Unmanned aerial vehicle surveying and mapping device and surveying and mapping method based on BIM

Abstract

The invention discloses a BIM-based unmanned aerial vehicle surveying and mapping device and method, and belongs to the field of unmanned aerial vehicle surveying and mapping. The BIM-based unmanned aerial vehicle surveying and mapping device comprises a vehicle body and further comprises a protection frame arranged on the vehicle body, a driving device is arranged in the protection frame, a mounting groove is formed in the side, away from the vehicle body, of the driving device, the protection frame is provided with a landing unit used for landing of the vehicle body, and the landing unit is electrically connected with the driving device; the storage unit is arranged in the mounting groove and comprises a lifting mechanism and a protection mechanism, the lifting mechanism and the protection mechanism communicate with the landing unit through pipelines, the landing unit can drive the lifting mechanism to stretch out and draw back up and down along the mounting groove, and the lifting mechanism can drive the protection mechanism to reciprocate along the bottom of the driving equipment; the problems of poor flight attitude stability, poor surveying and mapping effect, poor landing safety, poor surveying and mapping progress and poor stability of the unmanned aerial vehicle can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle surveying and mapping, and in particular to a BIM-based unmanned aerial vehicle surveying and mapping device and a surveying and mapping method. Background Art

[0002] Building Information Modeling (BIM) is a computer-aided design method that is mainly based on three-dimensional graphics, object-oriented, and related to architecture. It is often used in surveying and mapping because of its visualization, coordination, simulation, optimization, and mappability. When it comes to major national engineering construction, disaster emergency response, land supervision, and environmental monitoring, drone surveying is generally used because of the large surveying area. It is not only efficient and fast, but also has high accuracy and reliability, is more flexible, and makes data processing more convenient.

[0003] At present, when a drone lands, it is generally cushioned and ensured by a fixed bracket. However, when the drone is flying, the bracket will affect the stability of its flight attitude, easily increase the vibration caused by factors such as wind, and also affect the surveying and mapping effect; and when conducting outdoor surveying and mapping, it is difficult to ensure the stability of the drone's landing attitude, affecting the safety of the drone's landing. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of poor UAV flight attitude stability, poor surveying and mapping effect, poor landing safety, poor surveying and mapping progress and stability in the prior art, and to propose a BIM-based UAV surveying and mapping device and method.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A BIM-based unmanned aerial vehicle surveying and mapping device comprises a body, and further comprises: a protection frame arranged on the body, a driving device is arranged in the protection frame, a mounting groove is provided on a side of the driving device away from the body, wherein the protection frame is provided with a landing unit for landing the body, and the landing unit is electrically connected to the driving device; a storage unit is arranged in the mounting groove, and the storage unit comprises a lifting mechanism and a protection mechanism, wherein the lifting mechanism and the protection mechanism are both connected to the landing unit through a pipeline, and the landing unit can drive the lifting mechanism to extend and retract up and down along the mounting groove, and the lifting mechanism can drive the protection mechanism to reciprocate along the bottom of the driving device.

[0006] In order to facilitate the landing of the UAV and improve the stability of the flight attitude, preferably, the landing unit includes a plurality of articulated seats fixedly connected to the protective frame, the articulated seat is rotatably connected with an adjusting cylinder, the interior of the adjusting cylinder is slidably connected with a connecting rod, the end of the connecting rod away from the adjusting cylinder is slidably connected with a damping cylinder, and a stabilizing rod is rotatably connected between two groups of damping cylinders on the same side, wherein the stabilizing rod includes a fixed part and a movable part, the movable part is inserted into the fixed part, and the movable part fits tightly with the fixed part, the end of the movable part close to the fixed part is a magnetic material, and the interior of the fixed part is fixedly connected with an electromagnetic block, and when the electromagnetic block is energized, suction is generated between the electromagnetic block and the magnetic material.

