A building surveying unmanned aerial vehicle

Abstract

The application discloses a kind of building surveying and mapping unmanned aerial vehicles, it is related to building surveying and mapping technical field, including body and first surveying and mapping component, first surveying and mapping component is located in body, first surveying and mapping component includes laser, movable lens, focusing lens and first polarizing mechanism, laser, movable lens and focusing lens are sequentially arranged along the laser light path of laser emission, first polarizing mechanism includes the first motor and first polarizing plate connected, first polarizing plate is rotatably connected body, and focusing lens can refract the light ray emitted by gathering in target object.The working efficiency of the laser covering target object is obviously higher by the first motor control first polarizing plate rotation to make the laser cover target object compared with the traditional way of adjusting the laser irradiation direction by the flight angle and flight displacement of aircraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of building surveying technology, and particularly relates to a building surveying unmanned aerial vehicle. BACKGROUND

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

[0003] The prior art with publication number CN107990874B discloses a ground elevation three-dimensional laser scanner and scanning method. It mainly uses two front and rear synchronous flying vehicles to carry a laser scanning ranging system to form an aerial large-base laser triangulation range finder, and uses a ground control assembly to control the flight and scanning of the flying vehicles to realize the measurement of ground elevation data.

[0004] However, the prior art still has defects, for example, the laser emitted by the laser line 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 flying vehicle, which is low in working efficiency. SUMMARY

[0005] The present application aims to overcome the above technical deficiencies and provides a building surveying unmanned aerial vehicle to solve the technical problem of low working efficiency in the prior art that the laser emitted by the laser line generator on the flying vehicle directly irradiates the target object, and the laser irradiation angle can only be adjusted by the flight angle and flight displacement of the flying vehicle.

[0006] To achieve the above technical purposes, the present application adopts the following technical solutions:

[0007] The present application provides a building surveying unmanned aerial vehicle, which comprises:

[0008] a body; and

[0009] a first surveying component arranged on the body, the first surveying component comprising a laser, a movable lens, a focusing lens and a first polarizing mechanism, the movable lens and the focusing lens being arranged in sequence along the light path of the laser emitted by the laser, the first polarizing mechanism comprising a first motor and a first polarizing plate connected with each other, the first polarizing plate being rotatably connected to the body and capable of refracting the light emitted by the focusing lens to the target object.

[0010] In some embodiments, the first mapping assembly further comprises a slide rail and a slide block, the slide block is slidingly arranged on the slide rail, the slide block is connected to the movable lens and can drive the movable lens to reciprocally slide along the slide rail.

[0011] In some embodiments, the first mapping assembly further comprises a second polarizing mechanism, the second polarizing mechanism comprises a second motor and a second polarizing plate, the second polarizing plate is rotationally connected to the body and is arranged adjacent to the first polarizing plate, the second motor is connected to the second polarizing plate and can drive the second polarizing plate to rotate, so that the second polarizing plate receives the light refracted by the first polarizing plate and refracts the light to the target object.

[0012] In some embodiments, the first polarizing mechanism further comprises a frame and a gimbal ball, the first polarizing plate is arranged on the frame, the frame is rotationally connected to the ball groove of the body through the gimbal ball, and the first motor is connected to the frame and can drive the frame to rotate.

[0013] In some embodiments, the first polarizing mechanism further comprises a first telescopic rod and a second telescopic rod, one end of each of the first telescopic rod and the second telescopic rod is rotationally connected to the frame, and the other end of each of the first telescopic rod and the second telescopic rod is connected to the first motor, the first motor can drive the first telescopic rod and the second telescopic rod to reciprocally extend and retract, so as to drive the frame to rotate.

[0014] In some embodiments, the building mapping unmanned aerial vehicle further comprises a driving motor and a paddle, the driving motor comprises a housing, a piezoelectric ceramic, a sliding frame, a fixed frame and a rotating member, the fixed frame is arranged on the housing, the piezoelectric ceramic is connected to the sliding frame and slidingly connected to the fixed frame through the sliding frame, and the rotating member is rotationally connected to the housing, the rotating member is connected to the paddle, and the piezoelectric ceramic can reciprocally slide when energized to drive the rotating member to rotate at high speed through the sliding frame.

