Lidar oblique photogrammetry device and mapping method thereof

Abstract

The application discloses a laser radar oblique photogrammetry device and a surveying and mapping method thereof, and particularly relates to the field of surveying and mapping. The laser radar oblique photogrammetry device comprises a flying vehicle, a mounting rack is fixedly arranged at the bottom of the flying vehicle, a bearing table and a mounting table are arranged on the mounting rack, the mounting table is movably arranged below the bearing table, a hanging plate is movably arranged above the bearing table, the hanging plate and the bearing table and the bearing table and the mounting table are movably connected through spherical compensators, a linear driving mechanism one is arranged on the mounting rack, and the output end of the bottom of the linear driving mechanism one is fixedly connected with the top of the hanging plate. The bearing table and the mounting table are combined to form an included angle on the side corresponding to the transverse moving direction of the flying vehicle, so that the air inlet of the mounting space is closed, the influence of the jet effect of strong airflow on the bearing table and the mounting table is greatly weakened, and the flying vehicle is stably and quickly stopped at the set measuring position.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping technology, and more specifically, to a lidar oblique photogrammetry device and its surveying method. Background Technology

[0002] A lidar measurement system includes a laser and a receiving system. The laser generates and emits light pulses, which strike objects to form light spots and reflect signals. The receiver receives the reflected signals and accurately measures the propagation time of the light pulse from emission to reflection. Since the speed of light is known, the propagation time can be converted into a distance measurement. Combined with the height of the laser and the laser scanning angle, the three-dimensional coordinates of the light spot on each object can be accurately calculated.

[0003] An oblique photogrammetry system is an aircraft equipped with multiple lenses and cameras. These cameras acquire image data of an object from multiple angles, including vertical and oblique angles, obtaining complete and accurate texture data and positioning information. Current oblique photogrammetry technology typically uses five lenses and cameras. One lens is mounted perpendicular to the ground to acquire vertical images, while the other four lenses are mounted in the front, back, left, and right directions corresponding to the vertical lens. These four lenses are tilted between 40° and 60° to acquire side view image data of the object. Therefore, by using five lenses and cameras, the contour and texture information of the object's side can be acquired relatively completely, thus quickly obtaining a 3D model of the object.

[0004] LiDAR measurement systems and oblique photogrammetry systems can be used together to obtain more comprehensive and accurate geographic information. LiDAR measurement systems can provide high-density 3D point cloud data, while oblique photogrammetry systems can provide high-resolution oblique images. By fusing the two, detailed information on terrain, buildings, vegetation, and other information can be obtained simultaneously.

[0005] The lidar measurement system and the oblique photogrammetry system are mounted on the bottom support of the aircraft. To increase installation space and stability, a support platform is set on the support, and the lidar measurement system and the oblique photogrammetry system are mounted on the bottom of the support platform.

[0006] In high-altitude areas, due to lower atmospheric density and increased air mobility, aircraft are affected by turbulent airflow and tend to tilt to one side. This causes changes in the measurement angles of the lidar measurement system and the oblique photogrammetry system. To reduce the impact of aircraft tilt on the measurement angles of the lidar measurement system and the oblique photogrammetry system, existing technology uses an adjustable mounting platform below the support platform on the aircraft bracket. The lidar measurement system and the oblique photogrammetry system are mounted below the mounting platform. A spherical compensator and an adjustment drive mechanism are installed between the support platform and the mounting platform. When the aircraft tilts to one side, the adjustment drive mechanism corrects and adjusts the mounting platform, keeping the lidar measurement system and the oblique photogrammetry system at the set measurement angle for mapping work.

