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 surveying and mapping method, and belongs to the technical field of unmanned aerial vehicle surveying and mapping. The BIM-based unmanned aerial vehicle surveying and mapping device comprises an unmanned aerial vehicle body provided with wing parts, and further comprises a shell which is fixedly arranged at the bottom of the unmanned aerial vehicle body and is internally provided with surveying and mapping equipment; the moving frame and the shell are arranged in a sliding mode, an elastic telescopic rod is arranged between the moving frame and the inner wall of the shell, and the end, away from the elastic telescopic rod, of the moving frame is connected with the surveying and mapping equipment; the two sets of damping supports are symmetrically arranged on the two sides of the movable frame, and the movable frame is provided with a storage assembly used for storing the damping supports; the damping support can be folded when the unmanned aerial vehicle conducts surveying and mapping work, wind resistance in the surveying and mapping work is reduced, the surveying and mapping stability is guaranteed, the unmanned aerial vehicle and surveying and mapping equipment are effectively protected by unfolding the damping support after the surveying and mapping work of the unmanned aerial vehicle is finished, and the surveying and mapping service life of the unmanned aerial vehicle is prolonged.

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] Using drones as carriers of airborne lidar equipment to carry out drone low-altitude lidar field mapping can not only effectively improve the mapping efficiency, but also obtain a high degree of informatization of the mapping results, which can be combined with building information modeling (BIM) technology. BIM technology can help realize the integration of building information. From the design, construction, operation to the end of the building's entire life cycle, various information is always integrated in a three-dimensional model information database, effectively improving work efficiency, saving resources, reducing costs, and achieving sustainable development.

[0003] In the prior art, the invention patent with patent application number CN202110378012.8 discloses a BIM-based drone surveying and mapping device and surveying and mapping method, which can improve the convenience of drone surveying and mapping and ensure the efficiency of surveying and mapping. However, after the surveying and mapping is completed, the above-mentioned drone surveying and mapping device is easily affected by the reaction force of the ground when it comes into contact with the ground when it falls, or it falls over when it lands on uneven ground, thereby causing damage to the surveying and mapping device. When the drone surveying and mapping device is used for surveying and mapping, the frame is fixedly connected to the legs on both sides, so that the drone surveying and mapping device is subject to greater wind resistance in the air, and is prone to shaking, which affects the quality of surveying and mapping. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art and to propose a BIM-based UAV surveying and mapping device and a surveying and mapping method.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A BIM-based UAV surveying and mapping device includes an UAV body provided with a wing portion, and further includes:

[0007] A housing, wherein the housing is fixedly mounted on the bottom of the drone body and a surveying and mapping device is arranged inside the housing;

[0008] A mobile frame, wherein the mobile frame is slidably arranged with the shell, an elastic telescopic rod is arranged between the mobile frame and the inner wall of the shell, and an end of the mobile frame away from the elastic telescopic rod is connected to the surveying and mapping equipment; and

[0009] The shock-absorbing brackets are provided in two groups and are symmetrically arranged on both sides of the moving frame. The moving frame is provided with a storage assembly for storing the shock-absorbing brackets.

[0010] Preferably, the shock-absorbing bracket includes an ear plate fixed on the outside of the movable frame, a rotating rod rotatably connected to the ear plate, a connecting rod connected to the rotating rod, a sleeve sleeved on the outside of the connecting rod and slidably arranged with the connecting rod, a first elastic element arranged between the sleeve and the connecting rod, and a landing rod arranged at one end of the sleeve away from the connecting rod, wherein the first elastic element is sleeved on the outside of the connecting rod and its two ends are respectively connected to the sleeve and the connecting rod.

[0011] Preferably, a shock-absorbing pad is provided at the bottom of the floor rod, and a conical anti-slip protrusion is provided on the shock-absorbing pad.

