data and record Monitoring Data CPU；
For navigation and the navigation module of self poisoning；
The reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and
Navigation module is installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and
Radio monitoring receiving unit connects, and the reception antenna is connected with radio monitoring receiving unit, the CPU
Body is controlled by flight control modules；The CPU first passes through direction finding and measures radio-signal source place direction,
Direction finding result is recycled to control body flight by flight control modules, finally according to the data for continuing to measure in flight course
Calculate the position of radio-signal source.
In the present invention, the navigation module is satellite navigation module.
In the present invention, the radio signal transmission for receiving is received single to radio monitoring in differing heights by reception antenna
Unit；Radio monitoring receiving unit is by the radio signal strength data is activation from differing heights to CPU；In
Central Processing Unit measures the most strong height of radio signal in the radio signal of differing heights；Again in radio signal strength most
Strong height carries out direction finding, measures radio-signal source place direction, and CPU recycles direction finding result by flight
Control module controls the flight track of body, calculates radio-signal source finally according to the data for continuing to measure in flight course
Position.
In the present invention, the on-air radio pyroelectric monitor intelligent robot is also including three range finding sensings for being used to hide obstacle
Device, described each distance measuring sensor are connected with CPU respectively, and CPU passes through three distance measuring sensor realities
When calculate spatial obstacle thing whether on the flight track of body, when CPU calculates spatial obstacle thing in body
When on flight track, CPU will be hidden complaint message and be sent to flight control modules, and by flight control modules control
Body processed avoids spatial obstacle thing.On-air radio pyroelectric monitor intelligent robot can be prevented effectively from and knock spatial obstacle thing, cause sky
Middle radio monitoring intelligent robot is damaged, and affects on-air radio pyroelectric monitor task, it is ensured that on-air radio pyroelectric monitor intelligent machine
The safe flight of device people.
The distance measuring sensor is laser range sensor.
In the present invention, the on-air radio pyroelectric monitor intelligent robot also includes barometer, gyroscope and acceleration sensing
Device, the CPU are connected with barometer, gyroscope and acceleration transducer respectively, and CPU passes through air pressure
The flight attitude of meter, gyroscope and acceleration transducer autonomous calibration body.Barometer is used to measure on-air radio pyroelectric monitor intelligence
The flying height of energy robot, provides height parameter for control unit；Gyroscope is used to prevent on-air radio pyroelectric monitor intelligent machine
There is deviation in device people heading when by external force, can be used to keep heading, keeps flight stability；Acceleration transducer control
The flying speed of on-air radio pyroelectric monitor intelligent robot processed, controls flight stability.
In the present invention, the on-air radio pyroelectric monitor intelligent robot also includes sensing for the electricity for carrying out electric power detection
Device, the on-air radio pyroelectric monitor intelligent robot include the power supply for powering for on-air radio pyroelectric monitor intelligent robot,
The power supply is connected with CPU and electrical quantity sensor respectively, and the electrical quantity sensor is connected with CPU,
The CPU persistently detects the current residual electricity of body by electrical quantity sensor, and judges whether current electric quantity is sufficient
It is enough to continue flight；When CPU calculates current residual electricity to be only sufficient to return to one's starting point or make preparation for dropping, central authorities are processed
Unit is maked a return voyage automatically or the information of making preparation for dropping is sent to flight control modules, and is returned by flight control modules control body execution automatically
Boat is made preparation for dropping.On-air radio pyroelectric monitor intelligent robot can be protected and be withdrawn in the very first time, be prevented effectively from on-air radio electricity prison
Survey the situation generation that intelligent robot not enough power supply occurs and loses.
The on-air radio pyroelectric monitor intelligent robot also includes parachute opening unit, parachute opening unit and central authorities
Processing unit connects, and the air-robot is provided with parachute, and the parachute is connected with parachute opening unit, and central authorities are processed
Unit is released a parachute by parachute opening unit.Parachute and setting up for parachute opening unit radio can be supervised in the air
Survey intelligent robot and mechanical breakdown when falling, electricity occur when exhausting whereabouts or when whereabouts is hit by unknown object, open drop
The umbrella that falls reduces its sinking speed, safe falling, so as to prevent which from breaking, is easy to returning for on-air radio pyroelectric monitor intelligent robot
Receive and Data Collection, effectively prevent loss of data, moreover it is possible to save aerial monitoring cost.
In the present invention, the reception antenna is directional aerial, and directional aerial and electronic compass are connected, directional aerial and electronics
Compass is rotated with same angular velocity；Or the reception antenna is direction estimation antenna array.
