A UAV anti-fall tracking device and tracking method based on Beidou short message

Abstract

The present invention discloses a Beidou short message-based UAV anti-fall tracking device and tracking method, comprising a UAV body, a UAV control terminal, a UAV parachute mechanism, and a satellite communication positioning terminal. The UAV parachute mechanism can automatically open when the UAV loses control or malfunctions at high altitude, protecting the UAV from damage. The satellite communication positioning terminal contains a positioning module that broadcasts the UAV's position in real time, and regularly sends the UAV's position information to the Beidou short message service platform through the Beidou short message communication module and forwards it to the UAV flight control personnel, thereby informing the UAV of the crash location and enabling UAV tracking. The present invention can solve the problem that existing UAVs cannot be located and tracked in the absence of public network signal coverage, thereby reducing the losses caused by UAV crashes due to loss of control.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV anti-fall tracking device and tracking method based on Beidou short messages. Background Art

[0002] Drones are widely used in power equipment inspections due to their flexibility, convenience, and wide field of view. Existing drones achieve real-time positioning through methods such as GNSS+RTK. However, in areas without public network coverage, if a drone loses control and crashes, its real-time location cannot be transmitted promptly, making it difficult to locate the drone's core image data and the drone itself. Currently, the success rate for locating a crashed drone at an altitude of 100 meters is less than 10%.

[0003] Chinese patent application number CN202211218097.4 discloses a method for tracking a collision avoidance control system during the take-off and landing phases of a land-based plateau UAV. This method provides a method for tracking a collision avoidance control system during the take-off and landing phases of a land-based plateau UAV. Before ascending or descending, the first observation module located on the top of the fuselage or the second observation module at the bottom observes the environment in which the aircraft is about to fly, and identifies obstacles that may collide during subsequent lifting operations. The processing module marks the locations of the obstacles that may collide or circles the range on a three-dimensional map, and avoids them when setting the path. At the same time, the path is further revised to form a final path based on the actual lifting and descending flight trajectory shared by the tracked UAVs. The UAV then performs subsequent lifting and descending flights according to the final path. This method is not suitable for small and medium-sized power inspection UAVs.

[0004] Chinese patent application number CN202220028218.8 discloses a "rotorous-wing drone parachute landing device," which uses a single-chip microcomputer and control mechanism to eject a parachute. However, this structure is relatively large, lacks linkage with the drone's main control system, and is unable to track and locate the drone after a crash. Similar patents, such as Chinese patent application number CN202122368645.9, which discloses a "buffering mechanism for parachuting fixed-wing drones for surveying and investigation," and Chinese patent application number CN202122387436.9, which discloses an "emergency parachute landing device for drones," are unable to locate and track drones in the absence of public network signals. Furthermore, the parachute landing structure is often detached from the drone's main control module, making it difficult to accurately and quickly deploy a parachute to protect the drone. Summary of the Invention

[0005] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a UAV anti-fall tracking device and tracking method based on Beidou short message.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a Beidou short message-based UAV anti-fall tracking device, comprising a UAV body, a control end fixedly arranged on the top of the UAV body, a parachute mechanism arranged on the top of the control end, and the control end connected to a satellite communication positioning terminal.

[0007] As a further solution of the present invention, the parachute mechanism includes a support plate, which is fixedly arranged on the top of the control end, and buffer fixing mechanisms are fixedly arranged on both sides of the support plate. A parachute is arranged on the top of the support plate. Under normal flight operations, the parachute is retracted into the drone fuselage, and the parachute is unfolded when the drone malfunctions and falls.

[0008] As a further solution of the present invention, a support seat is provided in the middle position of the top of the support plate, and a connecting structure is fixedly connected to the top of the support seat. The outer edge ring array of the parachute has a number of traction lines, and the other end of the traction line is fixedly connected to the upper surface of the connecting structure. The connecting structure includes a main control module to control the motor, and the output end of the main control module to control the motor is connected to the parachute cover. The bottom of the parachute cover is fixedly connected to a compression spring, and the other end of the compression spring is fixedly connected to the support seat.