[0007] In order to facilitate the stability of the landing unit during landing, it further includes a rotating shaft fixedly connected to the hinge seat, the adjusting cylinder is rotatably connected to the rotating shaft, a plurality of limit grooves are provided on the outside of the rotating shaft, a sliding cavity is provided on the side of the adjusting cylinder close to the rotating shaft, a baffle is symmetrically fixedly connected to the inside of the sliding cavity, a limit block is slidably connected to the inside of the sliding cavity, an air intake channel connected to the sliding cavity is provided inside the adjusting cylinder, wherein the sliding cavity is connected to the limit groove, the limit block matches the limit groove, and the limit block is located above the baffle.

[0008] In order to facilitate the adjustment of the landing height of the drone, it further includes a slide groove symmetrically opened on the inner wall of the adjustment cylinder, an extension plate slidably connected to the slide groove is fixedly connected to the outer wall of the connecting rod, and the outer wall of the extension plate is tightly fitted with the inner wall of the slide groove, and a second spring is fixedly connected between the extension plate and the slide groove.

[0009] In order to ensure the stability of the drone during landing, further, it also includes a plurality of groups of card slots provided on the outer wall of the connecting rod, and the side wall of the adjusting cylinder is provided with mutually interconnected transverse slots and connecting channels, and the interior of the transverse slot is fixedly connected with a third spring, and the end of the third spring away from the connecting channel is fixedly connected with a card block slidably connected to the transverse slot, wherein the size of the transverse slot is larger than the size of the connecting channel, the card block fits tightly with the transverse slot, the card block matches the card slot, and the connecting channel and the adjusting cylinder are connected through a pipe.

[0010] In order to reduce the vibrations experienced by the drone when it lands, the device further includes a damping rod and a first spring fixedly connected between the connecting rod and the damping cylinder. The first spring is sleeved on the outside of the damping rod, and the damping cylinder is connected to the adjustment cylinder on the other side through a pipe.

[0011] In order to improve the protection of the surveying instrument, the lifting mechanism further includes an adjusting frame arranged in the mounting groove, the surveying instrument is arranged at one end of the adjusting frame away from the mounting groove, the surveying instrument and the mounting groove are both fixedly connected with a guide rail frame slidably connected to the adjusting frame, a multi-stage cylinder is fixedly connected between two groups of the guide rail frames, and a positioning cylinder is fixedly connected to the inner wall of the mounting groove, wherein the adjusting frame includes a plurality of groups of lifting rods arranged in a cross shape, and adjusting cylinders are arranged between the spaced lifting rods, the adjusting cylinder is connected to the fixing part by a pipe, and the positioning cylinder is connected to the air intake channel by a pipe.

[0012] In order to prevent dust from adhering to the surveying instrument when the drone lands, the protective mechanism further includes a shielding groove symmetrically opened in the driving device, a protective plate is slidably connected to the inside of the shielding groove, and a fourth spring is fixedly connected between the protective plate and the shielding groove, wherein the sum of the dimensions of the two groups of protective plates is larger than the dimension of the mounting groove, the protective plate fits tightly against the shielding groove, an adjusting pipe is connected between one stage of the multi-stage cylinder and the shielding groove, and part of the adjusting pipe passes through the driving device.

[0013] In order to facilitate the cleaning of dust on the surface of the surveying instrument, it further includes an exhaust pipe connected to the other stage of the multi-stage cylinder. The exhaust pipe passes through the driving device from the mounting groove to the shielding groove in sequence, and then passes through the end of the protective plate away from the fourth spring, and the end of the exhaust pipe close to the surveying instrument is inclined.

[0014] A surveying and mapping method based on a BIM UAV surveying and mapping device comprises the following steps: Step 1: Place the aircraft in the area to be surveyed and then start the aircraft. Initially, the landing unit is on the ground, and the stability of the landing unit is ensured under the action of resistance. Step 2: When the aircraft body flies into the air, the same sides of the landing unit rotate relative to each other, shrinking the landing unit to reduce the air resistance of the landing unit in the air. At the same time, the landing unit drives the storage unit to extend out of the installation slot to achieve mapping of the area. Step 3: After the surveying is completed, the aircraft is controlled to fly downward. When the driving device detects that the aircraft has dropped to the threshold height, the landing unit extends and drives the storage unit to retract into the installation slot. Step 4: During the storage process of the storage unit, the dust on the surface can be cleaned. When the storage is completed, the protection mechanism is closed to improve the protection effect of the equipment; Step 5: When the stowage is completed, the angle of the landing unit is locked by the lifting mechanism, and the height is continuously increased as the body descends. When one side of the landing unit contacts the ground, the height of the side is locked; Step 6: The landing unit can reduce vibration when the fuselage lands, reduce the vibration of the equipment, and correct the posture of the fuselage when landing on an inclined ground.

