Novel monitoring and positioning device for unmanned aerial vehicle

Abstract

The invention relates to the technical field of monitoring and positioning of unmanned aerial vehicles, and particularly discloses a novel monitoring and positioning device for an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wing connecting rods are arranged on two sides of two ends of the unmanned aerial vehicle body, flying wing cylinders are arranged at one ends, far away from the unmanned aerial vehicle body, of the wing connecting rods, and a control panel is arranged in the unmanned aerial vehicle body. A branch control box is arranged on one side of the interior of the unmanned aerial vehicle body, a monitoring camera is rotatably connected to the bottom end of the branch control box, a water storage tank is arranged in the unmanned aerial vehicle body, a third expansion piece is arranged in the flying wing cylinder, and a protective cylinder is arranged at the bottom end of the third expansion piece. Through fusion of visual positioning, satellite positioning and sensors, the accuracy and reliability of positioning of the unmanned aerial vehicle are greatly improved, more comprehensive positioning information is provided, the position of the unmanned aerial vehicle is ensured, the information transmission effect of the unmanned aerial vehicle is better, and the use limitation of an outdoor environment is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring and positioning of unmanned aerial vehicles, and more specifically to a novel monitoring and positioning device for unmanned aerial vehicles. Background Art

[0002] With the continuous development of science and technology, drone technology has been greatly improved, and many intelligent and multifunctional unmanned aerial vehicles have emerged; drones are increasingly valued for the needs of transmitting information and monitoring in some small areas; it is a new concept aircraft that is in rapid development, which has the advantages of maneuverability, fast response, unmanned flight, and low operating requirements; drones can realize real-time image transmission and high-risk area detection functions by carrying multiple types of sensors, and are a favorable supplement to satellite remote sensing and traditional aerial remote sensing.

[0003] At present, drones are widely used in military, scientific research and civil fields. They are currently used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, creating romance, etc., which greatly expands the use of drones. However, existing drones still have the following problems:

[0004] 1. The application scope of drones is relatively wide. When drones are used for long-term exploration of the environment, civil aerial photography, etc., due to the complex external environment, the camera equipment of drones is mostly installed outside the fuselage, which makes the camera device easy to be damaged when the drone is monitoring or shooting. Therefore, a protective device is needed to protect it and isolate it from the influence of the harsh environment;

[0005] 2. During the long-term use of drones, due to the complex external environment, impurities are easily adhered to the surface of the camera device, resulting in poor drone monitoring effect and blurred video. At the same time, when working in a more dangerous environment, due to the large impact generated by the outside, the drone is easily damaged and unable to transmit information in time. At the same time, due to abnormal damage to the drone, its own positioning is inaccurate, and it is more troublesome, time-consuming and laborious to find it. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides a new monitoring and positioning device for a drone to solve the problems existing in the above-mentioned background technology.

[0007] The present invention provides the following technical solution: a novel monitoring and positioning device for a drone, comprising a drone body, wing connecting rods are provided on both sides of both ends of the drone body, a flying wing tube is provided at one end of the wing connecting rod away from the drone body, a control panel is provided inside the drone body, a sub-control box is provided on one side inside the drone body, a monitoring camera is rotatably connected at the bottom end of the sub-control box, a water storage tank is provided inside the drone body, a third telescope is provided inside the flying wing tube, and a protective tube is provided at the bottom end of the third telescope;

[0008] A first telescope is fixedly connected to the middle part of the bottom end of the sub-control box, and a first buffer rod is provided at the four corners of the bottom end of the sub-control box. A first buffer spring is provided on the outer wall of the first buffer rod, and a connecting block is provided at the bottom end of the first buffer rod. A monitoring camera is provided at the bottom end of the connecting block. The control panel is electrically connected to the sub-control box, and the control panel is electrically connected to the first telescope. The control panel wires are connected to the monitoring camera, the control panel wires are connected to the water tank, the control panel wires are connected to the wing tube, the control panel wires are connected to the left-side clamping block, the control panel wires are connected to the third telescope, and the control panel wires are connected to the display positioning light.