[0007] Because the mounting platform and the installation platform have reserved space for the spherical compensator and the drive mechanism, when the aircraft moves laterally to adjust its position, the opening at one end of the installation space facing the lateral movement direction is the air inlet, and the opening at the other end is the air outlet. When the airflow passes through the installation space between the mounting platform and the installation platform, according to the air jet effect, the airflow speed increases in the installation space, and the airflow spreads rapidly at the air outlet. This diffusion effect produces a jet-like effect, pushing the airflow into the surrounding environment, thus subjecting the aircraft to additional thrust when moving laterally, making it difficult for the aircraft to stop at the set measurement position. Due to the above-mentioned correction and adjustment of the installation platform, when the cross-section of the installation space is adjusted to a trapezoid, the height of the air inlet is just greater than the height of the air outlet, the airflow spreads faster at the air outlet, the jet effect is stronger, and in severe cases, it will cause the aircraft to become unbalanced. Summary of the Invention

[0008] The present invention provides a lidar oblique photogrammetry device and its mapping method, which aims to solve the problem that existing lidar oblique photogrammetry devices are subject to airflow jet effects in areas with strong airflow, making it difficult for aircraft to stop at the set measurement position.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a laser radar oblique photogrammetry device, comprising an aircraft, a mounting frame fixedly mounted on the bottom of the aircraft, a support platform and a mounting platform mounted on the mounting frame, the mounting platform being movably positioned below the support platform, a hanging plate movably mounted above the support platform, the hanging plate and the support platform and the support platform and the mounting platform being movably connected by spherical compensators, a linear drive mechanism 1 mounted on the mounting frame, the output end of the bottom of the linear drive mechanism 1 being fixedly connected to the top of the hanging plate, when the linear drive mechanism 1 drives the hanging plate to move downwards, the support platform and the mounting frame are separated; the support platform... An adjustment drive mechanism two is installed between the hanging plate and the mounting platform, and an adjustment drive mechanism one is installed between the support platform and the mounting platform. When the aircraft moves laterally, the adjustment drive mechanism one drives the mounting platform to tilt upwards on the side corresponding to the lateral movement direction of the aircraft, and the adjustment drive mechanism two drives the support platform to tilt downwards on the side corresponding to the lateral movement direction of the aircraft, so that the support platform and the mounting platform merge on the side corresponding to the lateral movement direction of the aircraft. Limiting mechanisms are provided on both sides of the hanging plate, and the limiting mechanisms are fixedly installed on the inner side of the bottom of the mounting frame. The limiting mechanisms are used to vertically limit the hanging plate, so that the hanging plate is always located inside the mounting frame.

[0010] In a preferred embodiment, the limiting mechanism includes a swing column, with an upper limit block and a lower limit block rotatably connected to the top and bottom of the swing column, respectively. A power mechanism is provided on one side of the swing column, which is used to drive the upper limit block and the lower limit block to move alternately toward the hanging plate. When the upper limit block approaches the hanging plate, both ends of the hanging plate are located on the corresponding upper limit block. When the lower limit block approaches the hanging plate, both ends of the hanging plate are located on the corresponding lower limit block. Limiting grooves are provided inside both the upper limit block and the lower limit block, and the two sets of limiting grooves limit both ends of the swing column respectively.

[0011] In a preferred embodiment, the power mechanism includes a mounting base on which a drive motor is fixedly mounted. The output end of the drive motor is fixedly connected to a drive wheel, and a central column is driven to one side of the drive wheel. The central column is fixedly connected to the center of the swing column.

[0012] In a preferred embodiment, positioning blocks are fixedly provided on both sides of the bottom of the mounting frame, and positioning openings are provided on both sides of the support platform. When the linear drive mechanism drives the hanging plate to move upward, the two sets of positioning blocks enter the interior of the corresponding two sets of positioning openings, so that the support platform remains horizontal.

[0013] In a preferred embodiment, a calibration mechanism is provided between the support platform and the mounting platform. When the support platform and the mounting platform merge on one side to form an angle, the calibration mechanism is located on the angle bisector of the angle.

[0014] In a preferred embodiment, the calibration mechanism includes a calibration column, one end of which is fixedly provided with a support column, and the other end of the support column away from the calibration column is vertically provided with a support plate, which is fixedly provided at the bottom of the hanging plate. The support platform has a support plate through-hole corresponding to the position of the support plate, and the support plate vertically passes through the inside of the support plate through-hole, and the support plate is used to support the calibration column to keep it horizontal.

