A UAV aerial survey system for complex geological conditions

Abstract

The invention relates to the field of aerial surveying technology, and is a drone aerial surveying system developed for complex geological conditions. The drone replaces manual work to complete the placement and recovery of self-luminous aerial surveying marks, and has high work efficiency and surveying accuracy. The system consists of a drone, a surveying camera and a workstation. The drone is equipped with a surveying camera and is wirelessly connected to the workstation. The drone part comprises a delivery rack, an electronic mark, an identification light and a recovery rack. The delivery rack is loaded under the drone, has a built-in electronic mark, and is provided with a driving component for releasing the electronic mark. After the drone is remotely controlled by the workstation to select a position, the delivery rack automatically releases the electronic mark. A cross-shaped identification light is provided on the front of the electronic mark, and an identification light power supply, an RTK positioning module, a satellite positioning module and a wireless transmission module are provided in the electronic mark. After the identification light is lit, a self-luminous aerial survey mark is formed, and point data is transmitted to the workstation in a wireless manner. The recovery rack is used to recover multiple electronic marks.

Description

Technical Field

[0001] The invention relates to the technical field of aerial surveying, and is an unmanned aerial surveying system developed for complex geological conditions. Background Art

[0002] UAV aerial survey is a new type of aerial photogrammetry, which is flexible, efficient, precise, low-cost, widely applicable, and short production cycle. Compared with traditional surveying and mapping, it has obvious advantages in the rapid acquisition of surveying and mapping data in large areas, areas with difficult transportation, and complex geological conditions.

[0003] When the existing aerial survey technology is used for surveying and mapping, the drone will be equipped with one or more cameras such as orthophoto, oblique, hyperspectral and multispectral cameras to adapt to various operation scenarios and improve work efficiency; however, there are no obvious characteristic ground points for image control point layout in the survey area with complex geological conditions. In order to obtain high-precision measurement data, it is generally necessary to spray multiple aerial survey marks within the survey area before the drone aerial survey, and use the mark feature points as image control points or check points, and use RTK (Real-time kinemaTIc positioning technology is a real-time dynamic positioning technology based on carrier phase observation values, which can provide real-time three-dimensional positioning results of the survey station in a specified coordinate system and achieve centimeter-level accuracy) operation to collect data for the feature points. However, when manually spraying aerial survey marks and RTK data collection in complex geological conditions with complex terrain and inconvenient transportation, it is time-consuming and labor-intensive, with low work efficiency and certain dangers. In addition, the sprayed aerial survey marks are easily blocked and blurred and difficult to identify. RTK data collection is also affected by human operation errors, resulting in low work efficiency and reduced surveying and mapping accuracy. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a UAV aerial survey system for complex geological conditions. The system can place and recover autonomous luminous aerial survey marks by UAV. Its built-in positioning system reduces human errors and obtains precise point information of aerial survey marks through wireless transmission, thereby improving work efficiency and surveying accuracy.

[0005] The invention discloses an unmanned aerial survey system for complex geological conditions, comprising an unmanned aerial vehicle, a mapping camera and a workstation. The unmanned aerial vehicle is equipped with a mapping camera, which is one or more of an orthophoto, oblique, hyperspectral and multispectral camera, and is wirelessly connected to the workstation. The unmanned aerial vehicle also comprises a delivery rack, a plurality of electronic tags, a plurality of identification lights and a recovery rack. The delivery rack is mounted under the unmanned aerial vehicle, and has a plurality of electronic tags and a driving component for releasing the electronic tags built therein. The unmanned aerial vehicle automatically releases the electronic tags through the delivery rack. A plurality of identification lights arranged in a cross shape are arranged on the front of the electronic tags. A power supply for supplying power to the identification lights, an RTK positioning module and a satellite positioning module are arranged in the electronic tags. And wireless module, connected to the workstation through wireless, multiple identification lights are lit to form a self-luminous aerial survey mark, the brightness, color and frequency of the identification light at the center of the cross stand out from other identification lights, the satellite positioning module is located directly below the identification light at the center of the cross, and the center point data of the aerial survey mark is transmitted to the workstation through the wireless transmission module to prepare for the later image control point puncture, and the recovery rack is used to recover multiple electronic marks; the approximate position of the aerial survey mark is determined in the planning stage of the aerial survey project, and a delivery rack is installed under the drone, which is loaded with multiple electronic marks, and the drone is operated by the remote control platform to fly over the approximate position of the aerial survey mark to identify open areas The electronic sign is deployed. After the electronic sign lands, it unfolds and turns on the identification light, satellite positioning module and RTK positioning module, forming an aerial survey sign. At the same time, the RTK positioning and satellite positioning information of the aerial survey sign feature points obtained are sent to the workstation through wireless transmission. It can also perform static positioning joint measurement with the satellite positioning modules of the surrounding signs when there is no RTK signal. The drone is operated to deploy electronic signs in the same way until all aerial survey signs are arranged. After the drone returns, removes the delivery rack and carries the required surveying and mapping cameras, it automatically flies for surveying and mapping according to the planned surveying and mapping route. After the surveying and mapping is completed, the recovery rack is installed under the drone and the drone is operated. The drone flies above the electronic signs and recycles all the electronic signs. Compared with manual spraying of targets and manual RTK data collection, it has high work efficiency, less human interference, no danger, and the signs can be reused repeatedly, which improves economic benefits. Multiple identification lights autonomously emit light of special bands with high contrast, which are easily recognized by surveying and mapping cameras. The identification light in the center of the cross stands out from other identification lights and becomes a thorn point, ensuring the success rate of aerial survey sign layout and facilitating post-processing. The RTK positioning module avoids human errors and achieves multiple and real-time data collection, which improves positioning accuracy. The wireless module monitors each sign at any time to avoid missed measurements, sign failures, etc., thereby improving work efficiency.