[0009] In a preferred embodiment, the top end of the drone body is bolted to a protective top cover, the bottom end of the protective top cover is provided with internal protection, the internal protection is bolted to the drone body, a fixed connector is provided on the side of the protective top cover close to the sub-control box, a retraction hole is opened on one side of the bottom end of the drone body, a left-side clamping block is clamped in one side of the retraction hole, and a right-side clamping block is clamped in the other side of the retraction hole.

[0010] In a preferred embodiment, the protective top cover is in the shape of an inverted L, the internal protection is a hollow inverted rectangle, the bottom end of the protective top cover is bolted to a wing connecting rod, and the fixed connector is connected to one side of the sub-control box.

[0011] In a preferred embodiment, a fixing ring is provided at one end of the wing link away from the drone body, a fixing bolt is provided on the outer wall of the fixing ring, a wing tube is provided inside the fixing ring, and the fixing bolt passes through the fixing ring and is provided in the wing tube.

[0012] In a preferred embodiment, a flying fan wing is provided at the top of the flying wing tube, a display positioning light is provided at the top of the flying fan wing, and a buffer hole is opened in the middle of the bottom end of the flying wing tube.

[0013] In a preferred embodiment, another sub-controller, a flashing point and a locator are provided inside the display positioning light.

[0014] In a preferred embodiment, the positioning of the display positioning light is determined by a satellite positioning system. When the satellite signal is weak or the drone falls, the drone transmits the last photo at the fall location to the user's terminal, processes the transmitted photo, and extracts the image features. Through the fusion of visual positioning, satellite positioning and sensors, the positioning combination formula of the drone is: xk=Fk(xk-1,uk)+wk, where xk represents the drone state vector at time k, including position, speed, acceleration, direction, etc., Fk represents the state transfer function or the system dynamic model, which maps the state xk-1 at the previous time point and the current control input uk to the current state xk, uk represents the control input vector at time k, wk represents process noise, zk=Hk(xk)+uk, where zk represents the observation data at time k, Hk represents the observation function, and uk represents the observation noise.

[0015] In a preferred embodiment, a connecting box is provided on one side of the water tank, a water spray head is provided on the top of one side of the connecting box, a second telescopic device is provided on the side of the connecting box close to the water spray head, a clamp is provided on the side of the second telescopic device away from the connecting box, and a cleaning brush is provided on the side of the clamp away from the second telescopic device.

[0016] In a preferred embodiment, a third telescope is fixedly connected to the top of the buffer hole, a protective tube is provided at the bottom end of the third telescope, a second buffer rod is provided inside the protective tube, a second buffer spring is provided on the outer wall of the second buffer rod, and a column plate is provided at the bottom end of the second buffer rod.

[0017] Technical effects and advantages of the present invention:

[0018] 1. The present invention is provided with a control panel, a sub-control box, a monitoring camera, a left-side card block and a right-side card block, which is beneficial to protecting the monitoring camera during the monitoring of the drone, making the monitoring camera more protective, increasing the service life of the drone monitoring camera, and always maintaining its excellent monitoring effect.

[0019] 2. The present invention is provided with a control panel, a display positioning light, a monitoring camera and a sensor, which is beneficial to the UAV in integrating visual positioning, satellite positioning and sensors, so that the positioning effect of the UAV is better, the positioning accuracy and reliability are greatly improved, and the UAV has more comprehensive positioning information, which ensures the location of the UAV. When the UAV falls, the information transmission effect is better, which greatly reduces the limitations of outdoor environment use. By combining the display positioning light with the position of the last photo received when the drone falls, the falling range is locked by the satellite locator, and the continuous flashing of the display positioning light makes the main body of the UAV more efficient when searching, more simple and convenient, and saves time and effort.

[0020] 3. The present invention is provided with a water tank, a water spray head, a second telescopic device and a cleaning brush, which is conducive to regular cleaning of the monitoring camera after the use of the drone, so that the drone can always maintain excellent monitoring effect, camera effect, shooting effect and positioning effect during long-term use without blurring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the overall cross-sectional structure of one side of the present invention.

[0023] Figure 3 It is a schematic diagram of the overall cross-sectional structure of the other side of the present invention.

[0024] Figure 4 It is a schematic diagram of the flying wing tube structure of the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the sub-control box of the present invention.