[0012] Preferably, the storage assembly includes a driving motor fixed on the mobile frame, a winding rod rotatably connected to the mobile frame and connected to the output end of the driving motor, a driving gear arranged on the winding rod, and a driven gear arranged on the rotating rod and meshing with the driving gear.

[0013] Preferably, a first winding drum is provided on the winding rod, a first pull rope is wound around and connected to the first winding drum, and one end of the first pull rope away from the first winding drum passes through the connecting rod and is connected to the inner wall of the sleeve.

[0014] Preferably, the wing parts are provided with multiple and evenly arranged on the outer side of the drone body, and each of the wing parts is symmetrically provided with movable grooves on both sides, and a first elastic retractable plate is rotatably connected to the movable groove through a pin shaft, and a torsion spring is sleeved on the pin shaft for the first elastic retractable plate to reset and rotate, and the two ends of the torsion spring are respectively connected to the first elastic retractable plate and the inner wall of the movable groove, and an auxiliary wheel is provided at the end of the first elastic retractable plate away from the pin shaft, and a slide groove is provided on the first elastic retractable plate, and a slider is slidably connected in the slide groove, and a second pull rope is provided on the slider, and a second winding drum for winding up the second pull rope is provided on the winding rod.

[0015] Preferably, a support plate is provided on the shell, an active rotating rod is rotatably connected to the support plate, a one-way gear is provided on the active rotating rod, a rack plate meshing with the one-way gear is provided on the movable frame, a cleaning cloth that is opposed to the movement of the lens of the surveying and mapping equipment is wrapped around the outer side of the active rotating rod, one end of the cleaning cloth away from the active rotating rod passes through the shell and is connected to a driven rotating rod, and the driven rotating rod is rotatably connected in the shell.

[0016] Preferably, a second elastic telescopic plate is fixedly provided on the inner wall of the shell, the telescopic end of the second elastic telescopic plate is connected to a connecting plate, auxiliary rods are provided on the upper and lower outer sides of the connecting plate, and the auxiliary rods are slidably arranged with the cleaning cloth.

[0017] Preferably, a working tube is provided on the shell, a piston is slidably connected in the working tube, a second elastic element is provided between the piston and the inner wall of the working tube, a sliding rod is provided at the end of the piston away from the second elastic element, a force plate is provided at the end of the sliding rod, a protrusion that movably abuts against the force plate is provided on the active rotating rod, a water outlet and a water inlet are provided on the working tube, and both the water outlet and the water inlet are provided with a one-way valve, a water tank connected to the water inlet through a water pipe is provided in the shell, and an atomizing nozzle is provided at the water outlet.

[0018] The present invention also discloses a surveying and mapping method based on a BIM UAV surveying and mapping device, comprising the following steps:

[0019] S1: According to the surveying position, a relatively flat position is selected as the parking preparation position for the UAV body, and the flight route is determined;

[0020] S2: Then, each route plan is sent to the UAV control platform through instructions at the ground base. At this time, the UAV body is taken out to check the performance of the surveying and mapping UAV body, and the surveying and mapping equipment is debugged at the same time;

[0021] S3: Place the drone on the ground and start the drone. After the drone flies to the designated location according to the command, the mapping view angle and direction are adjusted using the internal adjustment function of the mapping equipment. After the adjustment is completed, the mapping information is collected through the mapping equipment and the collected data and the taken pictures are uploaded to the drone backend terminal database.

[0022] S4: Data analysis through BIM software facilitates engineers to quickly carry out site planning and design;

[0023] S5: After the surveying and mapping information is collected, the surveying and mapping drone is controlled to return. When the surveying and mapping drone moves to the pre-selected parking position, the drone is controlled to stop. During the descent of the drone, the staff controls the storage assembly to drive the shock-absorbing bracket to flip, and controls the drive motor to run. The output end of the drive motor drives the winding rod to rotate on the moving frame. The rotation of the winding rod drives the driving gear to engage with the driven gear on the rotating rod. The driven gear drives the rotating rod to rotate, so that the rotating rod drives the connecting rod and the sleeve to flip, so as to expand the shock-absorbing bracket, and rotate the shock-absorbing bracket in the storage state to the bottom. The shock-absorbing bracket buffers the impact force received by the drone during the descent.

