Building surveying and mapping unmanned aerial vehicle

Abstract

The invention discloses a building surveying and mapping unmanned aerial vehicle, and relates to the technical field of building surveying and mapping, the building surveying and mapping unmanned aerial vehicle comprises a vehicle body and a first surveying and mapping assembly, the first surveying and mapping assembly is arranged on the vehicle body, and the first surveying and mapping assembly comprises a laser, a movable lens, a focusing lens and a first polarization mechanism; the laser device, the movable lens and the focusing lens are sequentially arranged along a laser light path emitted by the laser device, the first polarizing mechanism comprises a first motor and a first polaroid which are connected, and the first polaroid is rotationally connected with the machine body and can refract light gathered and emitted by the focusing lens to a target object. Compared with a traditional mode that the laser irradiation direction is adjusted through the flight angle and the flight displacement of the aircraft, the first motor is used for controlling the first polaroid to rotate, so that the working efficiency of covering the target object by the laser is obviously much higher.

Description

Technical Field

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

[0002] With the rapid development of computer technology and computer graphics, 3D measurement based on structured light has become the main trend of 3D measurement and a research hotspot in the academic field of 3D measurement. 3D measurement based on structured light can quickly obtain 3D information of the measured target in a non-contact manner and can realize online measurement. For some special measurement targets such as important cultural relics, elastic plastic materials, human body, etc., the structured light measurement method can well complete the tasks that traditional measurement methods cannot complete.

[0003] The prior art with announcement number CN107990874B discloses a ground elevation three-dimensional laser scanner and scanning method, which mainly utilizes two aircraft flying synchronously one in front and one behind, equipped with a laser scanning ranging system to form a large-base-range laser triangulation rangefinder in the air, and uses a ground control component to control the flight and scanning of the aircraft to achieve measurement of ground elevation data.

[0004] However, the prior art still has defects. For example, the laser emitted by the laser marking generator directly irradiates the target object. If the laser is to cover the entire target object, the laser irradiation angle can only be adjusted by the flight angle and flight displacement of the aircraft, which results in low working efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a construction surveying and mapping UAV to solve the technical problem that in the prior art, the laser emitted by the laser marking generator on the aircraft directly irradiates the target object. If the laser is to cover the entire target object, the laser irradiation angle can only be adjusted by the flight angle and flight displacement of the aircraft, resulting in low work efficiency.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a building surveying and mapping UAV, comprising: body; and A first surveying and mapping component is arranged on the body, and the first surveying and mapping component includes a laser, a movable lens, a focusing lens and a first polarizing mechanism. The movable lens and the focusing lens are arranged in sequence along the laser light path emitted by the laser. The first polarizing mechanism includes a first motor and a first polarizer connected to each other. The first polarizer is rotatably connected to the body and can refract the light emitted by the focusing lens to the target object.

[0007] In some embodiments, the first surveying and mapping component further includes a slide rail and a slider, the slider is slidably disposed on the slide rail, the slider is connected to the movable lens, and can drive the movable lens to slide back and forth along the slide rail.

[0008] In some embodiments, the first surveying and mapping component also includes a second polarizing mechanism, which includes a second motor and a second polarizer, the second polarizer is rotatably connected to the body and is arranged adjacent to the first polarizer, the second motor is connected to the second polarizer and can drive the second polarizer to rotate, so that the second polarizer receives the light refracted by the first polarizer and refracts the light to the target object.

[0009] In some embodiments, the first polarizing mechanism further includes a frame and a gimbal ball, the first polarizer is disposed on the frame, the frame is rotatably connected to the ball slot of the body through the gimbal ball, and the first motor is connected to the frame and can drive the frame to rotate.

[0010] In some embodiments, the first polarizing mechanism further includes a first telescopic rod and a second telescopic rod, one end of the first telescopic rod and the second telescopic rod are both rotatably connected to the frame, and the other ends are both connected to the first motor, and the first motor can drive the first telescopic rod and the second telescopic rod to reciprocate and extend to drive the frame to rotate.