[0009] As a further solution of the present invention, the satellite communication positioning terminal includes a Beidou short message communication module, a positioning module, and a Bluetooth module. The Beidou short message communication module has a built-in Beidou-specific SIM card. The Beidou short message communication module is arranged at the upper end of the support plate, and an antenna is hinged on the outside of the Beidou short message communication module.

[0010] As a further solution of the present invention, a first slide groove is provided on the outside of the Beidou short message communication module, a slide shaft is slidably connected in the first slide groove, a movable rod is rotatably connected to the outside of the slide shaft, the other end of the movable rod is hinged to the antenna, and the antenna is driven to rotate around the fixed end by moving the slide shaft. Grooves that are compatible with the slide shaft are provided at the end of the first slide groove away from the antenna and the middle of the first slide groove.

[0011] As a further solution of the present invention, the buffer fixing mechanism includes a protrusion, a threaded seat, a sliding rod, and a buffer spring. The protrusion is fixedly connected to the support plate. The bottom of the protrusion is fixedly connected to a screw. A second sliding groove is provided at the lower end of the screw. The sliding rod is sleeved in the screw through the second sliding groove. The sliding rod is elastically connected to the inner upper end of the second sliding groove by a buffer spring.

[0012] As a further solution of the present invention, the screw rod passes through the threaded seat and is threadedly connected to the threaded seat. A movable sleeve is provided on the upper end of the threaded seat. The movable sleeve is provided outside the screw rod. A horizontal plate is fixedly connected to the outside of the movable sleeve. Several rubber pads are fixedly provided on the top of the horizontal plate. The top of the horizontal plate is in contact with the drone body.

[0013] A tracking method for a UAV anti-fall tracking device based on Beidou short messages specifically includes the following steps:

[0014] S1: The drone's main control module combines image transmission, data transmission, power system, acceleration sensor, and positioning data to determine that the drone is in a falling or out-of-control state when the drone's descent acceleration is ≥ normal landing acceleration, or when the image transmission and data transmission information determine that the drone is lost, or when the drone's blades or power system malfunction.

[0015] S2: When the drone is in a falling or out-of-control state, the main control module controls the parachute structure control motor to open the parachute cover. The spring structure pops out the parachute and opens it under the action of the air, reducing the drone's falling speed and protecting the drone from crash damage. At the same time, the satellite communication positioning terminal sends the drone position information calculated by the positioning module to the Beidou short message communication module. The typical sending interval of the Beidou short message communication module is 30s.

[0016] S3: The main control module determines whether the drone has landed or is in a missing state. The Beidou short message module regularly sends the drone's location information to the positioning service platform, and informs the pilot of the drone's location through SMS or platform display on the positioning service platform, thereby realizing the tracking of lost drones.

[0017] Compared with the existing technology, the present invention provides a UAV anti-fall tracking device and tracking method based on Beidou short messages, which has the following beneficial effects:

[0018] 1. In the present invention, by providing a parachute mechanism, when an accident occurs to the drone body, the parachute can reduce the descent speed, thereby protecting the drone body and increasing the safety of the drone body.

[0019] 2. In the present invention, a buffer fixing mechanism is provided, and the support plate is installed in the middle of the bottom of the control end. Then, the threaded seat is rotated clockwise to transmit the threaded seat and the screw thread, thereby pushing the movable sleeve to move to the upper end, so that the cross plate cooperates with the rubber pad to fit tightly with the bottom end wall of the drone body, thereby realizing rapid installation and positioning with the drone body. At the same time, when the drone body falls, the slide bar will first contact the ground, and will press the buffer spring to produce deformation, thereby absorbing the impact force during the fall, and increasing the protection of the drone body.

