An unmanned aerial vehicle intelligent base station for mine low-altitude inspection

Abstract

The utility model discloses an unmanned plane intelligent base station for mine low altitude inspection, including electrical box and cabin, the periphery of electrical box is provided around cabin, and is fixed on the peripheral wall of electrical box, one tray that rotates around electrical box is installed in the cabin close to the bottom side, and the tray is driven with drive arrangement and thus realizes automatic rotation, a plurality of parking aprons are arranged on the tray at equal angles, and the center of the parking apron is embedded with the charging coil assembly of wireless charging device, and the baffle ring is arranged in the parking apron, the top of cabin is provided with the automatic sealing door of upper opening in the position of one of the parking apron, the top of cabin is installed with RTK reference station, is located in the different position of cabin inner wall, and a plurality of UWB anchor point equipment are installed with different height dispersion, the utility model discloses the cabin of surrounding structure, the tray of rotation type, can load multiple unmanned planes at a time, and the utility model discloses the mode of taking turns charging can realize the sustained patrol of unmanned plane to mine low altitude through the group flying.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) base station technology, and in particular to an intelligent UAV base station for low-altitude inspection of mines. Background Technology

[0002] Low-altitude mine inspection (typically referring to the use of drones and other low-altitude aircraft for mine inspection and monitoring) is of great significance. It is fundamentally changing the traditional operation and management model of mines. Low-altitude inspection, by replacing personnel with drones to enter these high-risk areas, achieves "human-machine separation," minimizing the possibility of accidents and fundamentally ensuring the safety of personnel. Drone inspections are far faster than manual inspections. Inspection tasks that previously required hours or even days to complete on foot (such as inspecting an entire mining area or spoil heap) can be completed by drones in ten minutes to an hour, and are not limited by terrain.

[0003] However, most current drone base stations are equipped with a single drone. If continuous inspection is required, multiple drone base stations are needed, which is not only costly but also difficult to maintain. Due to the use of multiple separate base stations, it is also difficult to coordinate and network the drones. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an intelligent base station for unmanned aerial vehicles (UAVs) used for low-altitude inspection of mines, so as to solve the technical problems in the background art mentioned above.

[0005] The technical solution of this utility model is as follows:

[0006] A smart UAV base station for low-altitude inspection in mines includes an electrical box and a cabin. The cabin is arranged around the perimeter of the electrical box and fixed to its peripheral wall. A tray that rotates around the electrical box is installed near the bottom of the cabin. The tray is driven by a drive device to achieve automatic rotation. Several landing pads are arranged at equal angles on the tray. A charging coil assembly for a wireless charging device is embedded in the center of each landing pad, and a retaining ring is installed within each landing pad. An automatically sealing door that opens upwards is located on the top of the cabin, corresponding to one of the landing pads. An RTK base station is installed on the top of the cabin, and several UWB anchor point devices are distributed at different positions and heights on the inner wall of the cabin.

[0007] Furthermore, both the cabin and the electrical box are regular polygons, and several trapezoidal facets are machined on the top side of the cabin. Photovoltaic panels are installed on the trapezoidal facets except for the positions on the automatic sealing doors. The photovoltaic panels are connected to the energy storage system inside the electrical box.

[0008] Furthermore, an installation ring is provided on the outer peripheral wall of the electrical box, and a bearing ring is fixed on the outer periphery of the installation ring. The inner ring of the tray is fixed to the outer ring of the bearing ring. An internal gear ring is provided on the upper side of the tray near the inner ring. The internal gear ring is driven by the drive gear of the servo motor, and the servo motor is fixed on the peripheral wall of the electrical box.

[0009] Furthermore, a conductive slip ring is installed between the bottom edge of the outer ring of the tray and the inner side of the bottom wall of the cabin. The conductive slip ring supports the edge of the tray and the wiring connecting the charging coil assembly and the electrical box.

[0010] Furthermore, the bottom of the electrical box is provided with a protruding connecting ring, and the edge of the connecting ring is provided with a screw hole for fixing to the base or bracket.