[0006] Preferably, the electronic identification comprises four extension arms, four torsion springs, four latches and an opening assembly, the inner ends of the four extension arms are rotatably connected to the electronic identification via a rotating shaft, the four extension arms are evenly arranged circumferentially, a row of identification lights are installed on the four extension arms, and after the four extension arms are unfolded, the identification lights on them extend the cross light strip composed of multiple identification lights on the electronic identification to more than 30cm*30cm, the four torsion springs are respectively mounted on the rotating shafts of the four extension arms, the four torsion springs elastically connect the four extension arms to the electronic identification, the outer ends of the four extension arms are provided with sockets, the four latches are respectively slidably inserted in the sockets of the four extension arms, the electronic identification is provided with positioning through holes matching the four latches, the opening assembly is installed on the lower end surface of the electronic identification, and the lower end surface of the electronic identification is provided with a contact The switch and the opening component are in contact with the contact switch and multiple pins of the electronic mark; when the electronic mark is in the delivery rack and not in operation, the extension arm on the electronic mark is folded up, and the pin is inserted through the socket of the extension arm into the positioning hole of the electronic mark to position the extension arm, so that the space volume of the electronic mark is reduced, which is convenient for carrying and deployment. When the electronic mark is deployed to the designated position through the delivery rack, the opening component under the electronic mark is in contact with the contact switch of the electronic mark, so that the electronic mark is powered on to light up multiple identification lights thereon and obtain position information. At the same time, the opening component pushes the lower end of the pin out of the positioning hole of the electronic mark, and the elastic force of the four torsion springs unfolds the four extension arms in a cross shape, so that the multiple identification lights constitute an aerial survey mark of more than 30cm*30cm, which is highly practical.

[0007] Preferably, the opening component of the electronic identification includes a base plate, four push pins and four springs. The base plate is located below the electronic identification, and a gap is arranged between the base plate and the contact switch of the electronic identification. The four push pins are arranged and installed on the upper end surface of the base plate, and the upper ends of the four push pins are respectively slidably inserted in the four positioning through holes of the electronic identification, and the upper ends of the four push pins are respectively in contact with the lower ends of the four plugs, and the four springs are respectively mounted on the four push pins, and the upper and lower ends of the four springs are respectively connected to the base plate and the electronic identification; when the electronic identification is released to the specified position through the delivery rack, the base plate contacts the ground, and the downward inertia of the electronic identification compresses the four springs, so that the contact switch of the electronic identification contacts the base plate to open the electronic identification, and at the same time, the four push pins push the four plugs upward along the four positioning holes of the electronic identification, so that the four plugs are disengaged from the four positioning holes of the electronic identification, thereby releasing and unfolding the four extension arms. The structure is simple, and the automatic opening and unfolding of the automatic electronic identification is realized, and the practicability is high.

[0008] Preferably, it also includes multiple solar panels, and multiple solar panels are installed on the upper end surfaces of the multiple electronic signs, and the multiple solar panels are respectively electrically connected to the power sources of the multiple electronic signs; by installing multiple solar panels, solar power generation is performed, thereby improving the endurance of the electronic signs.