[0015] Compared with the prior art, the present invention provides a BIM-based UAV surveying and mapping device and surveying and mapping method, which has the following beneficial effects: 1. The BIM-based UAV surveying and mapping device can automatically shrink the body during flight through the landing unit, reducing the resistance of the body during flight, which not only improves the stability of the body's flight attitude, but also reduces the vibration of the body during flight, thereby improving the surveying and mapping effect of the surveying and mapping instrument.

[0016] 2. The BIM-based UAV surveying and mapping device can also automatically correct the posture of the aircraft during landing according to the inclination of the ground through the landing unit, so as to ensure the stability of the landing posture of the aircraft, thereby improving the safety of the aircraft landing. At the same time, it can have a buffering effect on the aircraft and reduce the vibration of the aircraft during landing.

[0017] 3. The BIM-based UAV surveying and mapping device can adjust the position of the surveying and mapping instrument according to the flight status of the aircraft through the landing unit. While ensuring the operation of the surveying and mapping instrument, it can improve the protection of the surveying and mapping instrument when the aircraft takes off or lands, and prevent the surveying and mapping instrument from being damaged by flying dust and stone particles, thereby improving the surveying and mapping accuracy and stability of the surveying and mapping instrument. At the same time, the dust on the surface of the surveying and mapping instrument can be cleaned when the surveying and mapping instrument is stored.

[0018] The parts not involved in the device are the same as the existing technology or can be implemented by using the existing technology. The present invention can overcome the problems of poor flight attitude stability of the UAV, poor mapping effect, poor landing safety, and poor mapping progress and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of a BIM-based UAV surveying and mapping device proposed by the present invention Figure 1 ; Figure 2 A schematic diagram of the structure of a BIM-based UAV surveying and mapping device proposed by the present invention Figure 2 ; Figure 3 A schematic diagram of a partial cross-sectional structure of a landing unit based on a BIM UAV surveying and mapping device proposed by the present invention; Figure 4 A schematic diagram of the cross-sectional structure of a body and a driving device in a BIM-based UAV surveying and mapping device proposed by the present invention; Figure 5 A BIM-based UAV surveying and mapping device proposed by the present invention Figure 3 The structural diagram of part A in the figure; Figure 6 A BIM-based UAV surveying and mapping device proposed by the present invention Figure 3 The structural diagram of part B; Figure 7 A BIM-based UAV surveying and mapping device proposed by the present invention Figure 4 Schematic diagram of the structure of part C; Figure 8 A BIM-based UAV surveying and mapping device proposed by the present invention Figure 4 The structural diagram of the D part; Fig. 9 This is a structural schematic diagram of a partial top-down cross-section of a body in a BIM-based UAV surveying and mapping device proposed by the present invention.

[0020] In the figure: 1, body; 101, through hole; 102, drive motor; 103, fan blade; 104, oil chamber; 105, annular groove; 106, friction ring; 107, propeller fan; 108, oil outlet; 2, photovoltaic panel; 3, protective frame; 4, drive device; 5, hinge seat; 51, rotating shaft; 52, limit groove; 53, sliding cavity; 54, baffle; 55, limit block; 56, air intake channel; 6, adjustment cylinder; 61, card slot; 62, horizontal slot; 63, connecting channel; 64 , the third spring; 65, the block; 7, the connecting rod; 8, the shock absorbing cylinder; 9, the stabilizer bar; 10, the electromagnetic block; 11, the damping rod; 12, the first spring; 13, the slide groove; 14, the extension plate; 15, the second spring; 16, the mounting groove; 41, the adjustment frame; 42, the surveying instrument; 43, the guide rail frame; 44, the adjustment cylinder; 45, the multi-stage cylinder; 46, the adjustment pipe; 47, the exhaust pipe; 48, the positioning cylinder; 401, the shielding groove; 402, the protective plate; 403, the fourth spring. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Example