[0015] In some embodiments, the driving motor further comprises a linkage rod, one end of the linkage rod is rotationally connected to the rotating member, and the other end of the linkage rod is rotationally connected to the sliding frame.

[0016] In some embodiments, the building mapping unmanned aerial vehicle further comprises a second mapping assembly, the second mapping assembly comprises a laser emitting mechanism and a distance mapping mechanism connected in series, the laser emitting mechanism is used for emitting laser to a target object, and the distance mapping mechanism is used for receiving laser reflected by the target object and measuring the distance of the laser reflection.

[0017] In some embodiments, the laser emitting mechanism comprises a first housing, a pulse emitter, a scanning lens and an optical lens, the pulse emitter is capable of emitting laser to the scanning lens and reflecting to the optical lens through the scanning lens, and then transmitting to the target object through the optical lens.

[0018] In some embodiments, the distance mapping mechanism comprises a second housing, a CMOS light sensing element, a triplet lens and a band-pass filter, the triplet lens is located between the CMOS light sensing element and the band-pass filter, and the band-pass filter is used to receive the laser reflected by the target object.

[0019] Compared with the prior art, the laser emitted by the laser of the building mapping unmanned aerial vehicle provided by the present application can be irradiated on the focusing lens through the diverging of the movable lens, and then irradiated on the first polaroid through the focusing of the focusing lens. Through the refraction of the first polaroid, the laser can finally irradiate on 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 polaroid to rotate, change the direction of the laser refraction by the first polaroid, so that the laser can cover the target object. Compared with the traditional way of adjusting the direction of laser irradiation by the flight angle and flight displacement of the aircraft, the working efficiency of the present application is obviously higher by controlling the first motor to drive the first polaroid to rotate to make the laser cover the target object. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the building mapping unmanned aerial vehicle provided by the embodiment of the present application;

[0021] Figure 2 is a structural schematic diagram of the first mapping assembly provided by the embodiment of the present application;

[0022] Figure 3 is a connection schematic diagram of the first motor and the first polaroid provided by the embodiment of the present application;

[0023] Figure 4 is an internal schematic diagram of the driving motor provided by the embodiment of the present application;

[0024] Figure 5 is a structural schematic diagram of the second mapping assembly provided by the embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0026] In order to solve the problem that the laser emitted by the laser reticle generator on the aircraft directly irradiates on the target object, if the laser wants to cover the whole target object, the laser irradiation angle can only be adjusted by the flight angle and flight displacement of the aircraft, the technical problem of low working efficiency is solved, the building surveying unmanned aerial vehicle can flexibly adjust the emission angle of the laser through the deflection sheet, so that the laser can quickly cover the target object, and the surveying efficiency is improved.

[0027] Please refer to Figure 1 , Figure 1 It is an embodiment of the building surveying unmanned aerial vehicle, and the building surveying unmanned aerial vehicle comprises a first surveying component 1 and a machine body 2, the first surveying component 1 is arranged on the machine body 2, the machine body 2 can drive the first surveying component 1 to approach the target object in the process of flight, so that the laser emitted by the first surveying component 1 can irradiate on the target object, so as to survey the target object.

[0028] Please refer to Figure 2 The first surveying component 1 comprises a box body 18 and a laser 11, a movable lens 12, a focusing lens 13 and a first polarizing mechanism 14 arranged in the box body 18, the box body 18 is connected to the machine body 2, so that the first surveying component 1 is installed on the machine body 2. The box body 18 is provided with a light outlet 181 for laser emission. The laser 11, the movable 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 on the movable lens 12, the movable lens 12 can convert the laser into parallel light beams, which is similar to the collimating mirror in the optical industry. The focusing lens 13 is used for converging the parallel light beams and irradiating on the first polarizing mechanism 14. The first polarizing mechanism 14 comprises a first motor 141 and a first polarizing sheet 142 connected to each other, the first polarizing sheet 142 can refract the light emitted by the focusing lens 13 to the target object. The first motor 141 can drive the first polarizing sheet 142 to rotate, so that the first polarizing sheet 142 changes the refraction direction of the laser in the process of rotation, thereby driving the laser to cover the target object and completely survey the target object. Here, the laser covering the target object means that the laser continuously scans on the target object as the first polarizing sheet 142 continuously rotates, and basically passes through the main parts of the target object. If it is necessary to further and carefully survey a part of the target object, the position and direction of the machine body 2 can be repeatedly adjusted, and the first polarizing sheet is surveyed in cooperation with the rotation of the first polarizing sheet.