[0009] Preferably, the launching rack includes an upper plate, a plurality of limit columns 1, a plurality of limit columns 2, a support plate and a plurality of release motors. Two vertical slide grooves are arranged on the front and rear side walls of the electronic mark. The upper plate is provided with mounting holes connected to the drone. A plurality of limit columns 1 are vertically installed on one side of the lower end surface of the upper plate, and a plurality of limit columns 2 are vertically installed on the other side of the lower end surface of the upper plate. The plurality of limit columns 1 and the plurality of limit columns 2 are arranged symmetrically on the left and right. The length difference between the limit columns 1 and the limit columns 2 is one to one and a half electronic mark thicknesses. The plurality of electronic marks are loaded between the plurality of limit columns 1 and the plurality of limit columns 2, and the plurality of limit columns 1 and the plurality of limit columns 2 are respectively slidably matched with the slide grooves of the electronic mark. The support plate is located below the upper plate, and the support plate is connected to the lower ends of the plurality of limit columns 1. The support plate supports the plurality of electronic marks , multiple release motors are installed on the lower end surface of the support plate, and drive wheels are installed on the output shafts of the multiple release motors. The multiple drive wheels pass through the support plate and are in friction contact with the bottom plates of the multiple electronic labels respectively; during surveying and mapping work, the multiple electronic labels are folded and extended, and then loaded between the multiple limit columns one and the multiple limit columns two through the space between the multiple limit columns two and the support plate, and the slide grooves of the multiple electronic labels are respectively limited by the multiple limit columns one and the multiple limit columns two to prevent the electronic labels from falling accidentally. When the UAV flies over the designated detection point, the UAV is lowered to a safe delivery height, and a release motor is started to cause the drive wheel on it to rub the bottom plate, thereby throwing the electronic label out of the space between the multiple limit columns two and the support plate, thereby realizing the delivery of the detection label, replacing the manual spraying of the detection label, and having high practicality.

[0010] Preferably, the recovery rack includes multiple rods and multiple hooks, the multiple rods are vertically symmetrically arranged on both sides of the recovery rack, the multiple rods are respectively matched and aligned with the slide slot of the electronic tag, and gaps are set between the multiple rods and the slide slot wall of the electronic tag, and the lower ends of the multiple rods are rotatably installed with hooks, and the multiple hooks are all facing inward; after the surveying is completed, the recovery rack is installed under the drone, and the drone is operated to fly above the electronic tag, and the posture of the drone is adjusted to align the slide slots of the multiple rods with the electronic tag, and the height is lowered so that the multiple rods are respectively stuck in the slide slot of the electronic tag, and the multiple hooks hook the electronic tag, completing the recovery of one electronic tag, and the drone flies again to the next electronic tag and repeats the above operation until all the electronic tags are recycled, thereby realizing the recycling of the detection tags and allowing the electronic tags to be reused, which is highly practical.

[0011] Preferably, it also includes a camera. The UAV is provided with a frame and a fuselage. A plurality of propeller mechanisms for hovering are installed on the frame. The fuselage is installed on the frame of the UAV. A camera is installed at the front end of the fuselage. A mapping camera is mounted on the fuselage. The fuselage is used to load the flight control system. The camera is used to obtain images in front of and below the UAV during flight mapping to assist staff in operation. The technology is mature and reliable.

[0012] Preferably, it also includes two extension arms, two telescopic rods, two positioning pins and two springs. The inner ends of the two extension arms are respectively rotatably connected to the front and rear ends of the hook, the two telescopic rods are respectively slidably and telescopically connected to the two extension arms, the two surveying cameras are respectively installed at the outer ends of the two telescopic rods, the two extension arms are respectively provided with limit holes, the two positioning pins are respectively inserted into the limit holes of the two extension arms, the two springs are respectively mounted on the two positioning pins, the two ends of the two springs are respectively connected to the upper ends of the two positioning pins and the upper end surfaces of the two extension arms, the hook is provided with two positioning holes, when the two extension arms are folded onto the hook, the positioning holes of the hook are aligned with the limit holes of the extension arms, when the two extension arms When unfolded, the lower ends of the two locating pins contact with the side wall limit of the hook; when conducting surveying and mapping work, the two surveying and mapping cameras are respectively installed on the two telescopic rods, the two locating pins are pulled to disengage the two locating pins from the two locating holes on the hook, the two extension arms are unfolded and extended to the front and rear ends of the hook, the two locating pins are released, and under the pulling force of the two springs, the lower ends of the two locating pins extend the two extension arms and contact with the side wall limit of the hook, the two extension arms are limited, and the two telescopic rods are extended, so that the interval between the two surveying and mapping cameras is increased, which is beneficial for one surveying and mapping camera to take vertical plane photos, and the other surveying and mapping camera to take photos of the inclined surface at the same position, which is beneficial for 3D surveying and mapping and improves the surveying and mapping accuracy.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: the approximate position of the aerial survey mark is determined in the planning stage of the aerial survey project, a delivery rack is installed under the drone, and multiple electronic labels are loaded inside the rack. The drone is operated by the remote control platform to fly over the approximate position of the aerial survey mark, and the electronic label is delivered to the open area after identification. After the electronic label lands, it unfolds and turns on the identification light and RTK positioning module, thus forming an aerial survey mark. At the same time, the RTK positioning and satellite positioning information of the aerial survey mark feature points obtained are sent to the workstation through wireless transmission. When there is no RTK signal, static positioning joint measurement can also be performed with the satellite positioning modules of the surrounding labels. The drone is operated in the same way to deliver the electronic labels until all the aerial survey marks are arranged. After the drone returns, removes the delivery rack and carries the required mapping camera, press The drone automatically flies according to the planned surveying and mapping route for surveying and mapping. After the surveying and mapping is completed, the recovery frame is installed under the drone, and the drone is operated to fly above the electronic signs to recover all the electronic signs. Compared with manual spraying of targets and manual RTK data collection, the work efficiency is high, there is less human interference, there is no danger, the signs are reused, and the economic benefits are improved; multiple identification lights autonomously emit light of special bands with high contrast, which are easily recognized by the surveying and mapping camera. The identification light in the center of the cross stands out from other identification lights and becomes a thorn point, ensuring the success rate of aerial survey sign layout and facilitating post-processing; the RTK positioning module avoids human errors and achieves multiple and real-time collection, which improves positioning accuracy; the wireless module monitors each sign at any time to avoid missed measurements, sign failures, etc., and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention;

