阅读说明：本技术 一种基于多旋翼无人机平台针对抛洒式地雷的自主排雷系统 (Autonomous mine clearance system for throwing type mines based on multi-rotor unmanned aerial vehicle platform ) 是由 曹燕军 朱秀锋 王敬平 张孟轲 宣驰策 于 2021-09-09 设计创作，主要内容包括：本发明公开一种基于多旋翼无人机平台针对抛洒式地雷的自主排雷系统,包括多旋翼无人机排雷装置和与多旋翼无人机排雷装置通过无线电连接的指挥控制终端,其中,多旋翼无人机排雷装置包括多旋翼排雷无人机、导航模块,数字图像传输模块,固态激光雷达,机载电脑,第一相机,第二相机,三轴自稳定云台,激光测距模块和投放战斗部,多旋翼排雷无人机设置有第一悬臂、第二悬臂、第三悬臂、第四悬臂,最远端分别设置有第一螺旋桨、第二螺旋桨、第三螺旋桨、第四螺旋桨,多旋翼排雷无人机下方设置有第一降落支腿、第二降落支腿。本发明安全性高,操作简单,自主作业,智能化程度高,可以避免活地雷爆炸造成人员伤亡或仪器损坏。(The invention discloses an autonomous mine-clearing system for a throwing type mine based on a multi-rotor unmanned aerial vehicle platform, which comprises a multi-rotor unmanned aerial vehicle mine-clearing device and a command control terminal in wireless electrical connection with the multi-rotor unmanned aerial vehicle mine-clearing device, wherein the multi-rotor unmanned aerial vehicle mine-clearing device comprises a multi-rotor mine-clearing unmanned aerial vehicle, a navigation module, a digital image transmission module, a solid laser radar, an airborne computer, a first camera, a second camera, a triaxial self-stabilizing pan-tilt, a laser ranging module and a throwing fighting part, the multi-rotor mine-clearing unmanned aerial vehicle is provided with a first cantilever, a second cantilever, a third cantilever and a fourth cantilever, the farthest end is respectively provided with a first propeller, a second propeller, a third propeller and a fourth propeller, and a first landing leg and a second landing leg are arranged below the multi-rotor mine-clearing unmanned aerial vehicle. The invention has high safety, simple operation, autonomous operation and high intelligent degree, and can avoid casualties or instrument damage caused by live mine explosion.)

1. The utility model provides an autonomic mine disposal system to formula of shedding mine based on many rotor unmanned aerial vehicle platform, a serial communication port, include many rotor unmanned aerial vehicle mine disposal device and pass through radio connection's command control terminal with many rotor unmanned aerial vehicle mine disposal device, wherein, many rotor unmanned aerial vehicle mine disposal device includes many rotor mine disposal unmanned aerial vehicle, navigation module, digital image transmission module, solid-state laser radar, machine carries the computer, first camera, the second camera, triaxial self-stabilization cloud platform, laser rangefinder module and put in fighting portion, many rotor mine disposal unmanned aerial vehicle is provided with first cantilever, second cantilever, third cantilever, fourth cantilever, and the farthest end is provided with first screw, second screw, third screw, fourth screw respectively, many rotor mine disposal unmanned aerial vehicle below is provided with first descending landing leg, second landing leg.

2. The autonomous mine clearance system for a shed mine based on a multi-rotor drone platform according to claim 1, wherein the first landing leg is located between the first boom and the second boom, and the second landing leg is located between the second boom and the third boom.

3. The autonomous mine clearance system based on multi-rotor unmanned aerial vehicle platform to formula of jettisoning mine of claim 1, characterized in that, the navigation module, digital image transmission module, airborne computer set up in multi-rotor mine clearance unmanned aerial vehicle top, solid-state laser radar, triaxial self stabilization cloud platform sets up multi-rotor mine clearance unmanned aerial vehicle below, first camera laser rangefinder module hangs in the below of triaxial self stabilization cloud platform, navigation module respectively with multi-rotor mine clearance unmanned aerial vehicle with digital image transmission module passes through the wire and connects, digital image transmission module respectively with solid-state laser radar with multi-rotor mine clearance unmanned aerial vehicle passes through the wire and connects.