[0020] 3. In the present invention, a satellite communication positioning terminal is provided, and the satellite communication positioning terminal has a built-in Beidou short message communication module, a positioning module, and a Bluetooth module. In normal mode, the APP client is connected to the APP client through Bluetooth to realize RDSS positioning, short message communication, and RNSS positioning functions. The Beidou short message communication module receives and transmits the short message signal of the Beidou satellite through the antenna. The staff controls the Beidou short message communication module through the control panel to perform short message sending and receiving operations, thereby realizing rapid communication operations. The positioning module captures and tracks the short message signals of the Beidou-2 and Beidou-3 satellites, parses and decodes them, and sends them to the control panel. At the same time, a triangular support structure is formed with the antenna through the movable rod to increase the stability of the antenna. In SOS mode, the terminal will actively locate once, and then report the current position information (1 position point) to the set center number at the second frequency and the third frequency respectively. When the set reporting period is reached, a current position information will be sent to the center number at two consecutive frequencies; after the process ends, it will automatically enter the next process and work in a cycle.

[0021] The UAV uses satellite-based services to provide positioning, continuously tracks and observes navigation satellite signals through a ground reference station network, and processes them to form corresponding wide-area and regional differential corrections and integrity information. These corrections are broadcast via geosynchronous orbit satellites and proprietary service platforms, providing high-availability correction data broadcast services under satellite-ground integration. It provides continuous, highly reliable, centimeter-level precision position correction data services with wide-area coverage for various terminals and application systems. Through the Beidou short message channel and high-precision positioning services, it can transmit the location status information of inspection personnel to ensure operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the parachute mechanism of the present invention;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of the buffer fixing mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the partial cross-sectional structure of the buffer fixing mechanism of the present invention;

[0026] Figure 5 This is a schematic diagram of the three-dimensional structure of the satellite communication positioning terminal of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the connection structure in the parachute mechanism of the present invention.

[0028] 1. Control terminal; 2. UAV body; 3. Parachute mechanism; 31. Support plate; 32. Buffer fixing mechanism; 321. Bump; 322. Screw; 323. Threaded seat; 324. Moving sleeve; 325. Horizontal plate; 326. Rubber pad; 327. Slide rod; 328. Buffer spring; 329. Second slide groove; 33. Parachute; 34. Support seat; 35. Connection structure; 351. Parachute cover; 352. Compression spring; 353. Main control module control motor; 36. Tow line; 4. Satellite communication positioning terminal; 41. Beidou short message communication module; 42. First slide groove; 43. Groove; 44. Slide shaft; 45. Movable rod; 46. Antenna DETAILED DESCRIPTION

[0029] In order to further explain the technical solution of the present invention, specific embodiments are described in detail below.

[0030] Example 1

[0031] See also Figure 1 A UAV anti-fall tracking device based on Beidou short messages includes a UAV body 2, a control terminal 1 is fixedly arranged on the top of the UAV body 2, a parachute mechanism 3 is arranged on the top of the control terminal 1, and the control terminal 1 is connected to a satellite communication positioning terminal 4.

[0032] See also Figure 2 The parachute mechanism 3 includes a support plate 31, a buffer fixing mechanism 32, a satellite communication positioning terminal 4, a support seat 34, a connecting structure 35, a traction line 36 and a parachute 33. The support plate 31 is fixedly installed on the top of the control end 1. The buffer fixing mechanisms 32 are fixedly provided on both sides of the support plate 31. The top of the support plate 31 is provided with a parachute 33. Under normal flight operations, the parachute 33 is retracted into the drone fuselage. When the drone malfunctions and falls, the parachute 33 is deployed. The parachute 33 can reduce the descent speed, thereby protecting the drone body 2 and increasing the safety of the drone body 2.

[0033] Combine Figure 6A support seat 34 is provided in the middle position of the top of the support plate 31, and a connecting structure 35 is fixedly connected to the top of the support seat 34. A plurality of traction lines 36 are provided in a circular array on the outer edge of the parachute 33, and the other end of the traction line 36 is fixedly connected to the upper surface of the connecting structure 35. The connecting structure 35 includes a main control module control motor 353, and the output end of the main control module control motor 353 is connected to the parachute cover 351. The bottom of the parachute cover 351 is fixedly connected to a compression spring 352, and the other end of the compression spring 352 is fixedly connected to the support seat 34. When it is identified that the drone is in a falling or out-of-control state, the main control module controls the main control module control motor 353, and opens the parachute cover 351 under the action of the compression spring 352, pops out the parachute 33 and opens it under the action of the air, thereby reducing the falling speed of the drone and protecting the drone from damage due to the crash.