[0015] In a preferred embodiment, a linkage assembly is rotatably connected to one end of the calibration column near the support column. The linkage assembly includes an upper linkage plate and a lower linkage plate. Both the upper and lower linkage plates have through-shaft openings inside. The support platform has mounting openings corresponding to the position of the upper linkage plate, and the mounting platform has mounting openings corresponding to the position of the lower linkage plate. A fixed shaft is fixedly installed inside the mounting opening. The fixed shaft is slidably installed inside the corresponding through-shaft opening. When the support platform and the mounting platform are tilted, the calibration column is moved laterally through the upper and lower linkage plates.

[0016] In a preferred embodiment, a guide plate is fixedly provided at the end of the calibration column away from the support column, and the side of the guide plate away from the calibration column is an arc-shaped surface.

[0017] In a preferred embodiment, a housing is mounted on the mounting frame, a linear drive mechanism is fixedly mounted inside the housing, a measuring box is mounted on the bottom of the mounting platform, and a lidar measuring system and an oblique photogrammetry measuring system are installed inside the measuring box.

[0018] The present invention also provides a mapping method for a lidar oblique photogrammetry device, which specifically includes the following steps:

[0019] S1: Install the lidar measurement system and the oblique photogrammetry system into the measurement box, and adjust the measurement angle of the measurement box so that the lidar measurement system and the oblique photogrammetry system inside the measurement box are at the set measurement angle;

[0020] S2: Deliver the aircraft to the surveying location. During the transport, when the aircraft is moving laterally, tilt the support platform and mounting platform in the direction of movement.

[0021] S3: After reaching the surveying position, reset the support platform and mounting platform to bring the measuring box back to the set surveying angle;

[0022] S4: Start mapping. The mapping data from the lidar measurement system and the oblique photogrammetry system is transmitted to the ground. A three-dimensional model of the mapped ground is created based on the mapping data.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention adjusts the second drive mechanism to tilt the support platform downwards on one side corresponding to the lateral movement direction of the aircraft, while simultaneously adjusting the first drive mechanism to tilt the mounting platform upwards on the same side. This causes the support platform and mounting platform to merge and form an angle on the side corresponding to the lateral movement direction of the aircraft, thereby sealing the air inlet of the installation space. This significantly reduces the impact of the jet effect generated by strong airflow on the support platform and mounting platform, allowing the aircraft to stop stably and quickly at the set measurement position.

[0025] When the support platform and the mounting platform are tilted together on one side, the calibration column moves outward from the mounting space under the opposite push of the upper and lower connecting plates, leaving the guide plate outside the mounting space. The guide plate and its arc-shaped surface can block and disperse the airflow. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the overall front structure of the present invention.

[0028] Figure 3 This is a schematic diagram showing the connection between the support platform and the mounting platform of the present invention.

[0029] Figure 4 This is a schematic diagram of the support platform and mounting platform of the present invention being merged to one side.

[0030] Figure 5 This is a schematic diagram of the support platform structure of the present invention.

[0031] Figure 6 This is a schematic diagram of the limiting mechanism of the present invention.

[0032] Figure 7 This is a schematic diagram of the calibration mechanism of the present invention.

[0033] The attached diagram is labeled as follows: 1. Aircraft; 11. Mounting bracket; 12. Positioning block; 2. Housing; 21. Linear drive mechanism one; 3. Support platform; 31. Adjustment drive mechanism one; 32. Positioning port; 33. Mounting port; 331. Fixed shaft; 34. Support plate through-hole; 4. Mounting platform; 5. Measuring box; 6. Hanging plate; 61. Adjustment drive mechanism two; 7. Limiting mechanism; 71. Mounting seat; 72. Drive motor; 73. Drive wheel; 74. Center column; 75. Swing column; 76. Upper limit block; 77. Lower limit block; 78. Limiting groove; 8. Calibration mechanism; 81. Guide plate; 82. Calibration column; 83. Upper connecting plate; 84. Lower connecting plate; 85. Through-shaft port; 86. Support column; 87. Support plate. Detailed Implementation