[0015] Figure 2 It is a side structural schematic diagram of the present invention;

[0016] Figure 3 It is a schematic diagram of the structure of the drone in its extended state;

[0017] Figure 4 It is a schematic diagram of the axonometric structure of the launching rack and other structures when viewed from above;

[0018] Figure 5 It is a schematic diagram of the structure of electronic signs and identification lights;

[0019] Figure 6 It is a schematic diagram of the structure of the exploded state of the electronic sign and identification light;

[0020] Figure 7 It is a schematic diagram of the structure of the recovery rack and other structures;

[0021] Markings in the attached figure: 1. UAV; 2. Mapping camera; 3. Launching rack; 4. Electronic identification; 5. Identification light; 6. Recovery rack; 7. Extension arm; 8. Torsion spring; 9. Latch; 10. Bottom plate; 11. Top pin; 12. Spring; 13. Solar panel; 14. Upper plate; 15. Limit column one; 16. Limit column two; 17. Support plate; 18. Release motor; 19. Insert rod; 20. Hook; 21. Camera; 22. Extension arm; 23. Telescopic rod; 24. Positioning pin; 25. Spring two. DETAILED DESCRIPTION

[0022] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0023] Example 1

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 7As shown, a UAV aerial survey system for complex geological conditions includes a UAV 1, a mapping camera 2 and a workstation. The UAV 1 is equipped with a mapping camera 2, which is one or more of an orthophoto camera, an oblique camera, a hyperspectral camera and a multispectral camera. The workstation is wirelessly connected to the UAV 1; it also includes a delivery rack 3, a plurality of electronic labels 4, a plurality of identification lights 5 and a recovery rack 6. The UAV 1 is provided with a mounting assembly for loading different cameras. The delivery rack 3 is loaded under the UAV 1, and a plurality of electronic labels 4 are loaded in the delivery rack 3. The delivery rack 3 is provided with a driving assembly for releasing the electronic labels 4. The UAV 1 automatically releases the electronic labels 4 through the delivery rack 3. The upper end surface of the electronic labels 4 A plurality of identification lights 5 arranged in a cross shape are provided. The brightness, color and frequency of the identification light 5 located at the center of the cross stand out from other identification lights 5. The electronic identification 4 is provided with a power supply, a satellite positioning module and a wireless module for powering the identification light 5. The satellite positioning module is located directly below the identification light at the center of the cross. When the plurality of identification lights 5 are lit, a self-luminous aerial survey mark is formed. The workstation is wirelessly connected to the electronic identification 4, and the data of the center point of the aerial survey mark is transmitted to the workstation to prepare for the later image control point puncture. The recovery rack 6 is used to recover the plurality of electronic identifications 4; the delivery rack 3 includes an upper plate 14, a plurality of limit posts 15, a plurality of limit posts 2 16, a support plate 17 and a plurality of release motors 18. The electronic identification 4 Two vertical slide grooves are arranged on the front and rear side walls, and the upper plate 14 is provided with a mounting hole connected to the drone 1. A plurality of limit columns 15 are vertically installed on one side of the lower end surface of the upper plate 14, and a plurality of limit columns 2 16 are vertically installed on the other side of the lower end surface of the upper plate 14. The plurality of limit columns 15 and the plurality of limit columns 2 16 are arranged symmetrically on the left and right. The length difference between the limit columns 15 and the limit columns 2 16 is one to one and a half electronic identification 4 thicknesses. The plurality of electronic identifications 4 are loaded between the plurality of limit columns 15 and the plurality of limit columns 2 16, and the plurality of limit columns 15 and the plurality of limit columns 2 16 are respectively slidably matched with the slide grooves of the electronic identification 4. The support plate 17 is located below the upper plate 14. The plate 17 is connected to the lower ends of the plurality of limit columns 15, the support plate 17 supports the plurality of electronic labels 4, the plurality of release motors 18 are all mounted on the lower end surface of the support plate 17, the output shafts of the plurality of release motors 18 are all mounted with drive wheels, the plurality of drive wheels respectively pass through the support plate 17 and are in frictional contact with the bottom plates 10 of the plurality of electronic labels 4; the recovery rack 6 includes a plurality of insertion rods 19 and a plurality of hooks 20, the plurality of insertion rods 19 are respectively arranged vertically and symmetrically on both sides of the recovery rack 6, the plurality of insertion rods 19 are respectively matched and aligned with the slide grooves of the electronic labels 4, and gaps are set between the plurality of insertion rods 19 and the slide groove walls of the electronic labels 4, the lower ends of the plurality of insertion rods 19 are rotatably mounted with hooks 20, and the plurality of hooks 20 are all facing inward;