4. The autonomous mine clearance system based on many rotor unmanned aerial vehicle platforms to formula of shedding land mine of claim 1, characterized in that, command control terminal includes terminal signal line and display screen, the display screen is fixed command control terminal upper portion, command control terminal upper portion is provided with the positioning button, carries out the task button, puts in the button, the button switch of navigating back, command control terminal rear portion is provided with power source, HDMI interface, Type-C interface, command control terminal with digital image transmission module passes through radio connection.

Technical Field

The invention relates to an autonomous mine clearance system for a throwing type mine based on a multi-rotor unmanned aerial vehicle platform.

Background

In the current modern wars, the unique advantages of the landmines distributed in a throwing mode gradually become the mainstream of modern weaponry, aiming at the landmines, the current mine removal mainly adopts individual mine removal and unmanned vehicle mine removal, and the risk of manually removing the mines by the individual soldiers is high, and the speed is low; the mine removal of the unmanned vehicle is limited by some terrain conditions, and the mine removal unmanned vehicle can be damaged by the accidental explosion of the land mine. The present unmanned aerial vehicle arranges the thunder for manual control, carries and destroys warhead, and speed is slow, and the precision can't be guaranteed, produces new unexploded thing easily.

The application number 201720931229.6 Chinese patent application discloses a multi-rotor unmanned aerial vehicle mine sweeping and mine removing device, which comprises a flight mine sweeper and a command control terminal in wireless electrical connection with the flight mine sweeper, wherein the flight mine sweeper comprises a multi-rotor unmanned aerial vehicle, a navigation module, a data transmission module, a 3D imaging module, a magnetic detector and a mechanical claw, the multi-rotor unmanned aerial vehicle is provided with a first cantilever, a second cantilever, a third cantilever and a fourth cantilever, the farthest end of the multi-rotor unmanned aerial vehicle is respectively provided with a first propeller, a second propeller, a third propeller and a fourth propeller, a first landing leg, a second landing leg, a third landing leg and a fourth landing leg are arranged below the multi-rotor unmanned aerial vehicle, the navigation module is arranged on the first cantilever, the data transmission module is arranged on the third cantilever, and the 3D imaging module is arranged below the multi-rotor unmanned aerial vehicle, the magnetic detector and the gripper are detachably suspended below the multi-rotor unmanned aerial vehicle, the navigation module is respectively connected with the data transmission module and the multi-rotor unmanned aerial vehicle through leads, and the data transmission module is respectively connected with the 3D imaging module and the multi-rotor unmanned aerial vehicle through leads; the command control terminal comprises a host and a display screen, the display screen is fixed on the upper portion of the rear side of the host, a power switch button and a display screen switch button are arranged on the front portion of the host, a projector output interface, a control handle interface, an HDMI (high definition video output) interface and a power interface are arranged on the rear portion of the host, and the command control terminal is in radio connection with the data transmission module.

The method has the problems that the risk of detonating the mine exists only 10cm away from the ground when the unmanned aerial vehicle works, the live mine cannot work and is the main pain point of mine removal work, the mine is positioned only by using a navigation system in a positioning mode, the mine removal accuracy cannot be guaranteed, and the explosion removal accident is easy to generate. Two flight operations are required, the flow is complex, and the timeliness is poor.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides an autonomous mine drainage system for a throwing type mine based on a multi-rotor unmanned aerial vehicle platform.