[0034] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0035] Refer to the instruction manual appendix Figures 1 to 6 A lidar oblique photogrammetry device includes an aircraft 1. A mounting frame 11 is fixedly mounted on the bottom of the aircraft 1. A support platform 3 and a mounting platform 4 are mounted on the mounting frame 11, with the mounting platform 4 movably positioned below the support platform 3. A hanging plate 6 is movably mounted above the support platform 3. The hanging plate 6 and the support platform 3, as well as the support platform 3 and the mounting platform 4, are movably connected via spherical compensators. A linear drive mechanism 21 is mounted on the mounting frame 11. The output end of the linear drive mechanism 21 is fixedly connected to the top of the hanging plate 6. When the linear drive mechanism 21 drives the hanging plate 6 downwards, it separates the support platform 3 from the mounting frame 11. A [missing information - likely a device or mechanism] is installed between the support platform 3 and the hanging plate 6. Adjustment drive mechanism 2 61, and adjustment drive mechanism 1 31 are installed between the support platform 3 and the mounting platform 4. When the aircraft 1 moves laterally, adjustment drive mechanism 1 31 drives the mounting platform 4 to tilt upwards on the side corresponding to the lateral movement direction of the aircraft 1, and adjustment drive mechanism 2 61 drives the support platform 3 to tilt downwards on the side corresponding to the lateral movement direction of the aircraft 1, so that the support platform 3 and the mounting platform 4 merge on the side corresponding to the lateral movement direction of the aircraft 1. Limiting mechanisms 7 are provided on both sides of the hanging plate 6, and the limiting mechanisms 7 are fixedly installed on the inner side of the bottom of the mounting frame 11. The limiting mechanisms 7 are used to vertically limit the hanging plate 6, so that the hanging plate 6 is always located inside the mounting frame 11.

[0036] It should be noted that the aircraft 1 is a measurement drone of the prior art. The bottom of the mounting frame 11 is H-shaped, with two parallel sides located on both sides and a vertical side in the middle mounted on the two parallel sides. The hanging plate 6 is located below the vertical side. The linear drive mechanism 1 21 adopts a cylinder or electric push rod. The adjustment drive mechanism 1 31 and the adjustment drive mechanism 2 61 both include multiple sets of cylinders or electric push rods. Taking four sets as an example, the four sets of cylinders of the adjustment drive mechanism 1 31 are respectively installed on the four sides of the mounting platform 4, and the four sets of cylinders of the adjustment drive mechanism 2 61 are respectively installed on the four sides of the support platform 3.

[0037] In this embodiment, the specific implementation scenario is as follows: When the aircraft 1 moves laterally, since there is a reserved installation space between the support platform 3 and the mounting platform 4, the opening at one end of the mounting space facing the lateral movement direction of the aircraft 1 is the air inlet, and the opening at the other end is the air outlet. By adjusting the drive mechanism 31, the side of the mounting platform 4 corresponding to the lateral movement direction of the aircraft 1 is driven to tilt obliquely upward, thus closing the air inlet between the support platform 3 and the mounting platform 4 in this direction, preventing strong airflow from entering the installation space and rapidly spreading from the air outlet to form additional thrust. However, since the mounting platform 4 forms a right-angled triangle with the sides of the support platform 3 and the mounting platform 4 after tilting, and the hypotenuse is located at the bottom, the airflow flows over the hypotenuse at the bottom of the mounting platform 4. Due to the uneven obstruction of the hypotenuse, the airflow is blocked by the hypotenuse. To prevent the aircraft 1 from wobbling during lateral movement, the linear drive mechanism 21 pushes the hanging plate 6 downwards, causing the support platform 3 to move downwards and a distance from the mounting frame 11, thus creating tilting space for the support platform 3. The drive mechanism 61 is then adjusted to tilt the support platform 3 downwards on the side corresponding to the lateral movement direction of the aircraft 1, while the drive mechanism 31 is adjusted to tilt the mounting platform 4 upwards on the side corresponding to the lateral movement direction of the aircraft 1. This causes the support platform 3 and the mounting platform 4 to merge and form an angle on the side corresponding to the lateral movement direction of the aircraft 1. The support platform 3 and the mounting platform 4 are symmetrical along the angle bisector of this angle, ensuring that the airflow passes over the support platform 3 and the mounting platform 4 as evenly as possible, thus avoiding wobbling.