[0025] During the planning phase of the surveying route, the approximate position of the detection target is determined, and the delivery rack 3 is installed under the UAV 1. After the multiple electronic markers 4 are folded and extended with the arms 7, they are loaded between the multiple limit columns 15 and the multiple limit columns 2 16 through the space between the multiple limit columns 2 16 and the support plate 17, and the slide slots of the multiple electronic markers 4 are respectively limited by the multiple limit columns 15 and the multiple limit columns 2 16 to prevent the electronic markers 4 from accidentally falling. The UAV 1 is operated by the workstation to fly to the approximate position of the detection target, and a relatively open and unobstructed position is found nearby. The UAV 1 is lowered to a safe delivery height, and a release motor 18 is started, so that the drive wheel on it rubs the bottom plate 10 to drop the electronic marker 4 from the space between the multiple limit columns 2 16 and the support plate 17 to realize the delivery of the detection marker. After the electronic marker 4 lands, it unfolds and turns on the multiple identification lights 5 and the positioning module. The identification light 5 in the center of the cross protrudes from the other identification lights 5 and becomes a feature point, i.e., an aerial survey mark is formed. The RTK positioning and satellite positioning information of the aerial survey mark feature points obtained are sent to the workstation through wireless transmission. Static positioning joint measurement can also be performed with the satellite positioning modules of the surrounding marks when there is no RTK signal. The drone 1 is operated in the same way to release the electronic mark 4 until all the aerial survey marks are arranged. After the drone 1 returns, removes the release frame 3 and carries the required surveying and mapping camera 2, it automatically flies according to the planned surveying and mapping route for surveying and mapping. After the surveying and mapping is completed, the recovery frame 6 is installed under the drone 1, and the drone 1 is operated to fly above the electronic mark 4, and the posture of the drone 1 is adjusted so that the multiple insertion rods 19 are aligned with the slide grooves of the electronic mark 4 respectively, and the height is lowered so that the multiple insertion rods 19 are respectively stuck in the slide grooves of the electronic mark 4, and the multiple hooks 20 hook the electronic mark 4, completing the recovery of one electronic mark 4, and the drone 1 flies again to the next electronic mark 4 and repeats the above operation until all the electronic marks 4 are recovered, realizing the recovery of the detection mark and allowing the electronic mark 4 to be reused.