[0011] In some embodiments, the construction surveying and mapping UAV also includes a driving motor and blades. The driving motor includes a casing, a piezoelectric ceramic, a sliding frame, a fixed frame and a rotating part. The fixed frame is arranged on the casing, the piezoelectric ceramic is connected to the sliding frame, and is slidingly connected to the fixed frame through the sliding frame. The rotating part is rotatably connected to the casing, and the rotating part is connected to the blades. The piezoelectric ceramic can slide back and forth when energized to drive the rotating part to rotate at high speed through the sliding frame.

[0012] In some embodiments, the driving motor further comprises a linkage rod, one end of which is rotatably connected to the rotating member, and the other end of which is rotatably connected to the sliding frame.

[0013] In some embodiments, the building surveying drone also includes a second surveying component, which includes a connected laser emitting mechanism and a distance measuring mechanism, the laser emitting mechanism is used to emit laser to the target object, and the distance measuring mechanism is used to receive the laser reflected by the target object and measure the distance of the laser reflection.

[0014] In some embodiments, the laser emitting mechanism includes a first shell and a pulse emitter, a scanning lens and an optical lens arranged inside the first shell. The pulse emitter can emit laser at the scanning lens and reflect the laser to the optical lens through the scanning lens, and then transmit the laser through the optical lens to the target object.

[0015] In some embodiments, the distance measuring mechanism includes a second shell and a CMOS photosensitive element, a triplet lens, and a bandpass filter arranged in the second shell, the triplet lens is located between the CMOS photosensitive element and the bandpass filter, and the bandpass filter is used to receive laser reflected by the target object.

[0016] Compared with the prior art, the laser emitted by the laser included in the building surveying and mapping UAV provided by the present invention can be diverged by the movable lens and irradiated to the focusing lens, and then concentrated by the focusing lens and irradiated to the first polarizer. After refraction by the first polarizer, the laser can finally irradiate the target object. When it is necessary to adjust the position of the laser irradiating the target object, it is only necessary to control the first motor to drive the first polarizer to rotate, change the direction of the laser refracted by the first polarizer, so that the laser can cover the target object. Compared with the traditional method of adjusting the laser irradiation direction by the flight angle and flight displacement of the aircraft, the present invention controls the rotation of the first polarizer by the first motor to cover the target object with the laser, which is significantly more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the structure of a building surveying and mapping drone provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of a first surveying and mapping component provided in an embodiment of the present invention; Figure 3 is a schematic diagram of connection between a first motor and a first polarizer provided in an embodiment of the present invention; Figure 4 is an internal schematic diagram of a drive motor provided by an embodiment of the present invention; Figure 5 It is a structural schematic diagram of the second surveying and mapping component provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] In order to solve the technical problem that the laser emitted by the laser marking generator on the aircraft directly irradiates the target object, if the laser is to cover the entire target object, the laser irradiation angle can only be adjusted by the flight angle and flight displacement of the aircraft, resulting in low working efficiency, the present invention provides a building surveying and mapping UAV, which can flexibly adjust the laser emission angle through a deflection plate, so that the laser can quickly cover the target object, thereby improving the surveying and mapping efficiency.

[0020] See also Figure 1 , Figure 1 This is a structural schematic diagram of a building surveying and mapping UAV in one embodiment of the present invention. The building surveying and mapping UAV includes a first surveying and mapping component 1 and a body 2. The first surveying and mapping component 1 is arranged on the body 2. The body 2 can drive the first surveying and mapping component 1 to approach a target object during flight so that the laser emitted by the first surveying and mapping component 1 can irradiate the target object, so as to facilitate mapping of the target object.