[0038] Furthermore, the limiting mechanism 7 includes a swing column 75, with an upper limit block 76 and a lower limit block 77 rotatably connected to the top and bottom of the swing column 75, respectively. A power mechanism is provided on one side of the swing column 75, which is used to drive the upper limit block 76 and the lower limit block 77 to move alternately toward the hanging plate 6. When the upper limit block 76 is close to the hanging plate 6, both ends of the hanging plate 6 are located on the corresponding upper limit block 76. When the lower limit block 77 is close to the hanging plate 6, both ends of the hanging plate 6 are located on the corresponding lower limit block 77. Limiting grooves 78 are provided inside both the upper limit block 76 and the lower limit block 77. The two sets of limiting grooves 78 limit both ends of the swing column 75, respectively.

[0039] It should be noted that after the support platform 3 is tilted, the airflow above the support platform 3 will push the support platform 3 downward. Since the connection area between the linear drive mechanism 21 and the hanging plate 6 is small, it will increase the burden on the connection strength between the linear drive mechanism 21 and the hanging plate 6. In severe cases, it will cause the linear drive mechanism 21 to disconnect from the hanging plate 6. By setting the limiting mechanism 7 to limit the hanging plate 6, the support strength is strengthened.

[0040] Furthermore, the power mechanism includes a mounting base 71, on which a drive motor 72 is fixedly mounted. The output end of the drive motor 72 is fixedly connected to a drive wheel 73. A central column 74 is driven to one side of the drive wheel 73. The central column 74 is fixedly connected to the center of the swing column 75.

[0041] It should be noted that the mounting base 71 is fixed to the mounting bracket 11. The drive motor 72 is started to drive the drive wheel 73 to rotate, and the central column 74 is rotated synchronously through the belt or other transmission method, so that one of the upper limit block 76 and the lower limit block 77 moves towards the hanging plate 6. When the upper limit block 76 is close to the hanging plate 6, the two ends of the hanging plate 6 are located on the corresponding upper limit block 76. At this time, the hanging plate 6 is in the retracted state. When the lower limit block 77 is close to the hanging plate 6, the two ends of the hanging plate 6 are located on the corresponding lower limit block 77. At this time, the hanging plate 6 is in the pushed-down state. Then, the upper limit block 76 and the lower limit block 77 are limited from the side by the limiting groove 78, so that the upper limit block 76 and the lower limit block 77 assist in supporting the hanging plate 6 and prevent the linear drive mechanism 21 from disengaging from the hanging plate 6.

[0042] Furthermore, positioning blocks 12 are fixedly provided on both sides of the bottom of the mounting bracket 11, and positioning openings 32 are provided on both sides of the support platform 3. When the linear drive mechanism 21 drives the hanging plate 6 to move upward, the two sets of positioning blocks 12 enter the interior of the corresponding two sets of positioning openings 32 respectively, so that the support platform 3 remains horizontal.

[0043] It should be noted that under normal conditions, i.e., without strong airflow, the linear drive mechanism 21 drives the hanging plate 6 to retract, the support platform 3 is horizontally located at the bottom of the mounting frame 11, and the positioning block 12 enters the interior of the corresponding positioning port 32, keeping the support platform 3 horizontal. The angle of the mounting platform 4 can be adjusted by adjusting the drive mechanism 31 for measurement. Due to the limited installation space, in some special environments, such as narrow spaces, the adjustable range of the drive mechanism 31 is limited. After pushing the support platform 3 down, the angle adjustment range of the mounting platform 4 can be increased by adjusting the drive mechanism 61.

[0044] Furthermore, a housing 2 is mounted on the mounting bracket 11, and a linear drive mechanism 21 is fixedly installed inside the housing 2. A measuring box 5 is mounted on the bottom of the mounting platform 4, and a lidar measuring system and an oblique photogrammetry measuring system are installed inside the measuring box 5.

[0045] It should be noted that the oblique photogrammetry system inside the measuring box 5 includes five sets of measuring cameras, one of which is a central camera facing downwards, and the other four sets are located in front, behind, left, and right of the central camera. The four sets of cylinders of the adjustment drive mechanism 1 31 and the adjustment drive mechanism 2 61 are respectively installed above the four sets of cameras in front, behind, left, and right. The lidar measuring system includes a transmitter and a reflector receiver, which are offset from the five sets of measuring cameras.