[0026] Figure 6 It is a schematic diagram of the cross-sectional structure of the sub-control box of the present invention.

[0027] Figure 7 It is a schematic diagram of the water storage tank structure of the present invention.

[0028] Figure 8 It is a schematic diagram of the cross-sectional structure of the flying wing tube of the present invention.

[0029] Fig. 9 It is a schematic diagram of the cross-sectional structure of the protective tube of the present invention.

[0030] The accompanying drawings are marked as follows: 1. UAV fuselage; 11. Protective top cover; 12. Internal protection; 13. Fixed puller; 14. Retraction hole; 15. Left block; 16. Right block; 2. Wing connecting rod; 21. Fixed ring; 22. Fixed bolt; 3. Flying wing tube; 31. Flying fan wing; 32. Display positioning light; 33. Buffer hole; 4. Control panel; 5. Sub-control box; 51. First telescope; 52. First buffer rod; 53. First buffer spring; 54. Connecting block; 6. Monitoring camera; 7. Water tank; 71. Connecting box; 72. Sprinkler head; 73. Second telescope; 74. Clamp; 75. Cleaning brush; 8. Third telescope; 9. Protective tube; 91. Second buffer rod; 92. Second buffer spring; 93. Column plate. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative. The new monitoring and positioning device for unmanned aerial vehicles involved in the present invention is not limited to the various structures recorded in the following embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0032] Reference Figure 1-9 The present invention provides a novel monitoring and positioning device for a drone, comprising a drone body 1, wing connecting rods 2 are arranged on both sides of both ends of the drone body 1, a flying wing tube 3 is arranged at one end of the wing connecting rod 2 away from the drone body 1, a control panel 4 is arranged inside the drone body 1, a sub-control box 5 is arranged on one side inside the drone body 1, a monitoring camera 6 is rotatably connected to the bottom end of the sub-control box 5, a water storage tank 7 is arranged inside the drone body 1, a third telescope 8 is arranged inside the flying wing tube 3, and a protective tube 9 is arranged at the bottom end of the third telescope 8;

[0033] A first telescope 51 is fixedly connected to the middle part of the bottom end of the sub-control box 5, a first buffer rod 52 is provided at the four corners of the bottom end of the sub-control box 5, a first buffer spring 53 is provided on the outer wall of the first buffer rod 52, a connecting block 54 is provided at the bottom end of the first buffer rod 52, a monitoring camera 6 is provided at the bottom end of the connecting block 54, the control panel 4 is electrically connected to the sub-control box 5, the control panel 4 is electrically connected to the first telescope 51, the control panel 4 is electrically connected to the monitoring camera 6, the control panel 4 is electrically connected to the water tank 7, the control panel 4 is electrically connected to the wing tube 3, the control panel 4 is electrically connected to the left block 15, the control panel 4 is electrically connected to the third telescope 8, and the control panel 4 is electrically connected to the display positioning light 32.

[0034] What needs to be specifically explained in this embodiment is that the wing links 2 are arranged in an oblique cross on the drone body 1 and are mirror images of each other. The control panel 4 is used for receiving and sending commands of the device, and is connected to the wireless handle by Bluetooth or wirelessly. A sub-controller is provided inside the sub-control box 5. Because it is a prior art, it is not drawn in the figure, so it is explained here. The monitoring effect of the device is better through the overall control of the control panel 4 and the sub-control of the sub-control box 5. The first buffer rod 52 is retractable. After the first buffer rod 52 is retracted, the reaction force of the first buffer spring 53 will reset it, so that the monitoring camera 6 is more stable during operation, the monitoring effect is better, the shooting is more stable and clear, and the monitoring camera at the bottom of the monitoring camera 6 The camera provides 360° monitoring. The monitoring camera 6 is equipped with a main surface monitoring and 5 auxiliary surface monitoring. It is directly controlled by the sub-controller in the sub-control box 5 to prevent the control board 4 from processing too many problems, generating more garbage during long-term use, occupying a higher program, resulting in delays in shooting and monitoring, and poor transmission effect. After special processing by the sub-control box 5, the detection effect of the device is better, more stable, and the transmission efficiency is higher. The scene can be obtained in real time. The main surface monitoring of the monitoring camera 6 is real-time video transmission and capture of key pictures. The monitoring of the 5 auxiliary surfaces is to zoom in and shoot again and capture at multiple angles around the detection picture and capture of key pictures, so that the monitoring effect is better.