[0026] Example 2

[0027] As shown Figure 5 and Figure 6As shown, the electronic identification 4 includes four extension arms 7, four torsion springs 8, four latches 9 and an opening assembly. The inner ends of the four extension arms 7 are rotatably connected to the electronic identification 4 through a rotating shaft. The four extension arms 7 are evenly arranged around the circumference. A row of identification lights 5 are installed on the four extension arms 7. After the four extension arms 7 are unfolded, the identification lights 5 thereon extend the cross light strip composed of multiple identification lights 5 on the electronic identification 4 to more than 30cm*30cm. The four torsion springs 8 are respectively mounted on the rotating shafts of the four extension arms 7. The four torsion springs 8 elastically connect the four extension arms 7 to the electronic identification 4. Sockets are set at the outer ends of the four extension arms 7. The four latches 9 are respectively slidably inserted in the sockets of the four extension arms 7. The electronic identification 4 is provided with positioning through holes matching the four latches 9. The opening assembly is installed on the lower end surface of the electronic identification 4. The lower end surface of the electronic identification 4 is provided with a contact opening The opening component is in contact with the contact switch of the electronic identification 4 and multiple pins 9; the opening component of the electronic identification 4 includes a bottom plate 10, four top pins 11 and four springs 12, the bottom plate 10 is located below the electronic identification 4, a gap is set between the bottom plate 10 and the contact switch of the electronic identification 4, the four top pins 11 are arranged and installed on the upper end surface of the bottom plate 10, the upper ends of the four top pins 11 are respectively slidably inserted in the four positioning through holes of the electronic identification 4, and the upper ends of the four top pins 11 are respectively in contact with the lower ends of the four pins 9, the four springs 12 are respectively mounted on the four top pins 11, and the upper and lower ends of the four springs 12 are respectively connected to the bottom plate 10 and the electronic identification 4; it also includes multiple solar panels 13, multiple solar panels 13 are installed on the upper end surfaces of the multiple electronic identifications 4, and the multiple solar panels 13 are respectively electrically connected to the power supplies of the multiple electronic identifications 4;

[0028] When the electronic identification 4 is in the delivery rack 3 and is not in operation, the extension arm 7 on the electronic identification 4 is folded up, and the latch 9 is inserted through the jack of the extension arm 7 into the positioning through hole of the electronic identification 4 to position the extension arm 7, so that the space volume of the electronic identification 4 is reduced, which is convenient for carrying and deployment. When the electronic identification 4 is released to the specified position through the delivery rack 3, the bottom plate 10 contacts the ground, and the downward inertia of the electronic identification 4 compresses the four springs 12, so that the contact switch of the electronic identification 4 contacts the bottom plate 10 to turn on the electronic identification 4, so that the electronic identification 4 is powered on to light up the multiple identification lights 5 thereon, and obtain the position information obtained by the RTK positioning module The RTK positioning and satellite positioning information of the aerial survey mark feature points obtained are sent to the workstation through wireless transmission. Static positioning joint measurement can also be performed with the satellite positioning modules of the surrounding marks when there is no RTK signal. At the same time, four push pins 11 push four plugs 9 upward along the four positioning sockets of the electronic mark 4, so that the four plugs 9 are disengaged from the four positioning sockets of the electronic mark 4. The elastic force of the four torsion springs 8 unfolds the four extension arms 7 in a cross shape, so that multiple identification lights 5 constitute an aerial survey mark of more than 30cm*30cm. By installing multiple solar panels 13, solar power generation is performed, thereby improving the endurance of the electronic mark 4.

[0029] like Figures 1 to 7 As shown, the UAV aerial survey system for complex geological conditions of the present invention, when working, first determines the approximate position of the detection target in the working stage of planning the surveying route, installs the delivery rack 3 under the UAV 1, and loads multiple electronic markers 4 into the delivery rack 3 after folding the expansion arm 7. The UAV 1 is operated by the workstation to fly to the approximate position of the detection target, and searches for a relatively open and unobstructed position nearby. The UAV 1 is lowered to a safe delivery height, and a release motor 18 is started, so that the driving wheel on it rubs the bottom plate 10, thereby throwing the electronic marker 4 from the space between the multiple limit posts 16 and the support plate 17, and then the electronic marker After landing, the bottom plate 10 contacts the ground, and the downward inertia of the electronic mark 4 compresses the four springs 12, so that the contact switch of the electronic mark 4 contacts the bottom plate 10 to turn on the electronic mark 4. At the same time, the four push pins 11 push the four latches 9 upward along the four positioning sockets of the electronic mark 4, so that the four latches 9 are separated from the four positioning sockets of the electronic mark 4, thereby releasing and unfolding the four extension arms 7. After landing, the electronic mark 4 unfolds and turns on multiple identification lights 5 and the RTK positioning module. The identification light 5 in the center of the cross protrudes from the other identification lights 5 to become a punctum, that is, forming an aerial survey mark. At the same time, the obtained aerial survey mark feature point RTK is transmitted through wireless transmission. The positioning and satellite positioning information are sent to the workstation. It can also perform static positioning joint measurement with the satellite positioning module of the surrounding markers when there is no RTK signal. Continue to operate the drone 1 to fly and release the electronic marker 4 through the release rack 3 until all the detection targets are arranged. Then the drone 1 returns and removes the release rack 3. The two surveying and mapping cameras 2 are respectively installed on the two telescopic rods 23, and the two positioning pins 24 are pulled up to separate the two positioning pins 24 from the two positioning holes on the hook 20. The two extension arms 22 are unfolded and extended to the front and rear ends of the hook 20, and the two positioning pins 24 are released. Under the pulling force of the two springs 25, the lower ends of the two positioning pins 24 are extended. The two extension arms 22 are extended and contact with the side wall limit of the hook 20, the two extension arms 22 are limited, and the two telescopic rods 23 are extended, so that the interval between the two mapping cameras 2 is increased, and the mapping is automatically carried out according to the planned mapping route. After the mapping is completed, the recovery frame 6 is finally installed under the UAV 1, and the UAV 1 is operated to fly above the electronic mark 4. The posture of the UAV 1 is adjusted so that the multiple insertion rods 19 are aligned with the slide grooves of the electronic mark 4 respectively, and the height is lowered so that the multiple insertion rods 19 are respectively stuck in the slide grooves of the electronic mark 4, and the multiple hooks 20 hook the electronic mark 4, completing the recovery of one electronic mark 4, and all electronic marks 4 can be recovered.