The invention can be realized by the following technical scheme:

the invention discloses an autonomous mine-clearing system for a throwing type mine based on a multi-rotor unmanned aerial vehicle platform, which comprises a multi-rotor unmanned aerial vehicle mine-clearing device and a command control terminal in wireless electrical connection with the multi-rotor unmanned aerial vehicle mine-clearing device, wherein the multi-rotor unmanned aerial vehicle mine-clearing device comprises a multi-rotor mine-clearing unmanned aerial vehicle, a navigation module, a digital image transmission module, a solid laser radar, an airborne computer, a first camera, a second camera, a triaxial self-stabilizing pan-tilt, a laser ranging module and a throwing fighting part, the multi-rotor mine-clearing unmanned aerial vehicle is provided with a first cantilever, a second cantilever, a third cantilever and a fourth cantilever, the farthest ends of the first cantilever, the second cantilever, the third propeller and the fourth propeller are respectively arranged at the farthest ends, and a first landing leg and a second landing leg are arranged below the multi-rotor mine-clearing unmanned aerial vehicle.

Further, the first landing leg is located between the first cantilever and the second cantilever, and the second landing leg is located between the second cantilever and the third cantilever.

Further, the navigation module, digital image transmission module, machine-carried computer set up in many rotors thunder removing unmanned aerial vehicle top, solid-state laser radar, triaxial self stabilization cloud platform sets up many rotors thunder removing unmanned aerial vehicle below, first camera laser range finding module hangs the below of triaxial self stabilization cloud platform, the navigation module respectively with many rotors thunder removing unmanned aerial vehicle with digital image transmission module passes through the wire and connects, digital image transmission module respectively with solid-state laser radar with many rotors thunder removing unmanned aerial vehicle passes through the wire and connects.

Further, the command control terminal comprises a terminal signal line and a display screen, the display screen is fixed on the upper portion of the command control terminal, a positioning button, a task execution button, a release button and a return navigation button switch are arranged on the upper portion of the command control terminal, a power interface, an HDMI interface and a Type-C interface are arranged on the rear portion of the command control terminal, and the command control terminal is electrically connected with the digital image transmission module through radio.

Advantageous effects

The autonomous mine clearance system does not need to depend on manual complicated control, autonomously depends on a navigation system to roughly position the position of the mine, depends on image recognition to roughly position the mine, depends on a solid laser radar to carry out accurate positioning, and finally only needs manual confirmation.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic diagram of a command control terminal in the present invention.

Fig. 3 is a schematic top view of the present invention.

Fig. 4 is a perspective view of the launch part of the present invention.

Fig. 5 is a schematic perspective view of the command control terminal according to the present invention.

Shown in the figure as 1-autonomous unmanned aerial vehicle mine-clearing device, 2-multi-rotor mine-clearing unmanned aerial vehicle, 2.1-first cantilever, 2.2-second cantilever, 2.3-third cantilever, 2.4-fourth cantilever, 2.5-first landing leg, 2.6-second landing leg, 3.1-first propeller, 3.2-second propeller, 3.3-third propeller, 3.4-fourth propeller 4-navigation module, 5-digital image transmission module, 6-solid laser radar, 7-onboard computer, 8.1-first camera, 8.2-second camera, 9-three-axis self-stabilization, 10-laser ranging module, 11-throwing warhead, 12-commanding control terminal, 12.1-terminal signal line, 12.2-controllable display screen, 12.3-positioning button, 12.4-task execution button, 12.5-release button, 12.6-return button, 12.7-power interface, 12.8-HDMI (high definition video output) interface and 12.9-Type-C interface.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification.

As shown in fig. 1 to 5, the autonomous mine-clearing system for a tossing type mine based on a multi-rotor unmanned aerial vehicle platform of the invention comprises an autonomous unmanned aerial vehicle mine-clearing device l and a command control terminal 12 in radio connection with the multi-rotor unmanned aerial vehicle mine-clearing device 1, wherein the autonomous unmanned aerial vehicle mine-clearing device 1 comprises a multi-rotor mine-clearing unmanned aerial vehicle 2, a navigation module 4, a digital image transmission module 5, a solid-state laser radar 6, an airborne computer 7, a first camera 8.1, a second camera 8.2, a triaxial self-stabilizing pan-tilt 9, a laser ranging module 10 and a fighting part 11, the multi-rotor mine-clearing unmanned aerial vehicle 2 is provided with a first cantilever 2.1, a second cantilever 2.2, a third cantilever 2.3 and a fourth cantilever 2.4, the farthest ends are respectively provided with a first support leg 3.1, a second propeller 3.2, a third propeller 3.3 and a fourth propeller 3.4, a first unmanned aerial vehicle landing 2.5, a first landing leg and a second leg are arranged below the multi-rotor mine-clearing unmanned aerial vehicle 2, A second landing leg 2.6. Wherein the first landing leg 2.5 is located between the first boom 2.2 and the second boom 2.3 and the second landing leg 2.6 is located between the second boom 2.1 and the third boom 2.4.