[0021] See also Figure 2 The first surveying and mapping component 1 includes a housing 18 and a laser 11, an active lens 12, a focusing lens 13 and a first polarizing mechanism 14 arranged inside the housing 18. The housing 18 is connected to the body 2 so that the first surveying and mapping component 1 is installed on the body 2. The housing 18 is provided with a light outlet 181 for laser emission. The laser 11, the active lens 12 and the focusing lens 13 are arranged in sequence along the laser light path emitted by the laser 11. The laser emitted by the laser 11 irradiates the active lens 12. The active lens 12 can convert the laser into a parallel light beam, which acts like a collimator in the optical industry. The focusing lens 13 is used to converge the parallel light beams and irradiate them to the first polarizing mechanism 14. The first polarizing mechanism 14 includes a first motor 141 and a first polarizer 142 connected to each other. The first polarizer 142 can refract the light gathered and emitted by the focusing lens 13 to the target object. The first motor 141 can drive the first polarizer 142 to rotate, so that the first polarizer 142 changes the refraction direction of the laser during the rotation process, thereby driving the laser to cover the target object and completely map the target object. The laser covering the target object here means that as the first polarizer 142 continues to rotate, the laser continues to scan the target object and roughly passes through the main parts of the target object. If a certain part of the target object needs to be further mapped, the position and direction of the body 2 can be repeatedly adjusted to map it in conjunction with the rotation of the first polarizer.

[0022] In one embodiment, see Figure 2The first surveying and mapping component 1 further includes a slide rail 15 and a slider 16. The slider 16 is slidably disposed on the slide rail 15. The slider 16 is connected to the movable lens 12 and can drive the movable lens 12 to slide back and forth along the slide rail 15. In this embodiment, when the movable lens 12 slides, the distance between the movable lens 12 and the laser 11 can be changed, thereby adjusting the shape and size of the light beam emitted from the movable lens 12, focusing the light beam, and adjusting the energy distribution of the light beam. In addition, the slider 16 can be connected to a cylinder (not shown in the figure), and the slider 16 can be driven to slide back and forth by the cylinder.

[0023] In one embodiment, see Figure 3 The first polarizing mechanism 14 also includes a frame 143, a pan-tilt ball 144 and a rod 145. The first polarizer 142 is arranged on the frame 143. The body 2 is provided with a ball groove (not shown in the figure), which can be rotatably matched with the pan-tilt ball 144. One end of the rod 145 is rotatably connected to the frame 143 through a ball 146, and the other end of the rod 145 is connected to the pan-tilt ball 144. The frame 143 is rotatably connected to the ball groove of the body 2 through the rod 145 and the pan-tilt ball 144, so that the frame 143 can be arbitrarily rotated in multiple directions in the ball groove through the pan-tilt ball 144. The first motor 141 is connected to the frame 143 and can drive the frame 143 to rotate, thereby adjusting the angle of the first polarizer 142 to change the refraction direction of the laser. When the frame 143 rotates, the frame 143 can drive the pan / tilt ball 144 to rotate in the ball groove. The ball groove actually provides a rotation space for the frame 143 and the first polarizer 142 . The frame 143 provides a support for the first polarizer 142 .

[0024] In one embodiment, see Figure 3 The first polarizing mechanism 14 also includes a first telescopic rod 147 and a second telescopic rod 148. One end of the first telescopic rod 147 and the second telescopic rod 148 are both rotatably connected to the frame 143, and the other end is connected to the first motor 141. The first motor 141 can drive the first telescopic rod 147 and the second telescopic rod 148 to reciprocate and extend, so as to drive the frame 143 to rotate. In this embodiment, two first telescopic rods 147 and second telescopic rods 148 are provided and are arranged opposite to each other. The two first telescopic rods 147 cooperate to extend and retract, which can drive the frame 143 and the first polarizer 142 to swing along the first direction; the two second telescopic rods 148 cooperate to extend and retract, which can drive the frame 143 and the first polarizer 142 to swing along the second direction, so that the first polarizer 142 has a wider swing range, can refract the laser to a larger range, and improve the mapping efficiency of the target object.

[0025] In one embodiment, see Figure 2The first surveying and mapping component 1 also includes a second polarizing mechanism 17, which includes a second motor 171 and a second polarizer 172. The second polarizer 172 is rotatably connected to the body 2 and is disposed adjacent to the first polarizer 142. The second motor 171 is connected to the second polarizer 172 and can drive the second polarizer 172 to rotate, so that the second polarizer 172 receives the light refracted by the first polarizer 142 and refracts the light to the target object. In this embodiment, by providing the second polarizing mechanism 17, the irradiation range of the laser is further expanded, and the surveying and mapping efficiency of the target object is further improved. It should be emphasized that the structure of the second polarizing mechanism 17 is consistent with that of the first polarizing mechanism 14, and other details of the second polarizing mechanism 17 are not redundantly described here.