[0046] Refer to the instruction manual appendix Figure 3 , Figure 4 , Figure 5 and Figure 7 When the support platform 3 and the mounting platform 4 merge to form an angle on one side of the lateral movement direction of the corresponding aircraft 1, the uneven edges of the support platform 3 and the mounting platform 4 will cause a gap to form at the angle. When the airflow passes through the gap, it will produce a "whistling sound" that will affect the surrounding organisms.

[0047] To solve this problem, the following technical solution is provided: A calibration mechanism 8 is provided between the support platform 3 and the mounting platform 4. When the support platform 3 and the mounting platform 4 merge on one side to form an angle, the calibration mechanism 8 is located on the angle bisector of the angle.

[0048] Furthermore, the calibration mechanism 8 includes a calibration column 82, one end of which is fixedly provided with a support column 86, and the other end of the support column 86 away from the calibration column 82 is provided with a support plate 87 vertically, and the support plate 87 is fixedly provided at the bottom of the hanging plate 6. The support platform 3 is provided with a support plate through-hole 34 corresponding to the position of the support plate 87, and the support plate 87 is vertically inserted through the inside of the support plate through-hole 34, and the support plate 87 is used to support the calibration column 82 to keep it horizontal.

[0049] It should be noted that by passing the support plate 87 through the corresponding support plate through-hole 34 and fixing it with the hanging plate 6, the calibration column 82 and the support column 86 can be supported, so that the calibration column 82 is horizontally located on the midline between the bearing platform 3 and the mounting platform 4.

[0050] Furthermore, a linkage assembly is rotatably connected to one end of the calibration column 82 near the support column 86. This linkage assembly includes an upper linkage plate 83 and a lower linkage plate 84. Both the upper linkage plate 83 and the lower linkage plate 84 have through-shaft openings 85. The support platform 3 has an installation opening 33 corresponding to the position of the upper linkage plate 83, and the mounting platform 4 has an installation opening 33 corresponding to the position of the lower linkage plate 84. A fixed shaft 331 is fixedly installed inside the installation opening 33. The fixed shaft 331 is slidably disposed inside the corresponding through-shaft opening 85. When the support platform 3 and the mounting platform 4 are tilted, the calibration column 82 is moved laterally through the upper linkage plate 83 and the lower linkage plate 84.

[0051] It should be noted that when one side of the support platform 3 and the mounting platform 4 is tilted and merged, at that side, the fixed shaft 331 slides inside the shaft opening 85, causing the upper connecting plate 83 and the lower connecting plate 84 to tilt in opposite directions, thereby pushing the calibration column 82 to move laterally. The support platform 3 and the mounting platform 4 approach the calibration column 82 from the upper and lower positions respectively, and the calibration column 82 fills the gap between the support platform 3 and the mounting platform 4. In order to better fill the gap, rubber pads can be laid on the upper and lower surfaces of the calibration column 82.

[0052] Furthermore, a guide plate 81 is fixedly provided at the end of the calibration column 82 away from the support column 86, and the side of the guide plate 81 away from the calibration column 82 is an arc-shaped surface.

[0053] It should be noted that by the calibrating column 82 being pushed laterally by the upper connecting plate 83 and the lower connecting plate 84, the guide plate 81 is pushed to the outside of the gap between the support platform 3 and the mounting platform 4. That is, the guide plate 81 is located outside the installation space. When the aircraft 1 moves laterally, the arc-shaped surface of the guide plate 81 faces the airflow, which can disperse the airflow as evenly as possible. The height of the guide plate 81 is greater than the height of the gap between the support platform 3 and the mounting platform 4, which can also block the airflow from passing through the gap.