[0035] Reference Figure 1-3 The top end of the drone body 1 is bolted with a protective top cover 11, the bottom end of the protective top cover 11 is provided with an internal protection 12, the internal protection 12 is bolted to the drone body 1, a fixed puller 13 is provided on the side of the protective top cover 11 close to the sub-control box 5, a retraction hole 14 is opened on one side of the bottom end of the drone body 1, a left-side clamping block 15 is clamped in one side of the retraction hole 14, and a right-side clamping block 16 is clamped in the other side of the retraction hole 14.

[0036] What needs to be specifically explained in this embodiment is: the shape of the protective top cover 11 is an inverted L shape, the internal protection 12 is a hollow inverted rectangle, the bottom end of the protective top cover 11 is bolted to the wing connecting rod 2, and the fixed puller 13 is pulled together with one side of the sub-control box 5 to make the sub-control box 5 more stable, and the use effect when the drone is in use is guaranteed. When the drone is in use, the right-side block 16 and the left-side block 15 are controlled to open by the control panel 4. After the right-side block 16 and the left-side block 15 are opened, the monitoring camera 6 is extended out of the interior of the drone by extending the first telescopic device 51, so as to monitor the external environment. The connection between the left-side block 15 and the right-side block 16 is mutually clamped, so that when the monitoring camera 6 is in the drone body 1, the protection effect of the monitoring camera 6 is better.

[0037] Reference Figure 1-9A fixing ring 21 is provided at one end of the wing link 2 away from the drone body 1, a fixing bolt 22 is provided on the outer wall of the fixing ring 21, a flying wing tube 3 is provided inside the fixing ring 21, and the fixing bolt 22 penetrates the fixing ring 21 and is arranged in the flying wing tube 3.

[0038] What needs to be specifically explained in this embodiment is that a soft protection position is provided inside the fixing ring 21, and an anti-slip groove is provided on the soft protection, so that it has a better fixing effect on the flying wing tube 3. At the same time, the fixing bolts 22 are used to fix the flying wing tube 3, so that the flying effect of the UAV is good and the flight is more stable.

[0039] Reference Figure 1-9 A flying fan wing 31 is provided at the top of the flying wing tube 3, a display positioning light 32 is provided at the top of the flying fan wing 31, and a buffer hole 33 is opened in the middle of the bottom end of the flying wing tube 3.

[0040] What needs to be specifically explained in this embodiment is that the connection method between the flying fan wing 31 and the flying wing tube 3 is the existing technology and is not described in detail in this embodiment. The opening depth of the buffer hole 33 is half of the flying wing tube 3 and does not affect the rotation of the flying fan wing 31. Another sub-controller, a flash point and a locator are arranged inside the display positioning light 32. When the drone is in use, the flash light continues to flash red. In the case of the drone losing control or falling, the flash light can continue to flash for 7 days. After the user finds the drone within 7 days, the control can be stopped by pressing the pause button on the controller. The positioning of the display positioning light 32 is determined by the satellite positioning system. At the same time, when the satellite signal is weak or the drone falls, the drone transmits the last photo at the falling position to the user's terminal, processes the transmitted photo, and extracts the features of the image. Through visual positioning, satellite positioning and sensing The fusion of the sensors has a better positioning effect on the UAV, greatly improving the accuracy and reliability of positioning. Through more comprehensive positioning information, the location of the UAV is ensured, which greatly reduces the limitations of outdoor environment use. The positioning formula of the UAV is: xk=Fk(xk-1,uk)+wk, where xk represents the state vector of the UAV at time k, including position, speed, acceleration, direction, etc. Fk represents the state transfer function or system dynamic model, which maps the state xk-1 at the previous time point and the current control input uk to the current state xk, uk represents the control input vector at time k, wk represents process noise, zk=Hk(xk)+uk, where zk represents the observation data at time k, Hk represents the observation function, and uk represents the observation noise. Substituting the numerical value into the above formula greatly improves the positioning accuracy and reliability of the UAV.