[0024] S6: After completing the surveying and mapping work, pick up the drone from the ground, test the drone and the surveying equipment, and pack them up after ensuring they are correct.

[0025] 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:

[0026] 1. The BIM-based UAV surveying and mapping device and method fold up the shock-absorbing bracket when the UAV is conducting surveying and mapping work, thereby reducing the wind resistance during the surveying and mapping work, ensuring the stability of the surveying and mapping, and further ensuring the surveying and mapping quality. After the UAV surveying and mapping work is completed, the shock-absorbing bracket is unfolded through the storage component to shock-absorb the impact force received by the UAV during the falling process, thereby effectively protecting the UAV and the surveying and mapping equipment and prolonging the service life of the UAV surveying and mapping device.

[0027] 2. The BIM-based UAV surveying and mapping device and method elastically connect the UAV body to the surveying and mapping equipment. When the UAV contacts the ground through the shock-absorbing bracket, the UAV body continues to fall under the action of gravity, and the UAV body drives the shell to move relative to the surveying and mapping equipment, so that the surveying and mapping equipment is covered by the shell, thereby protecting the surveying and mapping equipment and preventing the surrounding sides of the surveying and mapping equipment from being damaged by collision.

[0028] 3. The BIM-based UAV surveying and mapping device and surveying and mapping method controls the storage component to drive the shock-absorbing bracket to flip and unfold to protect the UAV surveying and mapping device. The rotation of the winding rod will release the second pull rope, and the second pull rope no longer exerts force on the slider. The second elastic telescopic plate is reset and rotated under the action of the torsion spring on the pin shaft, and the second elastic telescopic plate moves out of the wing part. The elastic telescopic plates on both sides of the wing part are unfolded and at a certain angle, thereby effectively protecting the fan blades on the wing part to prevent the UAV from tipping over when falling and causing the fan blades to collide and be damaged. The second elastic telescopic plate is an elastic and retractable plate body, which can reduce the tipping impact force even when the UAV tips over, effectively protect the UAV surveying and mapping device, and increase the service life of the UAV surveying and mapping device.

[0029] 4. The BIM-based UAV surveying and mapping device and method, when the UAV shell is displaced relative to the surveying and mapping equipment, the one-way gear on the shell meshes with the rack plate. When the shell moves downward relative to the surveying and mapping equipment, the rotation of the one-way gear will not drive the active rotating rod to rotate. When the shell moves upward relative to the surveying and mapping equipment, that is, when the UAV is in a take-off state, the rotation of the one-way gear will drive the active rotating rod to rotate. The active rotating rod reels the cleaning cloth roll wound on the driven rotating rod. Since the cleaning cloth roll is against the lens of the surveying and mapping equipment, the cleaning cloth roll is always wiped with the clean cleaning cloth to ensure the shooting quality and improve the accuracy of the surveying and mapping data of the UAV surveying and mapping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the unmanned aerial vehicle of the present invention when it is flying;

[0031] Figure 2 It is a schematic diagram of the structure of the drone body of the present invention when it is stored;

[0032] Figure 3The structure of the present invention is schematically shown Figure 3 ;

[0033] Figure 4 The structure of the present invention is schematically shown Figure 4 ;

[0034] Figure 5 For the present invention Figure 4 A partial enlarged structural diagram of the middle part;

[0035] Figure 6 It is a schematic diagram of the cross-sectional structure of the present invention;

[0036] Figure 7 For the present invention Figure 6 A schematic diagram of the partially enlarged structure of the middle B part;

[0037] Figure 8 It is a structural schematic diagram of the wing part of the present invention;

[0038] Fig. 9 It is a structural schematic diagram of the winding rod of the present invention;

[0039] Fig.10 is a schematic cross-sectional structure diagram of the working tube of the present invention;

[0040] Fig.11 is a schematic structural diagram of a second elastic retractable plate of the present invention;

[0041] Fig.12 It is a schematic diagram of the external structure of the floor-standing rod of the present invention.