[0023] Reference Figure 1-Figure 8A BIM-based UAV surveying and mapping device includes a body 1. The specific structure of the body 1 can refer to the technical solutions in the prior art. Those skilled in the art can know that it will not be described in detail. A photovoltaic panel 2 is also arranged above the body 1 to ensure the working time of the body 1 during surveying and mapping. It also includes: a protective frame 3 arranged on the body 1, a driving device 4 is arranged in the protective frame 3, and the driving device 4 is detachably connected to the protective frame 3. The driving device 4 is a conventional means in the prior art, mainly including a sensor, a navigation controller, a ground controller, a power system, an infrared device, a data link, etc. A mounting groove 16 is opened on the side of the driving device 4 away from the body 1, wherein the protective frame 3 is provided with a landing unit for landing the body 1, and the landing unit is electrically connected to the driving device 4; a storage unit is arranged in the mounting groove 16, and the storage unit includes a lifting mechanism and a protection mechanism, wherein the lifting mechanism and the protection mechanism are both connected to the landing unit through a pipeline, and the landing unit can drive the lifting mechanism to extend and retract along the mounting groove 16, and the lifting mechanism can drive the protection mechanism to reciprocate along the bottom of the driving device 4.

[0024] Reference Figure 1-Figure 3 The landing unit includes a plurality of articulated seats 5 fixedly connected to the protective frame 3, an adjusting cylinder 6 is rotatably connected to the articulated seat 5, a connecting rod 7 is slidably connected inside the adjusting cylinder 6, a damping cylinder 8 is slidably connected to the end of the connecting rod 7 away from the adjusting cylinder 6, a stabilizing rod 9 is rotatably connected between the two groups of damping cylinders 8 on the same side, wherein the stabilizing rod 9 includes a fixed portion and a movable portion, the movable portion is inserted into the fixed portion, and the movable portion and the fixed portion are tightly fitted, the end of the movable portion close to the fixed portion is a magnetic material, an electromagnetic block 10 is fixedly connected inside the fixed portion, and when the electromagnetic block 10 is energized, suction is generated between the electromagnetic block 10 and the magnetic material.

[0025] There is no limitation on the magnetic poles of the electromagnetic block 10 when it is energized. As long as it can generate suction with the magnetic material, the movable part can be driven to move toward the fixed part by the suction, so as to adjust the angle of the adjustment tube 6 and the height of the stabilizing rod 9 to reduce the contact area between the body 1 and the wind during flight, thereby improving the stability of the flight posture of the body 1 and reducing the vibration of the body 1 during flight, thereby improving the surveying and mapping effect.

[0026] Reference Figure 3 and Figure 5, also includes a rotating shaft 51 fixedly connected to the hinge seat 5, the adjusting cylinder 6 is rotatably connected to the rotating shaft 51, a plurality of groups of limit grooves 52 are provided on the outside of the rotating shaft 51, a sliding cavity 53 is provided on the side of the adjusting cylinder 6 close to the rotating shaft 51, the interior of the sliding cavity 53 is symmetrically fixedly connected with a baffle 54, the interior of the sliding cavity 53 is slidably connected with a limit block 55, an air intake channel 56 connected with the sliding cavity 53 is provided inside the adjusting cylinder 6, wherein the sliding cavity 53 is connected with the limit groove 52, the limit block 55 matches the limit groove 52, the limit block 55 is located above the baffle 54, and also includes a slide groove 13 symmetrically provided on the inner wall of the adjusting cylinder 6, an extension plate 14 slidably connected with the slide groove 13 is fixedly connected on the outer wall of the connecting rod 7, and the outer wall of the extension plate 14 is tightly fitted with the inner wall of the slide groove 13, and a second spring 15 is fixedly connected between the extension plate 14 and the slide groove 13.

[0027] After the stabilizer bar 9 is released (i.e. the surveying instrument 42 is stored), the gas compressed by the positioning cylinder 48 enters the sliding cavity 53 through the air inlet channel 56, driving the limit block 55 to move upward and engage with the limit groove 52. It should be explained that after the stabilizer bar 9 is released, under the action of gravity, the adjustment cylinder 6 will be in a vertical state, thereby ensuring the stability of the body 1 during landing. The second spring 15 can ensure the height stability of the body 1 during landing, and at the same time facilitate the subsequent adjustment of the extension length of the connecting rod 7.