[0041] Reference Figure 5-7A connecting box 71 is provided on one side of the water tank 7, a water spray head 72 is provided on the top of one side of the connecting box 71, a second telescopic device 73 is provided on the side of the connecting box 71 close to the water spray head 72, a clamp 74 is provided on the side of the second telescopic device 73 away from the connecting box 71, and a cleaning brush 75 is provided on the side of the clamp 74 away from the second telescopic device 73.

[0042] It should be noted that in this embodiment: a micro motor is provided inside the water tank 7, which is directly controlled by the control board 4. The top of the water tank 7 has a groove, and the groove is the end face for placing the internal protection 12. The bottom end of the connecting box 71 is connected to one side of the water tank 7. The water spray head 72 is a spray head, and the state of spraying liquid is in the shape of a scattered curtain. The second telescopic device 73 is automatically retractable. When the monitoring camera 6 needs to be cleaned, the second telescopic device 73 is extended to make the cleaning brush 75 contact the surface of the monitoring camera 6. The cleaning brush 75 is divided into four parts and evenly distributed on the clamp 74. When cleaning the monitoring camera 6, water is sprayed on the surface of the monitoring camera 6 through the water spray head 72, and then the monitoring camera 6 is cleaned by four scrapings of the cleaning brush 75, so that the monitoring camera 6 is cleaner and tidier. The material of the cleaning brush 75 is made of rubber material. For details, please refer to the car wiper.

[0043] Reference Figure 8-9 A third telescope 8 is fixedly connected to the top of the buffer hole 33, a protective tube 9 is provided at the bottom of the third telescope 8, a second buffer rod 91 is provided inside the protective tube 9, a second buffer spring 92 is provided on the outer wall of the second buffer rod 91, and a column plate 93 is provided at the bottom of the second buffer rod 91.

[0044] It should be noted that in this embodiment: the third telescopic device 8 is directly connected through the control panel 4, the second buffer rod 91 is retractable, the bottom end of the protective cylinder 9 is 20-30mm away from the bottom end of the second buffer rod 91, and the area of ​​the bottom end of the column plate 93 is three times that of the bottom end of the wing cylinder 3. During the lifting process of the UAV, the protective cylinder 9 resets the second buffer rod 91 through the reaction force of the second buffer spring 92, thereby achieving a better landing buffer effect of the UAV.

[0045] The working principle of the present invention is as follows: when the device is used, the flight of the drone is controlled by the terminal. When the drone is flying, the display positioning light 32 is controlled by the control panel 4 to flash continuously. At the same time, the left clamping block 15 and the right clamping block 16 are controlled by the control panel 4 to be retracted into the retraction hole 14. The monitoring camera 6 is extended out of the drone body 1 by the extension of the first retractor 51. The external environment is then detected by the monitoring camera 6. At the same time, the positioning effect of the drone is better through the cooperation of satellite positioning, the last photo received and the sensors, which greatly improves the accuracy and reliability of positioning. Through more comprehensive positioning information, the drone's own location is ensured. After the external monitoring of the UAV is completed, the recovery of the first telescopic device 51 drives the monitoring camera 6 to be recovered into the UAV body 1, and the left block 15 and the right block 16 are not closed temporarily. The monitoring camera 6 then rotates continuously, and the cleaning liquid is sprayed on the surface of the monitoring camera 6 through the water spray head 72. Then, the cleaning brush 75 is extended through the second telescopic device 73 to contact the outer wall of the monitoring camera 6. Then, the cleaning brush 75 is rotated through the monitoring camera 6 to clean the surface of the monitoring camera 6, and the cleaning liquid flows out through the opening of the retraction hole 14, so that the UAV has a better monitoring effect and a more excellent shooting effect during the subsequent use.