[0034] Example 2

[0035] Combine Figure 5 The satellite communication positioning terminal 4 includes a Beidou short message communication module 41, a positioning module, and a Bluetooth module. The front end of the Beidou short message communication module 41 is provided with a Beidou short message communication serial port and an industrial computer communication serial port. The Beidou short message communication module 41 has a built-in Beidou-specific SIM card. The Beidou short message communication module 41 is arranged at the upper end of the support plate 31, and an antenna 46 is hinged on the outside of the Beidou short message communication module 41.

[0036] A first slide groove 42 is provided on the outside of the Beidou short message communication module 41. The first slide groove 42 is in the shape of a long strip. A sliding shaft 44 is slidably connected in the first slide groove 42. A movable rod 45 is rotatably connected to the outside of the sliding shaft 44. The other end of the movable rod 45 is hinged to the antenna 46. The antenna 46 is driven to rotate around the fixed end by moving the sliding shaft 44. A groove 43 that is compatible with the sliding shaft 44 is provided at the end of the first slide groove 42 away from the antenna 46 and the middle of the first slide groove 42.

[0037] The Beidou short message communication module 41 receives and transmits short message signals from Beidou satellites via antenna 46. In normal power-on mode, the terminal can configure parameters to enable automatic position reporting. This automatic position reporting function takes effect automatically after configuring the relevant parameters, and the parameters are saved upon power failure. This means the terminal will automatically report its position the next time the user turns the terminal on. Parameter configuration is described in the protocol - $CCPRS command. Automatic position reporting by the terminal supports both single-point and multi-point position reporting. This function is executed based on the user's different parameter configurations. For related parsing, refer to the protocol definition. Single-point position reporting: A user reports only one location; multi-point position reporting: A user reports multiple locations.

[0038] Specifically, since the Beidou card level limits the byte capacity of a single communication, when setting up multi-point location reporting, for example, a level 3 card can be set to collect a maximum of 4 location points.

[0039] Since automatic location reporting will occupy the transmission frequency of the device's Beidou card, if the user needs to use both automatic location reporting and communication chat functions in power-on mode, it is recommended to set the automatic location reporting frequency to a lower level to ensure that communication information can be sent in a timely manner.

[0040] The staff controls the Beidou short message communication module 41 through the operation panel to perform short message sending and receiving operations, realizing fast communication operations. The positioning module captures and tracks the short message signals of Beidou-2 and Beidou-3 satellites, parses and decodes them, and sends them to the operation panel. At the same time, a triangular support structure is formed with the antenna 46 through the movable rod 45 to increase the stability of the antenna 46.

[0041] When the antenna 46 is not in use, the sliding shaft 44 is released from the limit of the groove 43 in the middle of the first slide groove 42, and then slides to the left end of the first slide groove 42, so that the antenna 46 swings counterclockwise to retract the antenna 46. At the same time, the sliding shaft 44 is embedded in the groove 43 at the leftmost end of the first slide groove 42 for positioning, which is convenient and quick to use.

[0042] Example 3

[0043] Combine Figure 3 and Figure 4 The buffer fixing mechanism 32 includes a protrusion 321, a threaded seat 323, a sliding rod 327, and a buffer spring 328. The protrusion 321 is fixedly connected to the support plate 31. The bottom of the protrusion 321 is fixedly connected to a screw rod 322. The screw rod 322 is made of carbon steel and has high hardness. A second sliding groove 329 is provided at the lower end of the screw 322. The sliding rod 327 is sleeved in the screw rod 322 through the second sliding groove 329. The sliding rod 327 is slidably connected to the screw 322. The sliding rod 327 is elastically connected to the inner upper end of the second sliding groove 329 by a buffer spring 328.