[0028] Reference Figure 3 and Figure 6 , and also includes a plurality of groups of card grooves 61 opened on the outer wall of the connecting rod 7, and the side wall of the adjusting cylinder 6 is provided with a transverse groove 62 and a connecting channel 63 that are interconnected, and the interior of the transverse groove 62 is fixedly connected with a third spring 64, and the end of the third spring 64 away from the connecting channel 63 is fixedly connected with a card block 65 that is slidably connected to the transverse groove 62, wherein the size of the transverse groove 62 is larger than the size of the connecting channel 63, the card block 65 is tightly fitted with the transverse groove 62, the card block 65 is matched with the card groove 61, and the connecting channel 63 and the adjusting cylinder 6 are connected through a pipeline.

[0029] When the body 1 lands, it will first drive the connecting rod 7 to move into the adjusting tube 6. At this time, the gas in the adjusting tube 6 enters the transverse groove 62 through the connecting channel 63, driving the block 65 to move into the groove 61, thereby fixing the relative position between the connecting rod 7 and the adjusting tube 6, so as to adjust the relative length between the connecting rod 7 and the adjusting tube 6 on the other side.

[0030] Reference Figure 3 , and also includes a damping rod 11 and a first spring 12 fixedly connected between the connecting rod 7 and the damping cylinder 8. The first spring 12 is sleeved on the outside of the damping rod 11. The damping cylinder 8 is connected to the adjustment cylinder 6 on the other side through a pipeline.

[0031] When one side of the body 1 lands first, after the adjustment cylinder 6 and the connecting rod 7 are fixed, the damping rod 11 and the first spring 12 can cushion the landing of the body 1 to ensure the safety of the body 1 when landing. As the body 1 lands, the connecting rod 7 will continuously move toward the inside of the shock absorbing cylinder 8 and deliver the compressed gas to between the adjustment cylinder 6 and the connecting rod 7 on the other side, thereby correcting the posture of the other side of the body 1 so that after it contacts the ground, the body 1 is in a horizontal state, thereby ensuring the safety of the body 1 when landing.

[0032] Reference Figure 4 and Figure 7 The lifting mechanism includes an adjusting frame 41 arranged in the mounting groove 16, a surveying instrument 42 is arranged at one end of the adjusting frame 41 away from the mounting groove 16, a guide frame 43 slidably connected to the adjusting frame 41 is fixedly connected to the surveying instrument 42 and the mounting groove 16, a multi-stage cylinder 45 is fixedly connected between the two groups of guide frames 43, and a positioning cylinder 48 is fixedly connected to the inner wall of the mounting groove 16, wherein the adjusting frame 41 includes a plurality of groups of lifting rods arranged in a cross shape, and an adjusting cylinder 44 is arranged between the spaced lifting rods, the adjusting cylinder 44 is connected to the fixed part through a pipeline, and the positioning cylinder 48 is connected to the air inlet channel 56 through a pipeline.

[0033] When the stabilizer bar 9 is contracted, the compressed gas enters the adjusting cylinder 44, driving the adjusting frame 41 to extend out of the mounting slot 16. The specific structure of the adjusting frame 41 can refer to the technical solution in the prior art, and those skilled in the art can know it, so it will not be elaborated here. That is, after the body 1 is separated from the ground, the surveying instrument 42 gradually extends to the outside of the mounting slot 16 to facilitate mapping of the area. In addition, the multi-stage cylinder 45 is a conventional means in the prior art, and different stages operate synchronously. When the surveying instrument 42 is stored in the mounting slot 16, it will compress the positioning cylinder 48 and transport the gas.