[0029] In one embodiment, please refer to Figure 2The first mapping component 1 further comprises a slide rail 15 and a slide block 16, the slide block 16 is slidingly arranged on the slide rail 15, the slide block 16 is connected with the movable lens 12 and can drive the movable lens 12 to reciprocatingly slide along the slide rail 15. In the embodiment, when the movable lens 12 slides, the distance between the movable lens 12 and the laser 11 can be changed, so that the shape and size of the light beam emitted through the movable lens 12, the focused light beam and the energy distribution of the light beam can be adjusted. In addition, the slide block 16 can be connected with a cylinder (not shown in the figure), and the slide block 16 is driven to reciprocatingly slide through the cylinder.

[0030] In one of the embodiments, referring to Figure 3 The first polarizing mechanism 14 further comprises a frame body 143, a gimbal ball body 144 and a rod body 145, the first polaroid 142 is arranged on the frame body 143, the machine body 2 is provided with a ball groove (not shown in the figure), and the ball groove can be rotationally matched with the gimbal ball body 144. One end of the rod body 145 is rotationally connected to the frame body 143 through a ball 146, and the other end of the rod body 145 is connected to the gimbal ball body 144. The frame body 143 is rotationally connected to the ball groove of the machine body 2 through the rod body 145 and the gimbal ball body 144, so that the frame body 143 can be arbitrarily rotated in the ball groove through the gimbal ball body 144, the first motor 141 is connected to the frame body 143 and can drive the frame body 143 to rotate, so as to adjust the angle of the first polaroid 142 and change the refraction direction of the laser. When the frame body 143 rotates, the frame body 143 can drive the gimbal ball body 144 to rotate in the ball groove. The ball groove actually provides a rotating space for the frame body 143 and the first polaroid 142, and the frame body 143 provides a supporting action for the first polaroid 142.

[0031] In one of the embodiments, referring to Figure 3 The first polarizing mechanism 14 further comprises 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 is rotationally connected to the frame body 143, and the other end of the first telescopic rod 147 and the second telescopic rod 148 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 reciprocatingly extend and retract, so as to drive the frame body 143 to rotate. In the embodiment, the first telescopic rod 147 and the second telescopic rod 148 are both provided with two and arranged opposite to each other, the two first telescopic rods 147 are matched to extend and retract, so as to drive the frame body 143 and the first polaroid 142 to swing in the first direction; the two second telescopic rods 148 are matched to extend and retract, so as to drive the frame body 143 and the first polaroid 142 to swing in the second direction, so that the first polaroid 142 has a wider swinging range, the laser can be refracted to a larger range, and the mapping efficiency of the target object is improved.

[0032] In one of the embodiments, referring to Figure 2The first mapping component 1 further comprises a second polarizing mechanism 17, which comprises a second motor 171 and a second polarizing plate 172. The second polarizing plate 172 is rotationally connected to the body 2 and is arranged adjacent to the first polarizing plate 142. The second motor 171 is connected to the second polarizing plate 172 and can drive the second polarizing plate 172 to rotate, so that the second polarizing plate 172 receives the light refracted by the first polarizing plate 142 and refracts the light to the target object. The second polarizing mechanism 17 further expands the irradiation range of the laser and further improves the mapping efficiency of the target object. It should be noted that the structure of the second polarizing mechanism 17 is consistent with that of the first polarizing mechanism 14, and the details of the second polarizing mechanism 17 are not described herein.