[0030] The main functions achieved by the present invention are:

[0031] 1. Replace manual work to place and recover aerial survey marks. Compared with manual spraying targets, it has high work efficiency and is non-hazardous.

[0032] 2. The aerial survey mark emits light of a special wavelength autonomously, which is bright and easy to identify during surveying and mapping, thus avoiding the situation where the aerial survey mark fails;

[0033] 3. Aerial survey marks can be used repeatedly, which improves economic benefits;

[0034] 4. It can obtain accurate positioning information of aerial survey marks, eliminate human errors and improve the accuracy of surveying and mapping;

[0035] 5. Wireless transmission monitors the working status of all aerial survey marks at all times, ensuring the smooth progress of aerial survey work and improving work efficiency.

[0036] The installation method, connection method or setting method of the unmanned aerial survey system for complex geological conditions of the present invention are all common mechanical methods, and can be implemented as long as they can achieve their beneficial effects; the unmanned aerial survey system for complex geological conditions of the present invention includes the unmanned aerial survey system 1, surveying camera 2, identification light 5, torsion spring 8, spring 12, solar panel 13, release motor 18, hook 20, camera 21, and spring 25 which are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for creative labor by technicians in this field.

[0037] All technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An unmanned aerial survey system for complex geological conditions, comprising an unmanned aerial survey system (1), a surveying camera (2) and a workstation, wherein the unmanned aerial survey system (1) is equipped with the surveying camera (2), the surveying camera (2) is one or more of an orthophoto camera, an oblique camera, a hyperspectral camera and a multispectral camera, and the workstation is wirelessly connected to the unmanned aerial survey system (1); characterized in that: The device also comprises a delivery rack (3), a plurality of electronic tags (4), a plurality of identification lights (5) and a recovery rack (6). The delivery rack (3) is mounted below the unmanned aerial vehicle (1), has a plurality of electronic tags (4) built in, and is provided with a driving component for releasing the electronic tags (4). The electronic tags (4) are provided with a power supply for supplying power to the identification lights (5), an RTK module, a satellite positioning module and a wireless module. After the delivery rack (3) automatically releases the electronic tags (4), a plurality of identification lights (5) arranged in a cross shape on the front of the electronic tags (4) are automatically lit to form a self-luminous aerial survey mark. The brightness, color and frequency of the identification light (5) located at the center of the cross are prominent compared with other identification lights (5). The satellite positioning module is located directly below the identification light (5) at the center of the cross. The center point data of the aerial survey mark is transmitted to the workstation through the wireless transmission module to prepare for the later image control point puncture. The recovery rack (6) is used to recover the electronic tags (4). The electronic identification (4) comprises four expansion arms (7), four torsion springs (8), four latches (9) and an opening assembly. The inner ends of the four expansion arms (7) are rotatably connected to the electronic identification (4) through a rotating shaft. The four expansion arms (7) are evenly arranged around the circumference. A row of identification lights (5) are installed on the four expansion arms (7). After the four expansion arms (7) are unfolded, the identification lights (5) on the four expansion arms extend the cross light strip formed by the multiple identification lights (5) on the electronic identification (4) to more than 30 cm*30 cm. The four torsion springs (8) are respectively mounted on the four expansion arms. On the rotating shaft of the four extension arms (7), four torsion springs (8) elastically connect the four extension arms (7) and the electronic mark (4), the outer ends of the four extension arms (7) are provided with sockets, four latches (9) are respectively slidably inserted in the sockets of the four extension arms (7), the electronic mark (4) is provided with positioning through holes matching the four latches (9), the opening component is installed on the lower end surface of the electronic mark (4), the lower end surface of the electronic mark (4) is provided with a contact switch, and the opening component contacts the contact switch and the plurality of latches (9) of the electronic mark (4); The opening component of the electronic identification (4) comprises a bottom plate (10), four top pins (11) and four springs (12). The bottom plate (10) is located below the electronic identification (4). A gap is provided between the bottom plate (10) and a contact switch of the electronic identification (4). The four top pins (11) are arranged and installed on the upper end surface of the bottom plate (10). The upper ends of the four top pins (11) are respectively slidably inserted into four positioning through holes of the electronic identification (4), and the upper ends of the four top pins (11) are respectively in contact with the lower ends of four latches (9). The four springs (12) are respectively mounted on the four top pins (11). The upper and lower ends of the four springs (12) are respectively connected to the bottom plate (10) and the electronic identification (4).