[0046] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A novel monitoring and positioning device for an unmanned aerial vehicle, comprising an unmanned aerial vehicle body (1), characterized in that: Wing connecting rods (2) are provided on both sides of both ends of the drone fuselage (1); a flying wing tube (3) is provided at one end of the wing connecting rod (2) away from the drone fuselage (1); a control panel (4) is provided inside the drone fuselage (1); a sub-control box (5) is provided on one side inside the drone fuselage (1); a monitoring camera (6) is rotatably connected to the bottom end of the sub-control box (5); a water tank (7) is provided inside the drone fuselage (1); a third telescopic device (8) is provided inside the flying wing tube (3); a protective tube (9) is provided at the bottom end of the third telescopic device (8); A first telescopic device (51) is fixedly connected to the middle of the bottom end of the sub-control box (5), a first buffer rod (52) is provided at each of the four corners of the bottom end of the sub-control box (5), a first buffer spring (53) is provided on the outer wall of the first buffer rod (52), a connecting block (54) is provided at the bottom end of the first buffer rod (52), a monitoring camera (6) is provided at the bottom end of the connecting block (54), the control panel (4) is electrically connected to the sub-control box (5), the control panel (4) is electrically connected to the first telescopic device (51), the control panel (4) is connected to the monitoring camera (6) by wire, the control panel (4) is connected to the water tank (7) by wire, the control panel (4) is connected to the wing tube (3) by wire, the control panel (4) is connected to the left block (15) by wire, the control panel (4) is connected to the third telescopic device (8) by wire, and the control panel (4) is connected to the display positioning light (32) by wire.

2. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: The top end of the unmanned aerial vehicle body (1) is bolted to a protective top cover (11), the bottom end of the protective top cover (11) is provided with an internal protection (12), the internal protection (12) is bolted to the unmanned aerial vehicle body (1), a fixed puller (13) is provided on the side of the protective top cover (11) close to the sub-control box (5), a retraction hole (14) is opened on one side of the bottom end of the unmanned aerial vehicle body (1), a left-side clamping block (15) is clamped in one side of the retraction hole (14), and a right-side clamping block (16) is clamped in the other side of the retraction hole (14).

3. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: The shape of the protective top cover (11) is an inverted L shape, the internal protection (12) is a hollow inverted rectangle, the bottom end of the protective top cover (11) is bolted to a wing connecting rod (2), and the fixed connector (13) is connected to one side of the sub-control box (5).

4. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: A fixing ring (21) is provided at one end of the wing link (2) away from the drone body (1); a fixing bolt (22) is provided on the outer wall of the fixing ring (21); a wing tube (3) is provided inside the fixing ring (21); and the fixing bolt (22) penetrates the fixing ring (21) and is provided inside the wing tube (3).

5. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: A flying fan wing (31) is provided at the top of the flying wing tube (3), a display positioning light (32) is provided at the top of the flying fan wing (31), and a buffer hole (33) is provided in the middle of the bottom end of the flying wing tube (3).

6. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: Another sub-controller, a flashing point and a locator are arranged inside the display positioning light (32).

7. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 6 is characterized in that: The positioning of the display positioning light (32) is determined by a satellite positioning system. When the satellite signal is weak or the drone falls, the drone transmits the last photo at the falling position to the user's terminal, processes the transmitted photo, and extracts the image features. Through the fusion of visual positioning, satellite positioning and sensors, the positioning formula of the drone is: xk=Fk(xk-1,uk)+wk, wherein xk represents the drone state vector at time k, including position, speed, acceleration, direction, etc., Fk represents the state transfer function or system dynamic model, which maps the state xk-1 at the previous time point and the current control input uk to the current state xk, uk represents the control input vector at time k, wk represents process noise, zk=Hk(xk)+uk, wherein zk represents the observation data at time k, Hk represents the observation function, and uk represents the observation noise.

8. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: A connection box (71) is provided on one side of the water storage tank (7), a water spray head (72) is provided on the top of one side of the connection box (71), a second telescopic device (73) is provided on the side of the connection box (71) close to the water spray head (72), a clamp (74) is provided on the side of the second telescopic device (73) away from the connection box (71), and a cleaning brush (75) is provided on the side of the clamp (74) away from the second telescopic device (73).

9. The novel monitoring and positioning device for unmanned aerial vehicles according to claim 1 is characterized in that: The top end of the buffer hole (33) is fixedly connected to a third telescopic device (8), the bottom end of the third telescopic device (8) is provided with a protective tube (9), a second buffer rod (91) is provided inside the protective tube (9), a second buffer spring (92) is provided on the outer wall of the second buffer rod (91), and a column plate (93) is provided at the bottom end of the second buffer rod (91).

Images