[0042] In the figure: 1, drone body; 2, wing; 3, shell; 301, support plate; 4, surveying equipment; 5, mobile frame; 501, elastic telescopic rod; 502, rack plate; 6, shock-absorbing bracket; 601, ear plate; 602, rotating rod; 603, connecting rod; 604, sleeve; 605, first elastic element; 606, landing rod; 6061, shock-absorbing pad; 6062, anti-slip bump; 7, driving motor; 701, winding rod; 7011, first winding drum; 7012, first pull rope; 7013, second winding drum; 7014, second pull rope; 702, main Driving gear; 703, driven gear; 8, movable groove; 801, first elastic telescopic plate; 802, torsion spring; 803, auxiliary wheel; 9, slide groove; 901, slider; 10, active rotating rod; 1001, one-way gear; 1002, cleaning cloth; 11, driven rotating rod; 12, second elastic telescopic plate; 121, connecting plate; 122, auxiliary rod; 13, working tube; 131, piston; 132, second elastic element; 133, slide rod; 134, force plate; 135, bump; 136, water outlet; 137, water inlet; 138, atomizing nozzle; 14, water tank. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0044] Embodiment 1:

[0045] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , a BIM-based UAV surveying and mapping device, comprising an UAV body 1 provided with a wing portion 2, and further comprising:

[0046] A housing 3, which is fixed to the bottom of the drone body 1 and has a surveying and mapping device 4 disposed inside the housing 3;

[0047] A mobile frame 5, wherein the mobile frame 5 is slidably arranged with the housing 3, an elastic telescopic rod 501 is arranged between the mobile frame 5 and the inner wall of the housing 3, and an end of the mobile frame 5 away from the elastic telescopic rod 501 is connected to the surveying and mapping device 4; and

[0048] The shock-absorbing brackets 6 are provided in two groups and are symmetrically arranged on both sides of the moving frame 5 . The moving frame 5 is provided with a storage component for storing the shock-absorbing brackets 6 .

[0049] Specifically, when the UAV surveying and mapping device is in use, the shock absorbing bracket 6 is folded when the UAV is conducting surveying and mapping work, so as to reduce the wind resistance during the surveying and mapping work, ensure the stability of the surveying and mapping, and further ensure the quality of the surveying and mapping. After the UAV surveying and mapping work is completed, the shock absorbing bracket 6 is flipped and unfolded through the storage component to shock-absorb the impact force received by the UAV during the falling process, thereby effectively protecting the UAV and the surveying and mapping equipment 4. The UAV body 1 is elastically connected to the surveying and mapping equipment 4. When the UAV contacts the ground through the shock absorbing bracket 6, the UAV body 1 continues to fall under the action of gravity, the elastic telescopic rod 501 is compressed, and the UAV body 1 drives the shell 3 to move relative to the surveying and mapping equipment 4, so that the surveying and mapping equipment 4 is covered by the shell 3, thereby protecting the surveying and mapping equipment 4, avoiding collision and damage to the surrounding sides of the surveying and mapping equipment 4, and improving the service life of the UAV surveying and mapping device.

[0050] Embodiment 2:

[0051] Reference Figure 6, a BIM-based drone surveying and mapping device, based on Example 1, further, the shock-absorbing bracket 6 includes an ear plate 601 fixed to the outside of the mobile frame 5, a rotating rod 602 rotatably connected to the ear plate 601, a connecting rod 603 connected to the rotating rod 602, a sleeve 604 sleeved on the outside of the connecting rod 603 and slidably arranged with the connecting rod 603, a first elastic element 605 arranged between the sleeve 604 and the connecting rod 603, and a landing rod 606 arranged at one end of the sleeve 604 away from the connecting rod 603, the first elastic element 605 is sleeved on the outside of the connecting rod 603 and its two ends are respectively connected to the sleeve 604 and the connecting rod 603.