[0034] Reference Figure 4 , Figure 7 and Figure 8 The protection mechanism includes a shielding groove 401 which is symmetrically opened in the driving device 4, and a protection plate 402 is slidably connected inside the shielding groove 401, and a fourth spring 403 is fixedly connected between the protection plate 402 and the shielding groove 401, wherein the sum of the dimensions of the two groups of protection plates 402 is larger than the dimension of the mounting groove 16, and the protection plate 402 fits tightly with the shielding groove 401, and an adjusting pipe 46 is connected between one stage of the multi-stage cylinder 45 and the shielding groove 401, and a part of the adjusting pipe 46 passes through the driving device 4.

[0035] When the surveyor 42 is stored, the compressed gas in the multi-stage cylinder 45 enters the shielding slot 401 through the regulating tube 46. Under the action of the fourth spring 403, the protective plate 402 will not move initially. When the surveyor 42 is stored to the threshold position, the compressed gas drives the protective plate 402 to move until the protective plates 402 on both sides fit together, thereby protecting the surveyor 42 when the fuselage 1 lands to prevent damage to the surveyor 42 caused by flying dust, stones, etc.

[0036] Reference Figure 7 and Figure 8 , and also includes an exhaust pipe 47 connected to another stage of the multi-stage cylinder 45. The exhaust pipe 47 passes through the drive device 4 from the installation groove 16 to the shielding groove 401 in sequence, and then passes through the end of the protective plate 402 away from the fourth spring 403, and the end of the exhaust pipe 47 close to the surveying instrument 42 is inclined.

[0037] When the surveying instrument 42 is stored, the gas compressed by the multi-stage cylinder 45 is discharged through the exhaust pipe 47, and blows toward the surveying instrument 42 in an inclined manner after passing through the protective plate 402, so that the dust on the surface of the surveying instrument 42 can be cleaned when the surveying instrument 42 is stored, so as to facilitate the subsequent use of the surveying instrument 42. Example

[0038] Reference Figure 1 and Fig. 9 A BIM-based UAV surveying and mapping device is basically the same as the first embodiment. In particular, a through hole 101 is provided on the body 1, a driving motor 102 is fixedly connected to the inside of the through hole 101, a fan blade 103 is fixedly connected to the delivery end of the driving motor 102, an oil chamber 104 is provided on the side of the body 1 close to the through hole 101, an annular groove 105 is provided on the body 1 between the oil chamber 104 and the through hole 101, a friction ring 106 is slidably connected to the inside of the annular groove 105, and the friction ring 106 is close to the A plurality of propeller fans 107 are fixedly connected to one side of the through hole 101, and an oil outlet 108 connected to the oil chamber 104 is provided on the body 1, wherein the oil outlet 108 flows through the shaft side of the drive motor 102 through a pipeline and is then connected to the damping rod 11. It should be explained that when the body 1 stops working, the temperature of the lubricating oil will gradually decrease, causing the lubricating oil to flow back into the oil chamber 104. In addition, when the lubricating oil flows through the shaft side of the drive motor 102, a sealed connection is adopted between the lubricating oil and the shaft of the drive motor 102.

[0039] In this embodiment, when the body 1 is flying, the driving motor 102 drives the fan blades 103 to rotate, so that the air oil through hole 101 below the body 1 flows upward. During the flow, thrust is generated on the propeller 107, thereby driving the friction ring 106 to rotate in the annular groove 105, and generating heat through friction with the side of the body 1 close to the oil chamber 104 (when the temperature of the lubricating oil increases, its volume will increase). After the volume of the lubricating oil increases, part of the lubricating oil will flow to the shaft side of the driving motor 102 through the oil outlet 108, lubricate the shaft of the driving motor 102, ensure the stable operation of the body 1, and reduce the failure rate of the body 1. Then the lubricating oil will flow into the damping rod 11, thereby increasing the damping of the damping rod 11, thereby increasing the vibration reduction effect of the body 1 and improving the service life of the damping rod 11. Example