Wherein, navigation module 4, digital image transmission module 5, machine carries computer 7 and sets up in 2 tops of many rotors thunder removing unmanned aerial vehicle, solid-state laser radar 6 and triaxial self stabilization cloud platform 9 set up in 2 below of many rotors thunder removing unmanned aerial vehicle, first camera 8.1, laser rangefinder module 10 hangs in the below of triaxial self stabilization cloud platform 9, navigation module 4 passes through the wire with many rotors thunder removing unmanned aerial vehicle 2 and digital image transmission module 5 respectively and is connected, digital image transmission module 5 passes through the wire with solid-state laser radar 6 and many rotors thunder removing unmanned aerial vehicle 2 respectively and is connected.

The command control terminal 12 comprises a terminal signal line 12.1 and a display screen 12.2, the display screen 12.2 is fixed on the upper portion of the command control terminal 12, a positioning button 12.3 is arranged on the upper portion of the command control terminal 12, a task execution button 12.4 is arranged on the upper portion of the command control terminal 12, a release button 12.5 is arranged on the upper portion of the command control terminal 12, a return flight button switch 12.6 is arranged on the lower portion of the command control terminal 12, a power supply interface 12.7 is arranged on the rear portion of the command control terminal 12, an HDMI (high definition video output) interface 12.8 is arranged on the rear portion of the command control terminal 12, a Type-C interface 12.9 is arranged on the rear portion of the command control terminal 12, and the command control terminal 12 is electrically connected with the digital image transmission module 5 through radio.

The working process of the autonomous mine drainage system for the tossing type mines based on the multi-rotor unmanned aerial vehicle platform is as follows:

1. and roughly determining the direction location of the thunder area, namely roughly determining that the location target point is roughly within 50 meters of the thunder. Autonomous unmanned aerial vehicle mine removal device 1 reaches the assigned position through the navigation, and the autonomy begins to scan the shooting according to fixed route to the assigned area to near region, uses first camera 8.1, transmits for airborne computer 7 and handles the discernment, according to the gesture of current aircraft, positional information after detecting the target, obtains the absolute position of target according to camera imaging principle to store down. The laser ranging module 10 is used for height control, stored data are processed by means of density clustering, so that outliers are removed and classified, a plurality of clusters corresponding to different targets are obtained, and finally the approximate position of the target is obtained by averaging points in the clusters;

2. give rough setpoint by rough positioning module and procedure, have many rotors independently unmanned aerial vehicle mine removal device to fly into the fine positioning procedure after this point, the target gets into solid laser radar 6's detection scope, and solid laser radar sensor 6 gives airborne computer 7 with received information transfer, fits out the accurate model of ground in the radar coordinate system. And (3) screening out a target point with higher confidence coefficient by using a sliding window algorithm, and offsetting the change of a coordinate transformation matrix caused by the shaking of the airplane attitude through real-time fitting to the ground so as to realize the accurate positioning of the target point based on the solid laser radar 7. Sending the accurate positioning to a flight controller to reach the position right above a target; 3. entering a throwing flow, the second camera 8.2 returns the target video in real time, displaying the target video at the control terminal 12, manually confirming whether throwing is carried out, returning the plane after throwing is finished, and detonating the warhead by the control terminal to destroy the landmine.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.