[0044] The screw 322 passes through the threaded seat 323 and is threadedly connected to the threaded seat 323. A movable sleeve 324 is provided on the upper end of the threaded seat 323. The movable sleeve 324 moves synchronously with the threaded seat 323. The movable sleeve 324 is sleeved on the outside of the screw 322. A horizontal plate 325 is fixedly connected to the outside of the movable sleeve 324. Several rubber pads 326 are fixedly provided on the top of the horizontal plate 325. The rubber pads 326 are cylindrical. The top of the horizontal plate 325 is in contact with the drone body 2.

[0045] By setting up a buffer fixing mechanism 32, the support plate 31 is installed in the middle of the bottom of the control end, and then the threaded seat 323 is rotated clockwise to make the threaded seat 323 and the screw 322 threaded, thereby pushing the movable sleeve 324 to move upward, so that the cross plate 325 cooperates with the rubber pad 326 to fit tightly with the bottom end wall of the drone body 2, thereby achieving rapid installation and positioning with the drone body 2. At the same time, when the drone body 2 falls, the slide bar 327 will first contact the ground, and will press the buffer spring 328 to produce deformation, thereby absorbing the impact force during the fall, and increasing the protection of the drone body 2.

[0046] Example 4

[0047] A tracking method for a UAV anti-fall tracking device based on Beidou short messages, characterized by comprising the following steps:

[0048] S1: The drone's main control module combines image transmission, data transmission, power system, acceleration sensor, and positioning data to determine that the drone is in a falling or out-of-control state when the drone's descent acceleration is ≥ normal landing acceleration, or when the image transmission and data transmission information determine that the drone is lost, or when the drone's blades or power system malfunction.

[0049] S2: When the drone is in a falling or out-of-control state, the main control module controls the parachute structure control motor to open the parachute cover 351, the compression spring 352 pops out the parachute 33 and opens under the action of air, reducing the drone's falling speed and protecting the drone from crash damage. At the same time, the satellite communication positioning terminal 4 sends the drone position information calculated by the positioning module through the Beidou short message communication module 41. The typical sending interval of the Beidou short message communication module 41 is 30s.

[0050] S3: The main control module determines whether the drone has landed or is in a missing state. The Beidou short message module regularly sends the drone's location information to the positioning service platform, and informs the pilot of the drone's location through SMS or platform display on the positioning service platform, thereby realizing the tracking of lost drones.

[0051] The UAV uses satellite-based services to provide positioning, continuously tracks and observes navigation satellite signals through a ground reference station network, and processes them to form corresponding wide-area and regional differential corrections and integrity information. These corrections are broadcast via geosynchronous orbit satellites and proprietary service platforms, providing high-availability correction data broadcast services under satellite-ground integration. It provides continuous, highly reliable, centimeter-level precision position correction data services with wide-area coverage for various terminals and application systems. Through the Beidou short message channel and high-precision positioning services, it can transmit the location status information of inspection personnel to ensure operational safety.

[0052] The control method of the present invention is to control by manually starting and closing the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices. Therefore, the control method and wiring layout are no longer explained in detail in the present invention.