[0040] A surveying and mapping method based on a BIM UAV surveying and mapping device comprises the following steps: Step 1: Place the machine body 1 in the area to be surveyed and then start the machine body 1. Since the landing unit is initially located on the ground, the stability of the landing unit is ensured under the action of resistance. Step 2: When the body 1 flies into the air, the same sides of the landing unit rotate relative to each other, and the landing unit is retracted to reduce the air resistance of the landing unit in the air. At the same time, the landing unit drives the storage unit to extend out of the installation slot 16 to achieve mapping of the area; Step 3: After the surveying is completed, the aircraft body 1 is controlled to fly downward. When the driving device 4 detects that the aircraft body 1 has dropped to the threshold height, the landing unit is extended and the storage unit is driven to retract into the installation slot 16; Step 4: During the storage process of the storage unit, the dust on the surface can be cleaned. When the storage is completed, the protection mechanism is closed to improve the protection effect of the equipment; Step 5: When the storage is completed, the angle of the landing unit is locked by the lifting mechanism, and the height is continuously increased as the body 1 descends. When one side of the landing unit contacts the ground, the height of the side is locked; Step 6: The landing unit can reduce vibration when the body 1 lands, reduce the vibration of the equipment, and correct the posture of the body 1 when landing on the inclined ground.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A BIM-based UAV surveying and mapping device, comprising a body (1), characterized in that: Also includes: a protection frame (3) arranged on the machine body (1), a driving device (4) being arranged in the protection frame (3), a mounting groove (16) being provided on a side of the driving device (4) away from the machine body (1), wherein the protection frame (3) is provided with a landing unit for landing the machine body (1), and the landing unit is electrically connected to the driving device (4); A storage unit is arranged in the installation groove (16), the storage unit comprising a lifting mechanism and a protection mechanism, The lifting mechanism and the protection mechanism are both connected to the landing unit via a pipeline, the landing unit can drive the lifting mechanism to extend and retract along the installation groove (16), and the lifting mechanism can drive the protection mechanism to reciprocate along the bottom of the driving device (4).

2. The BIM-based UAV surveying and mapping device according to claim 1 is characterized in that: The landing unit comprises a plurality of sets of hinged seats (5) fixedly connected to the protection frame (3), an adjustment cylinder (6) being rotatably connected to the hinged seat (5), a connecting rod (7) being slidably connected inside the adjustment cylinder (6), a damping cylinder (8) being slidably connected to one end of the connecting rod (7) away from the adjustment cylinder (6), and a stabilizing rod (9) being rotatably connected between two sets of the damping cylinders (8) on the same side, The stabilizing rod (9) comprises a fixed portion and a movable portion, the movable portion is inserted into the fixed portion, and the movable portion and the fixed portion are tightly fitted, one end of the movable portion close to the fixed portion is a magnetic material, and an electromagnetic block (10) is fixedly connected to the interior of the fixed portion, and when the electromagnetic block (10) is energized, an attraction force is generated between it and the magnetic material.

3. The BIM-based UAV surveying and mapping device according to claim 2 is characterized in that: It also includes a rotating shaft (51) fixedly connected to the hinge seat (5), the adjusting cylinder (6) being rotatably connected to the rotating shaft (51), a plurality of groups of limiting grooves (52) being provided on the outside of the rotating shaft (51), a sliding cavity (53) being provided on a side of the adjusting cylinder (6) close to the rotating shaft (51), a baffle (54) being symmetrically fixedly connected to the inside of the sliding cavity (53), a limiting block (55) being slidably connected to the inside of the sliding cavity (53), and an air inlet passage (56) being provided on the inside of the adjusting cylinder (6) and communicating with the sliding cavity (53). The sliding cavity (53) is connected to the limiting groove (52), the limiting block (55) matches the limiting groove (52), and the limiting block (55) is located above the baffle (54).

4. The BIM-based UAV surveying and mapping device according to claim 2 is characterized in that: It also includes a slide groove (13) symmetrically arranged on the inner wall of the adjusting cylinder (6); an extension plate (14) slidably connected to the slide groove (13) is fixedly connected to the outer wall of the connecting rod (7); the outer wall of the extension plate (14) is tightly fitted with the inner wall of the slide groove (13); and a second spring (15) is fixedly connected between the extension plate (14) and the slide groove (13).