[0011] The advantages of this utility model are:

[0012] This invention features a wraparound cabin and a rotating tray that can load multiple drones at once. The corresponding drone can be retrieved and released by rotating the tray directly under the automatic sealing door. After retrieval, the drone is automatically charged via a charging coil assembly on the helipad. Employing a combination of remote and near-field guidance, the drone can be guided into the helipad with centimeter-level precision, eliminating the need for mechanical centering devices. This invention enables continuous low-altitude inspection of mines by drones through grouped flight and rotating charging. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0014] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0015] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ;

[0016] Figure 4 This is the front view of the present utility model;

[0017] Figure 5 This is a 3D diagram of the cabin interior;

[0018] Figure 6 for Figure 5 A magnified view of part A in the diagram;

[0019] Figure 7 This is the front view of the cabin.

[0020] In the diagram: 1-Electrical box, 11-Connecting ring, 2-Nacelle, 21-Automatic sealing door, 22-Photovoltaic panel, 3-Tray, 31-Internal gear ring, 32-Hauling pad, 33-Charging coil, 34-Retaining ring, 4-Bearing ring, 41-Mounting ring, 42-Servo motor, 43-Drive gear, 5-Conductive slip ring, 6-UWB anchor point equipment, 7-RTK base station. Detailed Implementation

[0021] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0022] like Figure 1-7 As shown:

[0023] A smart UAV base station for low-altitude inspection in mines includes an electrical box 11 and a cabin 2. The cabin 2 is arranged around the electrical box 11 and fixed to the periphery of the electrical box 11. A tray 3 that rotates around the electrical box 11 is installed near the bottom of the cabin 2. The tray 3 is driven by a drive device to achieve automatic rotation. Several landing pads 32 are arranged at equal angles on the tray 3. A charging coil 33 assembly of a wireless charging device is embedded in the center of each landing pad 32. A retaining ring 34 is provided in each landing pad 32. An upward-opening automatic sealing door 21 is provided on the top of the cabin 2 corresponding to one of the landing pads 32. An RTK base station 7 is installed on the top of the cabin 2. Several UWB anchor point devices 6 are installed at different positions and heights on the inner wall of the cabin 2.

[0024] The main improvement of this invention is the structure of the cabin 2. The cabin 2 adopts a surrounding structure and a rotating tray 3, which can load multiple drones at once. In order to simplify the mechanical structure and increase reliability, this invention only sets up an automatic sealing door 21. The corresponding drone can be recovered and released by rotating the corresponding tray 3 to be directly under the automatic sealing door 21. After recovery, the drone is automatically charged through the charging coil 33 component of the landing pad 32.

[0025] Because a rotating landing pad 32 is used, the traditional mechanical centering device is abandoned. A remote guidance + near-field guidance technical solution is adopted. The UAV automatically positions itself remotely using GNSS (GPS / BeiDou, etc.). By installing an RTK base station 7 on the top of the electrical box 11, it can calculate the GPS error of the current position and send the correction data to the UAV in real time. The UAV uses this data to improve its positioning accuracy to the centimeter level, so that it can fly to a very precise virtual "hovering point". At this time, the automatic sealing door 21 opens and enters the approach guidance.

[0026] After the drone enters the vicinity of the hive, near-field guidance solves the problem that satellite signals such as RTK may be blocked or have insufficient accuracy, and performs the final, absolutely accurate relative positioning. Multiple UWB anchor point devices are deployed inside the base station. The drone carries a UWB tag. By measuring the time of flight (ToF) of the radio signal between the anchor point and the tag, the precise position of the tag is calculated through a multi-point positioning algorithm.

[0027] Using the above combination scheme, the drone can be guided into the landing pad 32 at the centimeter level, thus eliminating the need for a mechanical centering device. Since the landing pad 32 is equipped with charging coil 33 components, it can be used as a sensor for the drone to be positioned. After positioning, the drone is charged by induction, the motor executes a power-off command, and the parking is completed. The retaining ring 34 is mainly set to restrict the drone support and prevent the drone from sliding when the landing pad 32 rotates.