In the present invention, the flight track is first to continue flight toward the radio-signal source place direction measured, fly away from
Continue flight into the direction of angle theta 2 from for D3, then the past radio-signal source place direction measured, flying distance is D4.
In the present invention, the angle of the angle theta 2 is 90 degree of 0 degree of 2 ︱ ＜ of ＜ ︱ θ.
In the present invention, the radio monitoring receiving unit is monitoring receiver.
In the present invention, the CPU is to send flare maneuver instruction, control radio to flight control modules
Monitoring receiving unit performs radio monitoring instruction, and processes and store the panel computer of Monitoring Data.
In the present invention, the flight control modules are automatic pilot.
In the present invention, the weight of the on-air radio pyroelectric monitor intelligent robot is 12 kilograms.
A kind of on-air radio pyroelectric monitor method that the present invention is applied simultaneously using applicant when in use：
The method is comprised the following steps：
1）Input Monitor Connector positional parameter：Monitoring positional parameter includes the Radio signal parameters of needs monitoring, maximum flight
Apart from Dmax, monitoring starting point height Hmin and ceiling altitude Hmax；
2）Find out direction finding height：After lift-off, on-air radio pyroelectric monitor intelligent robot is from monitoring starting point height Hmin and most
Radio signal strength detection, the maximum pair until measuring radio signal strength are carried out continuously between big flying height Hmax
The height H for answering；
3）Trajectory planning and location radio signals source：On-air radio pyroelectric monitor intelligent robot is first measured at the height H
Radio-signal source place direction, on-air radio pyroelectric monitor intelligent robot utilize the radio-signal source place direction measured certainly
Master program flight track, calculates the position of radio-signal source according to the data for continuing to measure in flight course.
In the trajectory planning and location radio signals source step, the on-air radio pyroelectric monitor intelligence at height H, the position P0
Energy robot first measures radio signal strength level S0 and signal source place direction I；On-air radio pyroelectric monitor intelligent robot
Again along I flying distance D3 in-position P4 of radio-signal source place direction, the on-air radio pyroelectric monitor at height H, the position P4
Intelligent robot measures radio signal strength level S4, and on-air radio pyroelectric monitor intelligent robot is strong further according to radio signal
The variable quantity S4-S0 for the spending level and position PS1 for extrapolating radio-signal source apart from D3 according to radio waves propagation model；Aerial nothing
Line pyroelectric monitor intelligent robot is again along the direction flying distance D4 in-position with I one-tenth of the direction in radio-signal source place angle theta 2
P5, on-air radio pyroelectric monitor intelligent robot measures radio-signal source place direction III again at height H, the position P5, in the air
Radio monitoring intelligent robot draws the position of radio-signal source further according to the friendship of position P0, direction I and position P5, direction III
Put PS2；On-air radio pyroelectric monitor intelligent robot is by the position PS2 of the position PS1 and radio-signal source of radio-signal source
More accurately radio signal source position PS is drawn by weighted calculation.
Preferably, by the position PS1 of the radio-signal source extrapolated estimating the angular range of angle theta 2, Ke Yiti
It is high to hand over the precision for painting positioning, obtain the position PS2 of more accurately radio-signal source.
60 degree of 30 degree of ＜ ︱ θ, 2 ︱ ＜, the air line distance between P0 and P5 are D5.
If the radio-signal source direction measured at P4 is constant,
Under the free space model of radio wave propagation, the distance=D3/ { [10 of the P4 and position PS1 of radio-signal source
(S4-S0)/20]-1 }
Under the plane earth model of radio wave propagation, the distance=D3/ { [10 of the P4 and position PS1 of radio-signal source
(S4-S0)/40]-1 }
If the radio-signal source direction measured at P4 changes 180 degree,
Under free space model, the distance of the P4 and position PS1 of radio-signal source
= D3/{ [10(S4-S0)/20]+1 }
Under plane earth model, the distance of the P4 and position PS1 of radio-signal source
= D3/{ [10(S4-S0)/40]+1 }。
Embodiment 4：
Difference with embodiment 1,2,3 is：In the present invention, the on-air radio pyroelectric monitor intelligent robot is also wrapped
Include a distance measuring sensor for hiding obstacle.
The distance measuring sensor is infrared distance measuring sensor.