[0052] Specifically, when the shock-absorbing bracket 6 is unfolded to cushion the landing of the drone, the landing rod 606 is first in contact with the ground. The landing rod 606 reacts on the sleeve 604, causing the sleeve 604 and the connecting rod 603 to displace relative to each other. The first elastic element 605 is compressed to cushion the falling force of the drone, thereby preventing the drone from being damaged by recoil and increasing the service life of the drone mapping device.

[0053] Embodiment 3:

[0054] Reference Fig.12 , a BIM-based drone surveying and mapping device, based on Example 2, further, a shock-absorbing pad 6061 is provided at the bottom of the landing rod 606, and a conical anti-slip protrusion 6062 is provided on the shock-absorbing pad 6061.

[0055] Specifically, a shock-absorbing pad 6061 is provided at the bottom of the landing rod 606 to further weaken the collision force between the landing rod 606 and the ground, and a plurality of conical anti-skid protrusions 6062 are provided on the shock-absorbing pad 6061 to improve the stability of the shock-absorbing bracket 6 when it lands and prevent the drone from sliding and tipping over.

[0056] Embodiment 4:

[0057] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Fig. 9 , a BIM-based drone surveying and mapping device, based on Example 2, further, the storage component includes a driving motor 7 fixedly mounted on the mobile frame 5, a winding rod 701 rotatably connected to the mobile frame 5 and connected to the output end of the driving motor 7, a driving gear 702 arranged on the winding rod 701, and a driven gear 703 arranged on the rotating rod 602 and meshing with the driving gear 702.

[0058] Furthermore, a first winding drum 7011 is provided on the winding rod 701 , and a first pull rope 7012 is wound around the first winding drum 7011 . One end of the first pull rope 7012 away from the first winding drum 7011 passes through the connecting rod 603 and is connected to the inner wall of the sleeve 604 .

[0059] Specifically, when the storage component is working, the driving motor 7 is controlled to run, and the output end of the driving motor 7 drives the winding rod 701 to rotate on the moving frame 5. The rotation of the winding rod 701 drives the driving gear 702 to engage with the driven gear 703 on the rotating rod 602. The driven gear 703 drives the rotating rod 602 to rotate, so that the rotating rod 602 drives the connecting rod 603 and the sleeve 604 to flip, so as to realize the storage and deployment of the shock-absorbing bracket 6. When the storage component stores the shock-absorbing bracket 6, the winding rod 701 reels the first pull rope 7012 through the first winding drum 7011, and the first pull rope 7012 drives the sleeve 604 to move toward the connecting rod 603, The length of the tube 604 and the connecting rod 603 is contracted. When the storage component unfolds the shock-absorbing bracket 6, the winding rod 701 releases the first pull rope 7012 through the first winding drum 7011, and the sleeve 604 and the connecting rod 603 are reset under the elastic force of the first elastic element 605 to ensure the shock-absorbing effect of the shock-absorbing bracket 6 when it lands. In this application, the shock-absorbing bracket 6 is folded up when the UAV is performing surveying and mapping work, so as to reduce the wind resistance during the surveying and mapping work, ensure the stability of the surveying and mapping, and further ensure the quality of the surveying and mapping. After the surveying and mapping work of the UAV is completed, the shock-absorbing bracket 6 is flipped and unfolded through the storage component to shock-absorb the impact force received by the UAV during the falling process.