5. The BIM-based UAV surveying and mapping device according to claim 3 is characterized in that: The device further comprises a plurality of groups of slots (61) formed on the outer wall of the connecting rod (7); a transverse slot (62) and a connecting channel (63) which are interconnected are formed on the side wall of the adjusting cylinder (6); a third spring (64) is fixedly connected to the interior of the transverse slot (62); and a block (65) which is slidably connected to the transverse slot (62) is fixedly connected to one end of the third spring (64) away from the connecting channel (63). The size of the transverse groove (62) is larger than the size of the connecting channel (63), the clamping block (65) and the transverse groove (62) are tightly fitted, the clamping block (65) and the clamping groove (61) are matched, and the connecting channel (63) and the adjusting cylinder (6) are connected through a pipeline.

6. The BIM-based UAV surveying and mapping device according to claim 2 is characterized in that: It also includes a damping rod (11) and a first spring (12) fixedly connected between the connecting rod (7) and the damping cylinder (8); the first spring (12) is sleeved on the outside of the damping rod (11); and the damping cylinder (8) is connected to the adjustment cylinder (6) on the other side via a pipeline.

7. The BIM-based UAV surveying and mapping device according to claim 3 is characterized in that: The lifting mechanism comprises an adjustment frame (41) arranged in the mounting groove (16); a surveying instrument (42) is arranged at one end of the adjustment frame (41) away from the mounting groove (16); a guide rail frame (43) slidably connected to the adjustment frame (41) is fixedly connected to the surveying instrument (42) and the mounting groove (16); a multi-stage cylinder (45) is fixedly connected between two groups of the guide rail frames (43); and a positioning cylinder (48) is fixedly connected to the inner wall of the mounting groove (16). The adjustment frame (41) comprises a plurality of lifting rods arranged in a cross pattern, an adjustment cylinder (44) is arranged between the spaced lifting rods, the adjustment cylinder (44) is connected to the fixing portion via a pipeline, and the positioning cylinder (48) is connected to the air intake channel (56) via a pipeline.

8. The BIM-based UAV surveying and mapping device according to claim 7 is characterized in that: The protection mechanism comprises a shielding groove (401) symmetrically opened in the driving device (4), a protection plate (402) being slidably connected inside the shielding groove (401), and a fourth spring (403) being fixedly connected between the protection plate (402) and the shielding groove (401). The sum of the dimensions of the two groups of protective plates (402) is greater than the dimension of the mounting groove (16), the protective plates (402) are tightly fitted with the shielding groove (401), an adjusting pipe (46) is connected between one stage of the multi-stage cylinder (45) and the shielding groove (401), and a portion of the adjusting pipe (46) passes through the driving device (4).

9. The BIM-based UAV surveying and mapping device according to claim 8, characterized in that: It also includes an exhaust pipe (47) connected to another stage of the multi-stage cylinder (45), wherein the exhaust pipe (47) sequentially passes through the drive device (4) from the mounting groove (16) to the shielding groove (401), and then passes through an end of the protective plate (402) away from the fourth spring (403), and an end of the exhaust pipe (47) close to the surveying instrument (42) is inclined.

10. A surveying and mapping method based on the BIM UAV surveying and mapping device according to any one of claims 1 to 9, characterized in that: The following steps are also included: Step 1: placing the machine body (1) in the area to be surveyed and then starting the machine body (1). Since the landing unit is initially located on the ground, the stability of the landing unit is ensured under the action of resistance; Step 2: When the body (1) flies into the air, the same sides of the landing unit rotate relative to each other, shrinking the landing unit to reduce the air resistance encountered by the landing unit in the air. At the same time, the landing unit drives the storage unit to extend out of the installation slot (16) to achieve mapping of the area. Step 3: After the surveying is completed, the aircraft body (1) is controlled to fly downward, and when the driving device (4) detects that the aircraft body (1) has descended to a threshold height, the landing unit is extended, and at the same time, the storage unit is driven to retract into the installation slot (16); Step 4: During the storage process of the storage unit, the dust on the surface can be cleaned. When the storage is completed, the protection mechanism is closed to improve the protection effect of the equipment; Step 5: When the stowage is completed, the angle of the landing unit is locked by the lifting mechanism, and as the height of the body (1) is continuously increased as it descends, when one side of the landing unit contacts the ground, the height of that side is locked; Step 6: The landing unit can reduce vibration when the body (1) lands, reduce the vibration of the equipment, and correct the posture of the body (1) when landing on the inclined ground.

Images