Claims (9)
1. a kind of on-air radio pyroelectric monitor intelligent robot, it is characterised in that include：
For the body of flight；
For controlling the flight control modules of body flight；
For obtaining the reception antenna of radio signal；
For obtaining reception antenna direction, the corresponding azimuthal electronic compass of the direction is obtained in real time；
For receiving the radio monitoring receiving unit of radio signal；
For dispatching to monitoring task, Analysis on monitoring data and record Monitoring Data CPU；
For navigation and the navigation module of self poisoning；
The reception antenna, electronic compass, radio monitoring receiving unit, CPU, flight control modules and navigation
Module is installed on body, the CPU respectively with flight control modules, navigation module, electronic compass and wireless
Pyroelectric monitor receiving unit connects, and the reception antenna is connected with radio monitoring receiving unit, and the CPU passes through
Flight control modules control body；The CPU first passes through direction finding and measures radio-signal source place direction, then profit
The flight track of body is controlled by flight control modules with direction finding result, according to the data meter for continuing to measure in flight course
Calculate the position of radio-signal source；
The flight track is to continue flight toward the radio-signal source place direction measured, and flying distance is D1；In the flight
During trajectory planning and location radio signals source, on-air radio pyroelectric monitor intelligent robot is surveyed at height H, the position P0
Go out radio signal strength level S0 and radio-signal source place direction, measure again by edge for on-air radio pyroelectric monitor intelligent robot
Radio-signal source place direction flying distance D1 in-position P1, the on-air radio pyroelectric monitor intelligence at height H, the position P1
Robot measures radio signal strength level S1 and direction；On-air radio pyroelectric monitor intelligent robot is strong according to radio signal
Spend the variable quantity S1- S0 of level and apart from D1, the position PS of radio-signal source is extrapolated according to radio waves propagation model；
If the radio-signal source direction measured at P1 is constant,：
Under the free space model of radio wave propagation, distance=D1/ { [10 (S1- of the position of P1 and radio-signal source
S0)/20]-1 }
Under the plane earth model of radio wave propagation, distance=D1/ { [10 (S1- of the position of P1 and radio-signal source
S0)/40]-1 }
If the radio-signal source direction measured at P1 changes 180 degree,：
Under free space model, the distance of the position of P1 and radio-signal source
= D1/{ [10(S1-S0)/20]+1 }
Under plane earth model, the distance of the position of P1 and radio-signal source
= D1/{ [10(S1-S0)/40]+1 }
When flying height is far longer than monitored electric wave wavelength, using the free space model of radio wave propagation；Otherwise by flat
Face Earth model；
Or flight track is first to continue flight toward the radio-signal source place direction measured, flying distance is D3, then toward measuring
Radio-signal source place direction into angle theta 2 direction continue flight, flying distance is D4；Plan in this flight track
In the step of location radio signals source, on-air radio pyroelectric monitor intelligent robot first measures radio at height H, the position P0
Level of signal strength S0 and signal source place direction I；On-air radio pyroelectric monitor intelligent robot is located along radio-signal source again
I flying distance D3 in-position P4 of direction, on-air radio pyroelectric monitor intelligent robot measures radio at height H, the position P4
Level of signal strength S4, variable quantity S4-S0 of the on-air radio pyroelectric monitor intelligent robot further according to radio signal strength level
With the position PS1 for extrapolating radio-signal source apart from D3 according to radio waves propagation model；On-air radio pyroelectric monitor intelligent robot
Again along the direction flying distance D4 in-position P5 with I one-tenth of the direction in radio-signal source place angle theta 2, in height H, position P5
Place's on-air radio pyroelectric monitor intelligent robot measures radio-signal source place direction III, on-air radio pyroelectric monitor intelligence machine again
People draws the position PS2 of radio-signal source further according to the friendship of position P0, direction I and position P5, direction III；On-air radio electricity prison
Survey intelligent robot the position PS2 of the position PS1 and radio-signal source of radio-signal source is drawn more by weighted calculation
Accurate radio signal source position PS.
2. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The on-air radio
The weight of pyroelectric monitor intelligent robot is 6-12 kilogram.
3. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：Reception antenna will be
Differing heights receive the radio signal transmission for needing to monitor to radio monitoring receiving unit；Radio monitoring receiving unit
By the radio signal strength data is activation from differing heights to CPU；CPU measures differing heights
Radio signal in the most strong height of radio signal, then carry out direction finding in the most strong height of radio signal strength, measure
Radio-signal source place direction；CPU recycles direction finding result that the flight of body is controlled by flight control modules
Flight path, calculates the position of radio-signal source finally according to the data for continuing to measure in flight course.
4. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The on-air radio
Pyroelectric monitor intelligent robot also is used to hide the distance measuring sensor of obstacle, the distance measuring sensor and centre including at least one
Whether reason unit connection, CPU calculate spatial obstacle thing in the flight track of body in real time by distance measuring sensor
On, when CPU calculates spatial obstacle thing on the flight track of body, CPU will hide obstacle
Information be sent to flight control modules, and spatial obstacle thing is avoided by flight control modules control body.
5. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The on-air radio
Pyroelectric monitor intelligent robot also include barometer, gyroscope and acceleration transducer, the CPU respectively with air pressure
The connection of meter, gyroscope and acceleration transducer, CPU pass through the autonomous school of barometer, gyroscope and acceleration transducer
The flight attitude of positive body.
6. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The on-air radio
Pyroelectric monitor intelligent robot is also included for carrying out the electrical quantity sensor of electric power detection, the on-air radio pyroelectric monitor intelligence machine
People includes the power supply for powering for on-air radio pyroelectric monitor intelligent robot, the power supply respectively with CPU and electricity
Quantity sensor connects, and the electrical quantity sensor is connected with CPU, and the CPU passes through electrical quantity sensor
The current residual electricity of body is persistently detected, and judges whether current electric quantity continues flight enough；When CPU is calculated
When going out current residual electricity and being only sufficient to return to one's starting point or make preparation for dropping, CPU is maked a return voyage automatically or the information of making preparation for dropping is sent to
Flight control modules, and maked a return voyage automatically or made preparation for dropping by flight control modules control body execution.
7. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The on-air radio
Pyroelectric monitor intelligent robot also includes parachute opening unit, and parachute opening unit is connected with CPU, the sky
Middle robot is provided with parachute, and the parachute is connected with parachute opening unit, and CPU is opened by parachute
Unit releases a parachute.
8. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The reception antenna
For directional aerial, directional aerial and electronic compass are connected, and directional aerial and electronic compass are rotated with same angular velocity；Or described connect
Receipts antenna is direction estimation antenna array.
9. a kind of on-air radio pyroelectric monitor intelligent robot according to claim 1, it is characterised in that：The radio prison
Survey receiving unit is spectrum analyzer, monitoring receiver；The CPU is held for control radio monitoring receiving unit
Row radio monitoring is instructed, and processes and store the microprocessor of Monitoring Data；Or the CPU is control nothing
Line pyroelectric monitor receiving unit performs radio monitoring instruction, and process and store the mobile phone of Monitoring Data, personal digital assistant or
Panel computer；The flight control modules are automatic pilot；The navigation module is satellite navigation module.
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| CN104316900B (en) * | 2014-11-11 | 2017-02-15 | 成都点阵科技有限公司 | Aerial radio monitoring intelligent robot |
| CN105116933B (en) * | 2015-06-29 | 2017-12-05 | 厦门狄耐克物联智慧科技有限公司 | A kind of unmanned vehicle and the method for preventing unmanned vehicle disengaging control area |
| CN106671138B (en) * | 2016-08-25 | 2023-10-20 | 北京创想智控科技有限公司 | Mobile robot, charging system and charging control method thereof |
| CN108873916A (en) * | 2017-05-11 | 2018-11-23 | 圣速医疗器械江苏有限公司 | A kind of flight control method of intelligent balance aircraft |
| CN108896957A (en) * | 2018-06-29 | 2018-11-27 | 中国民用航空总局第二研究所 | The positioning system and method in a kind of unmanned plane control signal source |
| CN113552535B (en) * | 2021-07-21 | 2024-04-09 | 西安邮电大学 | Radio equipment monitoring method and device |
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| DE102008020534A1 (en) * | 2008-04-24 | 2009-10-29 | Rheinmetall Defence Electronics Gmbh | Manned or unmanned aerial vehicle, in particular a drone, and method for rescuing a manned or unmanned aerial vehicle, in particular a drone |
| CN201464642U (en) * | 2009-06-05 | 2010-05-12 | 成都点阵科技有限公司 | Radio direction-finding system by taking electronic compass as goniometer |
| CN202929383U (en) * | 2012-09-11 | 2013-05-08 | 深圳一电科技有限公司 | Unmanned plane and automatic charging system thereof |
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| CN204422744U (en) * | 2014-11-11 | 2015-06-24 | 西华大学 | A kind of on-air radio pyroelectric monitor intelligent robot |
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