[0060] Embodiment 5:

[0061] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 8 , a BIM-based UAV surveying and mapping device, on the basis of Example 4, further, the wing part 2 is provided with multiple and evenly arranged on the outside of the UAV body 1, and each wing part 2 is symmetrically provided with movable grooves 8 on both sides, and a first elastic retractable plate 801 is rotatably connected in the movable groove 8 through a pin shaft, and a torsion spring 802 for resetting and rotating the first elastic retractable plate 801 is sleeved on the pin shaft, and the two ends of the torsion spring 802 are respectively connected to the first elastic retractable plate 801 and the inner wall of the movable groove 8, and an auxiliary wheel 803 is provided at one end of the first elastic retractable plate 801 away from the pin shaft, and a slide groove 9 is provided on the first elastic retractable plate 801, and a slider 901 is slidably connected in the slide groove 9, and a second pull rope 7014 is provided on the slider 901, and a second winding drum 7013 for winding up the second pull rope 7014 is provided on the winding rod 701.

[0062] Specifically, when the storage component is controlled to drive the shock-absorbing bracket 6 to flip and unfold to provide shock-absorbing protection for the UAV surveying and mapping device, the rotation of the winding rod 701 will release the second pull rope 7014, and the second pull rope 7014 no longer exerts force on the slider 901. The second elastic telescopic plate 12 is reset and rotated under the action of the torsion spring 802 on the pin shaft, and the second elastic telescopic plate 12 moves out of the wing part 2. The second elastic telescopic plates 12 on both sides of the wing part 2 are unfolded and at a certain angle, thereby effectively protecting the fan blades on the wing part 2 to prevent the fan blades from colliding and being damaged when the UAV falls and tips over. The second elastic telescopic plate 12 is an elastic and retractable plate body, which can reduce the tipping impact force even when the UAV tips over, effectively protect the UAV surveying and mapping device, and increase the service life of the UAV surveying and mapping device.

[0063] Embodiment 6:

[0064] Reference Figure 3 , Figure 5 , Figure 6 and Figure 7 , a BIM-based drone surveying and mapping device, based on Example 1, further, a support plate 301 is provided on the shell 3, an active rotating rod 10 is rotatably connected to the support plate 301, a one-way gear 1001 is provided on the active rotating rod 10, a rack plate 502 meshing with the one-way gear 1001 is provided on the moving frame 5, a cleaning cloth 1002 that is movably opposed to the lens of the surveying and mapping equipment 4 is wrapped around the outer side of the active rotating rod 10, an end of the cleaning cloth 1002 away from the active rotating rod 10 passes through the shell 3 and is connected to a driven rotating rod 11, and the driven rotating rod 11 is rotatably connected in the shell 3.

[0065] Specifically, when the UAV takes off and lands, the shell 3 on the lower side of the UAV body 1 is displaced relative to the surveying and mapping equipment 4, and the one-way gear 1001 on the shell 3 is meshed with the rack plate 502 on the moving frame 5. When the shell 3 moves down relative to the surveying and mapping equipment 4, the rotation of the one-way gear 1001 will not drive the active rotating rod 10 to rotate. When the shell 3 moves up relative to the surveying and mapping equipment 4, that is, when the UAV is in the take-off state, the rotation of the one-way gear 1001 will drive the active rotating rod 10 to rotate, and the active rotating rod 10 reels the cleaning cloth 1002 roll wrapped on the driven rotating rod 11, so that the cleaning cloth 1002 roll exposes the clean cleaning cloth 1002 inside. Since the cleaning cloth 1002 is against the lens of the surveying and mapping equipment 4, the cleaning cloth 1002 roll always wipes the lens with the clean cleaning cloth 1002, thereby ensuring the shooting quality and improving the accuracy of the surveying and mapping data of the UAV surveying and mapping device.

[0066] Embodiment 7:

[0067] Reference Figure 6 , Figure 7 and Fig.11A BIM-based drone surveying and mapping device, based on Example 6, further, a second elastic telescopic plate 12 is fixedly provided on the inner wall of the shell 3, the telescopic end of the second elastic telescopic plate 12 is connected to a connecting plate 121, and auxiliary rods 122 are arranged on the upper and lower sides of the connecting plate 121, and the auxiliary rod 122 is slidably arranged with the cleaning cloth 1002.