[0028] This invention enables continuous low-altitude inspection of mines by drones. For example, with a flight time of half an hour, each batch requires two drones to cover the entire area. Charging takes three hours, so 12 drones can be carried, launched and retrieved in sequence to achieve continuous inspection. In reality, there will be intervals for inspection, such as once an hour, in which case only 6 drones are needed. If the mine area is large, multiple drones can be launched at once, divided into 2-3 groups, and the intervals or the number of drones can be increased appropriately.

[0029] As an improvement, both the cabin 2 and the electrical box 11 are regular polygons. Several trapezoidal facets are machined on the top side of the cabin 2. Photovoltaic panels 22 are installed on the trapezoidal facets except on the automatic sealing door 21. The photovoltaic panels 22 are connected to the energy storage system in the electrical box 11 and can be charged through the photovoltaic panels 22 for use as supplementary or emergency energy.

[0030] Regarding the installation of tray 3, an installation ring 41 is set on the outer peripheral wall of electrical box 11, and a bearing ring 4 is fixed on the outer periphery of the installation ring 41. The inner ring of tray 3 is fixed to the outer ring of bearing ring 4. An internal gear ring 31 is set on the upper side of tray 3 near the inner ring. The internal gear ring 31 is driven by the drive gear 43 of servo motor 42. Servo motor 42 is fixed on the peripheral wall of electrical box 11. In this way, the rotation of tray 3 can be driven by servo motor 42 driving internal gear ring 31. Servo motor 42 can perform precise angle coding, thereby realizing the precise rotation and positioning of the landing pad 32.

[0031] To increase stability and facilitate circuit transmission, a conductive slip ring 5 is installed between the bottom outer edge of the tray 3 and the inner side of the bottom wall of the cabin 2. The conductive slip ring 5 (existing technology) supports the edge of the tray 3 and the wiring connecting the charging coil 33 assembly and the electrical box 11. For ease of installation, a protruding connecting ring 11 is provided at the bottom of the electrical box 11. The connecting ring 11 has screw holes on its facet for fixing to the base or bracket.

[0032] The main improvement of this invention is to the structure of cabin 2. The other technologies are existing mature technologies, which can be selected or added by those skilled in the art as needed, such as adding a weather station.

[0033] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. A smart base station for unmanned aerial vehicles (UAVs) used for low-altitude inspection in mines, characterized in that: The system includes an electrical control box and a cabin. The cabin is positioned around the electrical control box and fixed to its perimeter. A rotating tray is installed near the bottom of the cabin, driven by a drive mechanism. Several landing pads are positioned at equal angles on the tray, each with a wireless charging coil embedded in its center and a retaining ring. An automatically sealing door opens upwards, corresponding to one of the landing pads, is located on the top of the cabin. An RTK base station is installed on the top of the cabin, and several UWB anchor points are distributed at different heights and positions on the cabin's inner wall.

2. The UAV intelligent base station for low-altitude inspection of mines according to claim 1, characterized in that: Both the cabin and the electrical box are regular polygons. Several trapezoidal facets are machined on the top side of the cabin. Photovoltaic panels are installed on the trapezoidal facets except on the automatic sealing door. The photovoltaic panels are connected to the energy storage system inside the electrical box.

3. The intelligent base station for low-altitude inspection of mines using unmanned aerial vehicles (UAVs) according to claim 2, characterized in that: The outer peripheral wall of the electrical box is provided with a mounting ring, and a bearing ring is fixed on the outer periphery of the mounting ring. The inner ring of the tray is fixed to the outer ring of the bearing ring. An internal gear ring is provided on the upper side of the tray near the inner ring. The internal gear ring is driven by the drive gear of the servo motor. The servo motor is fixed to the peripheral wall of the electrical box.

4. The intelligent UAV base station for low-altitude mine inspection according to claim 3, characterized in that: A conductive slip ring is installed between the bottom edge of the outer ring of the tray and the inner side of the bottom wall of the cabin. The conductive slip ring supports the edge of the tray and the wiring connecting the charging coil assembly and the electrical box.

5. The UAV intelligent base station for low-altitude inspection of mines according to claim 2, characterized in that: The bottom of the electrical box is provided with a protruding connecting ring, and the edge of the connecting ring is provided with a screw hole for fixing to the base or bracket.

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