[0026] In one embodiment, see Figure 1 and Figure 4 The construction surveying and mapping UAV further includes a driving motor 21 and blades 22. The driving motor 21 includes a housing 211, a piezoelectric ceramic 212, a sliding frame 213, a fixed frame 214 and a rotating member 215. The fixed frame 214 is arranged on the housing 211, and the housing 211 is arranged on the body 2. The piezoelectric ceramic 212 is connected to the sliding frame 213 and is slidably connected to the fixed frame 214 through the sliding frame 213. The rotating member 215 is rotatably connected to the housing 211, and the rotating member 215 is connected to the blades 22 outside the housing 211. When the piezoelectric ceramic 212 is energized, it can convert electrical energy into mechanical energy through the inverse piezoelectric effect. The piezoelectric ceramic 212 and the sliding frame 213 slide back and forth. During the reciprocating sliding process, the sliding frame 213 drives the rotating member 215 to rotate at a high speed, thereby driving the blades 22 to rotate, providing power for the flight of the UAV.

[0027] In one embodiment, see Figure 4 The driving motor 21 further includes a linkage rod 216, one end of which is rotatably connected to the rotating member 215. Specifically, a convex column 217 is provided near the edge of the rotating member 215, and the linkage rod 216 is sleeved on the convex column 217. The other end of the linkage rod 216 is rotatably connected to the sliding frame 213. When the sliding frame 213 slides back and forth, the linkage rod 216 can drive the rotating member 215 to rotate at a high speed, so that the rotating member 215 drives the blade 22 to rotate. This embodiment drives the blade 22 to rotate through the inverse piezoelectric effect of the piezoelectric ceramic 212, which is conducive to reducing noise and improving flight speed.

[0028] In one embodiment, see Figure 5The building surveying drone also includes a second surveying component 3, which includes a laser emitting mechanism 31 and a distance measuring mechanism 32 connected to each other. The laser emitting mechanism 31 is used to emit laser light to the target object, and the distance measuring mechanism 32 is used to receive the laser reflected by the target object and measure the distance of the laser reflection, and then calculate the three-dimensional size of the target object by the reflected distance. This embodiment can further measure the size and shape of the target object by setting the second surveying component 3, so as to improve the accuracy of the surveying. The result of the surveying by the second surveying component 3 can be averaged with the result of the surveying by the first surveying component 1 to improve the surveying result.

[0029] In one embodiment, see Figure 5 The laser emitting mechanism 31 includes a first housing 311 and a pulse emitter 312, a scanning lens 313 and an optical lens 314 disposed inside the first housing 311. The pulse emitter 312 can emit laser light to the scanning lens 313 and reflect the laser light to the optical lens 314 through the scanning lens 313, and then transmit the laser light to the target object through the optical lens 314. In this embodiment, the scanning lens 313 is tilted, the pulse emitter 312 is disposed in front of the scanning lens 313, and the optical lens 314 is disposed above the scanning lens 313. The laser light emitted by the pulse emitter 312 irradiates the scanning lens 313, and the scanning lens 313 reflects the laser light through the optical lens 314 and irradiates the target object.

[0030] Furthermore, the laser emitting mechanism 31 of this embodiment also includes a detector 315 and an amplifier 316. The target object reflects a portion of the laser through the optical lens 314 to the detector 315. The detector 315 receives the laser and transmits it to the amplifier 316. After being amplified by the amplifier 316, it is transmitted to the sensor. The sensor can automatically calculate the distance information of the target object and generate a three-dimensional image. The sensor is wirelessly connected to the terminal device on the ground. The terminal device has a display screen that can display the three-dimensional image information transmitted by the sensor for reference by the staff.

[0031] In one embodiment, see Figure 5The distance mapping mechanism 32 includes a second housing 321 and a CMOS photosensitive element 322, a triplet lens 323, and a bandpass filter 324 arranged in the second housing 321. The triplet lens 323 is located between the CMOS photosensitive element 322 and the bandpass filter 324, and the bandpass filter 324 is used to receive the laser reflected by the target object. The distance mapping mechanism 32 can be understood as a laser camera, which can accurately capture the 3D shape (millions of points) of the target object based on triangulation. More precisely, their working principle is to project a laser point or laser line onto the surface of the target object and then capture its reflection with a sensor. Since the position of the sensor is known at a distance from the laser source, accurate point measurement can be performed by calculating the reflection angle of the laser. With the knowledge of the distance from the scanner to the object, the scanning hardware can map the surface of the target object and thus record a 3D scan.