[0033] In one embodiment, referring to Figure 1 and Figure 4 The building mapping unmanned aerial vehicle further comprises a driving motor 21 and a paddle 22. The driving motor 21 comprises a housing 211, a piezoelectric ceramic 212, a sliding frame 213, a fixing frame 214, and a rotating member 215. The fixing frame 214 is arranged in the housing 211, and the housing 211 is arranged in the body 2. The piezoelectric ceramic 212 is connected to the sliding frame 213 and is slidably connected to the fixing frame 214 through the sliding frame 213. The rotating member 215 is rotationally connected to the housing 211 and is connected to the paddle 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 reciprocally slide, and the sliding frame 213 drives the rotating member 215 to rotate at high speed in the reciprocating sliding process, thereby driving the paddle 22 to rotate and providing power for the flight of the unmanned aerial vehicle.

[0034] In one embodiment, referring to Figure 4 The driving motor 21 further comprises a linkage rod 216. One end of the linkage rod 216 is rotationally connected to the rotating member 215. Specifically, a protruding column 217 is arranged near the edge of the rotating member 215, and the linkage rod 216 is sleeved on the protruding column 217. The other end of the linkage rod 216 is rotationally connected to the sliding frame 213. When the sliding frame 213 reciprocally slides, it can drive the rotating member 215 to rotate at high speed through the linkage rod 216, thereby driving the paddle 22 to rotate through the rotating member 215. The piezoelectric ceramic 212 drives the paddle 22 to rotate through the inverse piezoelectric effect, which is conducive to reducing noise and improving flight speed.

[0035] In one embodiment, referring to Figure 5, the building surveying unmanned plane further comprises a second surveying component 3, the second surveying component 3 comprises a laser emitting mechanism 31 and a distance surveying mechanism 32 connected with each other, the laser emitting mechanism 31 is used for emitting laser to a target object, and the distance surveying mechanism 32 is used for receiving laser reflected by the target object and measuring the distance of laser reflection, and then the three-dimensional size of the target object is calculated according to the reflected distance. In the embodiment, the second surveying component 3 can further survey the size and shape of the target object, so as to improve the accuracy of surveying. The result surveyed by the second surveying component 3 can be averaged with the result surveyed by the first surveying component 1, so as to improve the surveying result.

[0036] In one of the embodiments, referring to Figure 5 The laser emitting mechanism 31 comprises a first housing 311, a pulse emitter 312, a scanning lens 313 and an optical lens 314 arranged in the first housing 311, the pulse emitter 312 can emit laser to the scanning lens 313 and reflect the laser to the optical lens 314 through the scanning lens 313, and then the laser is transmitted to the target object through the optical lens 314. In the embodiment, the scanning lens 313 is arranged obliquely, the pulse emitter 312 is arranged in front of the scanning lens 313, and the optical lens 314 is arranged above the scanning lens 313, the laser emitted by the pulse emitter 312 is irradiated on the scanning lens 313, and the scanning lens 313 reflects the laser to irradiate on the target object through the optical lens 314.

[0037] Further, the laser emitting mechanism 31 of the embodiment further comprises a detector 315 and an amplifier 316, a part of the laser reflected by the target object is irradiated on the detector 315 through the optical lens 314, the detector 315 transmits the received laser to the amplifier 316, and then the amplified laser is transmitted to a sensor after the amplification of the amplifier 316, the sensor can automatically calculate the distance information of the target object and generate a three-dimensional image. The sensor is wirelessly connected to a terminal device on the ground, the terminal device has a display screen, and the three-dimensional image information transmitted by the sensor can be displayed on the display screen for reference by the staff.