[0054] In this embodiment, the specific implementation scenario is as follows: when one side of the support platform 3 and the mounting platform 4 tilts and merges, under the opposite push of the upper connecting plate 83 and the lower connecting plate 84, the calibration column 82 moves outward from the mounting space, leaving the guide plate 81 outside the mounting space. The guide plate 81 and its arc-shaped surface can block and disperse the airflow. On the corresponding other side, the upper connecting plate 83 and the lower connecting plate 84 gradually straighten, and the calibration column 82 moves towards the spherical compensator between the support platform 3 and the mounting platform 4. (Refer to the attached diagram.) Figure 4 and Figure 5 The spherical compensator is located in the middle, while the support plate through-hole 34 and the corresponding support plate 87 are set to one side, so there will be no interference. Similarly, the upper connecting plate 83 and the lower connecting plate 84 will not interfere with the spherical compensator. The thickness of the support plate through-hole 34 is greater than the thickness of the support plate 87. When the bearing platform 3 is tilted, the support plate 87 can still pass vertically through the corresponding support plate through-hole 34. Similarly, the thickness of the mounting port 33 is greater than the thickness of the upper connecting plate 83 and the lower connecting plate 84, providing sufficient space for the tilting of the upper connecting plate 83 and the lower connecting plate 84.

[0055] The present invention also provides a mapping method for a lidar oblique photogrammetry device, which specifically includes the following steps:

[0056] S1: Install the lidar measurement system and the oblique photogrammetry system into the measurement box 5, and adjust the mapping angle of the measurement box 5 so that the lidar measurement system and the oblique photogrammetry system inside the measurement box 5 are at the set mapping angle.

[0057] S2: Send the aircraft 1 to the surveying location. During the transport, when the aircraft 1 moves laterally, tilt the support platform 3 and the mounting platform 4 in the direction of movement.

[0058] S3: After reaching the surveying position, reset the support platform 3 and the mounting platform 4 so that the measuring box 5 returns to the set surveying angle;

[0059] S4: Start mapping. The mapping data from the lidar measurement system and the oblique photogrammetry system is transmitted to the ground. A three-dimensional model of the mapped ground is created based on the mapping data.

[0060] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A laser radar oblique photogrammetry device, comprising an aircraft (1), wherein a mounting frame (11) is fixedly provided at the bottom of the aircraft (1), and a support platform (3) and a mounting platform (4) are mounted on the mounting frame (11), and the mounting platform (4) is movably disposed below the support platform (3), characterized in that: A hanging plate (6) is movably provided above the support platform (3). The hanging plate (6) and the support platform (3) and the support platform (3) and the mounting platform (4) are movably connected by a spherical compensator. A linear drive mechanism (21) is installed on the mounting frame (11). The output end of the bottom of the linear drive mechanism (21) is fixedly connected to the top of the hanging plate (6). When the linear drive mechanism (21) drives the hanging plate (6) to move downward, the support platform (3) and the mounting frame (11) are separated. An adjustment drive mechanism 2 (61) is installed between the support platform (3) and the hanging plate (6), and an adjustment drive mechanism 1 (31) is installed between the support platform (3) and the mounting platform (4). When the aircraft (1) moves laterally, the adjustment drive mechanism 1 (31) drives the mounting platform (4) to tilt upwards on the side corresponding to the lateral movement direction of the aircraft (1), and the adjustment drive mechanism 2 (61) drives the support platform (3) to tilt downwards on the side corresponding to the lateral movement direction of the aircraft (1), so that the support platform (3) and the mounting platform (4) merge on the side corresponding to the lateral movement direction of the aircraft (1). Both sides of the hanging plate (6) are provided with limiting mechanisms (7), and the limiting mechanisms (7) are fixedly installed on the inner side of the bottom of the mounting frame (11). The limiting mechanisms (7) are used to vertically limit the hanging plate (6) so that the hanging plate (6) is always located inside the mounting frame (11). A calibration mechanism (8) is provided between the support platform (3) and the mounting platform (4). The calibration mechanism (8) includes a calibration column (82). A support column (86) is fixedly provided at one end of the calibration column (82). A support plate (87) is vertically provided at the end of the support column (86) away from the calibration column (82). The support plate (87) is fixedly provided at the bottom of the hanging plate (6). A support plate through-hole (34) is provided on the support platform (3) corresponding to the position of the support plate (87). The support plate (87) is vertically inserted into the interior of the support plate through-hole (34). The support plate (87) is used to support the calibration column (82) to keep it horizontal.