[0032] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A construction surveying drone, characterized in that: include: Body; and A first surveying and mapping component is arranged on the body, and the first surveying and mapping component includes a laser, a movable lens, a focusing lens and a first polarizing mechanism. The movable lens and the focusing lens are arranged in sequence along the laser light path emitted by the laser. The first polarizing mechanism includes a first motor and a first polarizer. The first polarizer is rotatably connected to the body and can refract the light emitted by the focusing lens onto the target object. The first motor is connected to the first polarizer and can drive the first polarizer to rotate to change the refraction direction of the laser.

2. The construction surveying and mapping UAV according to claim 1, characterized in that: The first surveying and mapping component further includes a slide rail and a slider, wherein the slider is slidably disposed on the slide rail, the slider is connected to the movable lens, and can drive the movable lens to slide back and forth along the slide rail.

3. The construction surveying and mapping UAV according to claim 1, characterized in that: The first surveying and mapping component also includes a second polarizing mechanism, which includes a second motor and a second polarizer. The second polarizer is rotatably connected to the body and is arranged adjacent to the first polarizer. The second motor is connected to the second polarizer and can drive the second polarizer to rotate so that the second polarizer receives the light refracted by the first polarizer and refracts the light to the target object.

4. The construction surveying and mapping UAV according to claim 1, characterized in that: The first polarizing mechanism also includes a frame and a pan-tilt ball, the first polarizer is arranged on the frame, the frame is rotatably connected to the ball slot of the body through the pan-tilt ball, and the first motor is connected to the frame and can drive the frame to rotate.

5. The construction surveying and mapping UAV according to claim 4, characterized in that: The first polarizing mechanism also includes a first telescopic rod and a second telescopic rod, one end of the first telescopic rod and the second telescopic rod are both rotatably connected to the frame, and the other end is connected to the first motor, and the first motor can drive the first telescopic rod and the second telescopic rod to reciprocate and extend to drive the frame to rotate.

6. The construction surveying and mapping UAV according to claim 1, characterized in that: The construction surveying and mapping UAV also includes a driving motor and blades. The driving motor includes a casing, a piezoelectric ceramic, a sliding frame, a fixed frame and a rotating member. The fixed frame is arranged on the casing, the piezoelectric ceramic is connected to the sliding frame, and is slidably connected to the fixed frame through the sliding frame. The rotating member is rotatably connected to the casing, and the rotating member is connected to the blades. The piezoelectric ceramic can slide back and forth when powered on, so as to drive the rotating member to rotate at high speed through the sliding frame.

7. The construction surveying and mapping UAV according to claim 6, characterized in that: The driving motor further comprises a linkage rod, one end of which is rotatably connected to the rotating member, and the other end of which is rotatably connected to the sliding frame.

8. The construction surveying and mapping UAV according to claim 1, characterized in that: The building surveying drone also includes a second surveying component, which includes a laser emitting mechanism and a distance measuring mechanism connected to each other. The laser emitting mechanism is used to emit laser to the target object, and the distance measuring mechanism is used to receive the laser reflected by the target object and measure the distance of the laser reflection.

9. The construction surveying and mapping UAV according to claim 8, characterized in that: The laser emitting mechanism includes a first shell and a pulse emitter, a scanning lens and an optical lens arranged inside the first shell. The pulse emitter can emit laser to the scanning lens and reflect the laser to the optical lens through the scanning lens, and then transmit the laser to the target object through the optical lens.

10. The construction surveying drone according to claim 8, characterized in that: The distance mapping mechanism includes a second shell and a CMOS photosensitive element, a triplet lens, and a bandpass filter arranged in the second shell. The triplet lens is located between the CMOS photosensitive element and the bandpass filter, and the bandpass filter is used to receive laser reflected by the target object.

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