[0038] In one of the embodiments, referring to Figure 5The distance mapping mechanism 32 comprises a second housing 321, a CMOS photosensitive element 322, a triplet lens 323 and a band-pass filter 324 arranged in the second housing 321. The triplet lens 323 is located between the CMOS photosensitive element 322 and the band-pass filter 324, and the band-pass filter 324 is used to receive the laser light reflected by the target object. The distance mapping mechanism 32 can be understood as a laser camera, which can accurately capture the 3D shape (several million points) of the target object based on triangulation. More precisely, their working principle is to project a laser point or a laser line onto the surface of the target object, and then capture its reflection with a sensor. Since the distance between the position of the sensor and the laser source is known, accurate point measurement can be performed by calculating the reflection angle of the laser light. With the knowledge of the distance from the scanner to the object, the scanning hardware can map the surface of the target object, thereby recording the 3D scan.

[0039] The specific embodiments of the application described above do not constitute a limitation of the protection scope of the application. Any various other corresponding changes and modifications made according to the technical concept of the application shall be included in the protection scope of the claims of the application.

Claims

1. A building surveying drone, characterized in that, The building surveying unmanned aerial vehicle comprises a machine body and a first surveying component arranged in the machine body. The first surveying component comprises 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 light path of the laser emitted by the laser. The first polarizing mechanism comprises a first motor and a first polarizing plate. The first polarizing plate is rotatably connected to the machine body and can refract the light emitted by the focusing lens to a target object. The first motor is connected to the first polarizing plate and can drive the first polarizing plate to rotate to change the refractive direction of the laser.

2. The architectural surveying drone of claim 1, wherein, The first polarizing mechanism further comprises a frame and a gimbal ball.

3. The architectural surveying drone of claim 1, wherein, The first polarizing plate is arranged in the frame.

4. The architectural surveying drone of claim 1, wherein, The frame is rotatably connected to the ball groove of the machine body through the gimbal ball.

5. The architectural surveying drone of claim 4, wherein, The first motor is connected to the frame and can drive the frame to rotate.

6. The architectural surveying drone of claim 1, wherein, The first polarizing mechanism further comprises a first telescopic rod and a second telescopic rod.

7. The architectural surveying drone of claim 6, wherein, One end of each of the first telescopic rod and the second telescopic rod is rotatably connected to the frame. The other end of each of the first telescopic rod and the second telescopic rod is connected to the first motor. The first motor can drive the first telescopic rod and the second telescopic rod to reciprocally extend and retract to drive the frame to rotate. The first surveying component further comprises a sliding rail and a sliding block. The sliding block is slidably arranged in the sliding rail. The sliding block is connected to the movable lens and can drive the movable lens to reciprocally slide along the sliding rail. The first surveying component further comprises a second polarizing mechanism. The second polarizing mechanism comprises a second motor and a second polarizing plate. The second polarizing plate is rotatably connected to the machine body and is arranged adjacent to the first polarizing plate. The second motor is connected to the second polarizing plate and can drive the second polarizing plate to rotate. The second polarizing plate can receive the light refracted by the first polarizing plate and refract the light to a target object. The building surveying unmanned aerial vehicle further comprises a driving motor and a paddle. The driving motor comprises a machine housing, a piezoelectric ceramic, a sliding frame, a fixed frame and a rotating member. The fixed frame is arranged in the machine housing. 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 machine housing. The rotating member is connected to the paddle. The piezoelectric ceramic can reciprocally slide when energized to drive the rotating member to rotate at a high speed through the sliding frame. The driving motor further comprises a linkage rod. One end of the linkage rod is rotatably connected to the rotating member. The other end of the linkage rod is rotatably connected to the sliding frame. The building surveying unmanned aerial vehicle further comprises a second surveying component. The second surveying component comprises a laser emitting mechanism and a distance surveying mechanism connected in sequence. The laser emitting mechanism is used for emitting laser to a target object. The distance surveying mechanism is used for receiving the laser reflected by the target object and measuring the distance of the laser reflection. The laser emitting mechanism comprises a first housing and a pulse emitter, a scanning lens and an optical lens arranged in the first housing. 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 a target object through the optical lens.

8. The architectural surveying drone of claim 6, wherein, The distance mapping mechanism comprises a second shell, a CMOS photosensitive element arranged in the second shell, a three-element lens, and a band-pass filter, the three-element lens is located between the CMOS photosensitive element and the band-pass filter, and the band-pass filter is used for receiving laser reflected by a target object.

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