2. The lidar oblique photogrammetry device according to claim 1, characterized in that: The limiting mechanism (7) includes a swing column (75). The top and bottom of the swing column (75) are rotatably connected to an upper limit block (76) and a lower limit block (77). A power mechanism is provided on one side of the swing column (75). The power mechanism is used to drive the upper limit block (76) and the lower limit block (77) to move alternately toward the hanging plate (6). When the upper limit block (76) is close to the hanging plate (6), the two ends of the hanging plate (6) are located on the corresponding upper limit block (76). When the lower limit block (77) is close to the hanging plate (6), the two ends of the hanging plate (6) are located on the corresponding lower limit block (77). The upper limit block (76) and the lower limit block (77) are both provided with limiting grooves (78). The two sets of limiting grooves (78) limit the two ends of the swing column (75) respectively.

3. The lidar oblique photogrammetry device according to claim 2, characterized in that: The power mechanism includes a mounting base (71), on which a drive motor (72) is fixedly mounted. The output end of the drive motor (72) is fixedly connected to a drive wheel (73). A central column (74) is connected to one side of the drive wheel (73). The central column (74) is fixedly connected to the center of the swing column (75).

4. The lidar oblique photogrammetry device according to claim 3, characterized in that: The mounting bracket (11) has positioning blocks (12) fixed at the bottom of both sides, and the bearing platform (3) has positioning openings (32) on both sides. When the linear drive mechanism (21) drives the hanging plate (6) to move upward, the two sets of positioning blocks (12) enter the interior of the corresponding two sets of positioning openings (32) respectively, so that the bearing platform (3) remains horizontal.

5. The lidar oblique photogrammetry device according to claim 4, characterized in that: When the support platform (3) and the mounting platform (4) merge on one side to form an angle, the calibration mechanism (8) is located on the angle bisector of the angle.

6. The lidar oblique photogrammetry device according to claim 5, characterized in that: The calibration column (82) is rotatably connected to a linkage assembly near the support column (86). The linkage assembly includes an upper linkage plate (83) and a lower linkage plate (84). Both the upper linkage plate (83) and the lower linkage plate (84) have through-shaft openings (85). The support platform (3) has an installation opening (33) at the position corresponding to the upper linkage plate (83) and the mounting platform (4) has an installation opening (33) at the position corresponding to the lower linkage plate (84). A fixed shaft (331) is fixedly installed inside the installation opening (33). The fixed shaft (331) is slidably installed inside the corresponding through-shaft opening (85). When the support platform (3) and the mounting platform (4) are tilted, the calibration column (82) moves laterally through the upper linkage plate (83) and the lower linkage plate (84).

7. A lidar oblique photogrammetry device according to claim 6, characterized in that: The calibration column (82) is fixedly provided with a guide plate (81) at one end away from the support column (86), and the side of the guide plate (81) away from the calibration column (82) is an arc-shaped surface.

8. The lidar oblique photogrammetry device according to claim 7, characterized in that: The mounting bracket (11) is equipped with a housing (2), the linear drive mechanism (21) is fixedly installed inside the housing (2), the bottom of the mounting platform (4) is equipped with a measuring box (5), and the measuring box (5) is equipped with a laser radar measuring system and an oblique photography measuring system.

9. A mapping method using a lidar oblique photogrammetry device as described in claim 8, characterized in that, Specifically, the steps include the following: S1: Install the lidar measurement system and the oblique photogrammetry system into the measurement box (5), and adjust the measurement angle of the measurement box (5) so that the lidar measurement system and the oblique photogrammetry system inside the measurement box (5) are at the set measurement angle; S2: Send the aircraft (1) to the surveying location. During the transport, when the aircraft (1) moves laterally, tilt the support platform (3) and the mounting platform (4) in the direction of movement. S3: After reaching the surveying position, reset the support platform (3) and the mounting platform (4) so ​​that the measuring box (5) returns to the set surveying angle; S4: Start mapping. The mapping data from the lidar measurement system and the oblique photogrammetry system is transmitted to the ground. A three-dimensional model of the ground is created based on the mapping data.

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