2. The UAV aerial survey system for complex geological conditions as claimed in claim 1, characterized in that: It also includes a plurality of solar panels (13), wherein the plurality of electronic labels (4) are each mounted with the plurality of solar panels (13) on their upper end surfaces, and the plurality of solar panels (13) are each electrically connected to a power source of the plurality of electronic labels (4).

3. The UAV aerial survey system for complex geological conditions as claimed in claim 1, characterized in that: The delivery rack (3) comprises an upper plate (14), a plurality of limiting columns (15), a plurality of limiting columns (16), a support plate (17) and a plurality of release motors (18). Two vertical slide grooves are arranged on the front and rear side walls of the electronic mark (4). The upper plate (14) is provided with a mounting hole connected to the drone (1). A plurality of limiting columns (15) are vertically installed on one side of the lower end surface of the upper plate (14), and a plurality of limiting columns (16) are vertically installed on the other side of the lower end surface of the upper plate (14). The plurality of limiting columns (15) and the plurality of limiting columns (16) are arranged symmetrically on the left and right. The length difference between the limiting columns (15) and the limiting columns (16) is one to one and a half electronic marks. The plurality of electronic identifiers (4) are loaded between the plurality of limiting columns (15) and the plurality of limiting columns (16), and the plurality of limiting columns (15) and the plurality of limiting columns (16) are respectively matched with the slide grooves of the electronic identifiers (4) in a sliding manner. The support plate (17) is located below the upper plate (14), and the support plate (17) is connected to the lower ends of the plurality of limiting columns (15). The support plate (17) supports the plurality of electronic identifiers (4). The plurality of release motors (18) are all installed on the lower end surface of the support plate (17), and the output shafts of the plurality of release motors (18) are all equipped with drive wheels. The plurality of drive wheels respectively pass through the support plate (17) and are in frictional contact with the bottom plates (10) of the plurality of electronic identifiers (4).

4. The UAV aerial survey system for complex geological conditions as claimed in claim 1, characterized in that: The recovery rack (6) comprises a plurality of insertion rods (19) and a plurality of hooks (20), wherein the plurality of insertion rods (19) are vertically symmetrically arranged on both sides of the recovery rack (6), the plurality of insertion rods (19) are respectively matched and aligned with the slide grooves of the electronic identification (4), and gaps are arranged between the plurality of insertion rods (19) and the slide groove walls of the electronic identification (4), and the lower ends of the plurality of insertion rods (19) are rotatably mounted with hooks (20), and the plurality of hooks (20) are all facing inwards.

5. The UAV aerial survey system for complex geological conditions as claimed in claim 1, characterized in that: The unmanned aerial vehicle (1) also includes a camera (21). The unmanned aerial vehicle (1) is provided with a frame and a fuselage. The frame is provided with a plurality of propeller mechanisms for hovering. The fuselage is provided with a camera (21) at the front end of the fuselage. The fuselage is provided with a surveying and mapping camera (2).

6. The UAV aerial survey system for complex geological conditions as claimed in claim 5, characterized in that: The apparatus also comprises two extension arms (22), two telescopic rods (23), two positioning pins (24) and two springs (25). The inner ends of the two extension arms (22) are respectively rotatably connected to the front and rear ends of the hook (20). The two telescopic rods (23) are respectively slidably and telescopically connected to the two extension arms (22). The two surveying and mapping cameras (2) are respectively mounted on the outer ends of the two telescopic rods (23). The two extension arms (22) are both provided with limited position plug holes. The two positioning pins (24) are respectively slidably inserted into the limited position plug holes of the two extension arms (22). The two springs (25) are respectively mounted on the two positioning pins (24), and the two ends of the two springs (25) are respectively connected to the upper ends of the two positioning pins (24) and the upper end surfaces of the two extension arms (22). The hook (20) is provided with two positioning holes. When the two extension arms (22) are folded onto the hook (20), the positioning holes of the hook (20) are aligned with the limiting insertion holes of the extension arms (22). When the two extension arms (22) are unfolded, the lower ends of the two positioning pins (24) are in limiting contact with the side wall of the hook (20).

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