[0053] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by a person skilled in the art. The provision of power is also common knowledge in the art. The present invention is mainly used to protect mechanical devices, so the control method and circuit connection are not explained in detail in the present invention.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A drone anti-fall tracking device based on Beidou short messages, characterized by: It comprises a drone body (2), a control terminal (1) is fixedly provided on the top of the drone body (2), a parachute mechanism (3) is provided on the top of the control terminal (1), and the control terminal (1) is connected to a satellite communication positioning terminal (4); The parachute mechanism (3) comprises a support plate (31), the support plate (31) being fixedly arranged on the top of the control end (1), and buffer fixing mechanisms (32) being fixedly arranged on both sides of the support plate (31); a parachute (33) is arranged on the top of the support plate (31), and the parachute (33) is retracted into the drone body under normal flight operation conditions, and is deployed when the drone malfunctions and falls; A support seat (34) is provided at the middle position of the top of the support plate (31); a connection structure (35) is fixedly connected to the top of the support seat (34); the connection structure (35) comprises a main control module control motor (353); an output end of the main control module control motor (353) is connected to a parachute cover (351); a compression spring (352) is fixedly connected to the bottom of the parachute cover (351); the other end of the compression spring (352) is fixedly connected to the support seat (34); The buffer fixing mechanism (32) includes a protrusion (321), a threaded seat (323), a slide rod (327), and a buffer spring (328). The protrusion (321) is fixedly connected to the support plate (31). The bottom of the protrusion (321) is fixedly connected to a screw rod (322). A second slide groove (329) is provided at the lower end of the screw rod (322). The slide rod (327) is sleeved in the screw rod (322) through the second slide groove (329). The slide rod (327) is elastically connected to the inner upper end of the second slide groove (329) by a buffer spring (328).

2. The UAV anti-fall tracking device based on Beidou short message according to claim 1 is characterized in that: The outer edge annular array of the parachute (33) has a plurality of traction lines (36), and the other ends of the traction lines (36) are fixedly connected to the upper surface of the connection structure (35).

3. The UAV anti-fall tracking device based on Beidou short message according to claim 1 is characterized in that: The satellite communication positioning terminal (4) comprises a Beidou short message communication module (41), a positioning module, and a Bluetooth module. The Beidou short message communication module (41) has a built-in Beidou SIM card. The Beidou short message communication module (41) is arranged at the upper end of the support plate (31). An antenna (46) is hingedly connected to the outer side of the Beidou short message communication module (41).

4. The Beidou short message-based UAV anti-fall tracking device according to claim 3 is characterized in that: A first slide groove (42) is provided on the outside of the Beidou short message communication module (41), a slide shaft (44) is slidably connected in the first slide groove (42), a movable rod (45) is rotatably connected to the outside of the slide shaft (44), the other end of the movable rod (45) is hinged to the antenna (46), and the antenna (46) is driven to rotate around the fixed end by moving the slide shaft (44), and a groove (43) adapted to the slide shaft (44) is provided at one end of the first slide groove (42) away from the antenna (46) and the middle of the first slide groove (42).

5. The Beidou short message-based UAV anti-fall tracking device according to claim 1, characterized in that: The screw rod (322) passes through the threaded seat (323) and is threadedly connected to the threaded seat (323). A movable sleeve (324) is provided at the upper end of the threaded seat (323). The movable sleeve (324) is sleeved outside the screw rod (322). A transverse plate (325) is fixedly connected to the outer side of the movable sleeve (324). A plurality of rubber pads (326) are fixedly provided on the top of the transverse plate (325). The top of the transverse plate (325) is in contact with the drone body (2).

6. The tracking method of the UAV anti-fall tracking device based on Beidou short message according to claim 1 is characterized in that: The specific steps include: S1: The drone's main control module combines image transmission, data transmission, power system, acceleration sensor, and positioning data to determine that the drone is in a falling or out-of-control state when the drone's descent acceleration is ≥ normal landing acceleration, or when the image transmission and data transmission information determine that the drone is lost, or when the drone's blades or power system are faulty. S2: When the UAV is in a falling or out-of-control state, the main control module controls the parachute structure control motor to open the parachute cover (351), the compression spring (352) pops out the parachute (33) and opens under the action of air, reducing the falling speed of the UAV and protecting the UAV from damage caused by the crash. At the same time, the satellite communication positioning terminal (4) sends the UAV position information calculated by the positioning module through the Beidou short message communication module (41). The typical sending interval of the Beidou short message communication module (41) is 30s. S3: The main control module determines whether the drone has landed or is in a missing state. The Beidou short message communication module (41) regularly sends the drone's location information to the positioning service platform, and informs the pilot of the drone's location through the positioning service platform's text message or platform display method, thereby realizing the tracking of the lost drone.

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