[0068] Specifically, the second elastic retractable plate 12 drives the two auxiliary rods 122 to push the cleaning cloth 1002 through the connecting plate 121, so that the cleaning cloth 1002 forms a plane and abuts against the lens of the surveying and mapping equipment 4 in a vertical plane, thereby ensuring the wiping effect on the lens of the surveying and mapping equipment 4.

[0069] Embodiment 8:

[0070] Reference Figure 4 , Figure 5 , Figure 6 , Figure 7 and Fig.10 , a BIM-based drone surveying and mapping device, based on Example 7, further, a working tube 13 is provided on the shell 3, a piston 131 is slidably connected in the working tube 13, a second elastic element 132 is provided between the piston 131 and the inner wall of the working tube 13, a sliding rod 133 is provided at the end of the piston 131 away from the second elastic element 132, a force plate 134 is provided at the end of the sliding rod 133, a convex block 135 that movably abuts against the force plate 134 is provided on the active rotating rod 10, a water outlet 136 and a water inlet 137 are provided on the working tube 13, and a one-way valve is provided at the water outlet 136 and the water inlet 137, a water tank 14 connected to the water inlet 137 through a water pipe is provided in the shell 3, and an atomizing nozzle 138 is provided at the water outlet 136.

[0071] Specifically, when the drone is in the take-off state, the rotation of the one-way gear 1001 will drive the active rotating rod 10 to rotate, and the active rotating rod 10 will reel in the cleaning cloth 1002 wound on the driven rotating rod 11, so that the cleaning cloth 1002 roll will expose the clean cleaning cloth 1002 inside, so that the cleaning cloth 1002 roll will always wipe the lens with the clean cleaning cloth 1002. When the active rotating rod 10 rotates, the outer protrusion 135 and the force plate 134 intermittently abut against each other. When the protrusion 135 abuts against the force plate 134, the force plate 134 slides The rod 133 drives the piston 131 to move in the working tube 13, so that the piston 131 sprays the clean water in the working tube 13 onto the cleaning cloth 1002 through the atomizing nozzle 138, moistening the cleaning cloth 1002, and further improving the wiping effect of the cleaning cloth 1002 on the lens of the surveying and mapping equipment 4. When the protrusion 135 no longer abuts against the force plate 134, the piston 131 is reset under the elastic force of the second elastic element 132, and the working tube 13 draws the clean water in the water tank 14 through the water pipe, preparing for the subsequent working tube 13 to continue spraying clean water.

[0072] A surveying and mapping method based on a BIM UAV surveying and mapping device comprises the following steps:

[0073] S1: According to the surveying position, a relatively flat position is selected as a parking preparation position for the unmanned aerial vehicle 1, and a flight route is determined;

[0074] S2: Then, each route plan is sent to the UAV control platform through instructions at the ground base. At this time, the UAV body 1 is taken out to check the performance of the surveying and mapping UAV body 1, and the surveying and mapping equipment 4 is debugged at the same time;

[0075] S3: The unmanned aerial vehicle 1 is placed on the ground and started to run. After the unmanned aerial vehicle 1 flies to the designated location according to the command, the mapping view angle and direction are adjusted by using the internal adjustment function of the mapping device 4. After the adjustment is completed, the mapping information is collected by the mapping device 4 and the collected data and the taken pictures are uploaded to the background terminal database of the unmanned aerial vehicle 1;

[0076] S4: Data analysis through BIM software facilitates engineers to quickly carry out site planning and design;

[0077] S5: After the surveying and mapping information is collected, the surveying and mapping unmanned aerial vehicle 1 is controlled to return. When the surveying and mapping unmanned aerial vehicle 1 moves to the pre-selected parking position, the surveying and mapping unmanned aerial vehicle 1 is controlled to stop. During the falling process of the unmanned aerial vehicle 1, the staff controls the storage component to drive the shock-absorbing bracket 6 to flip, and controls the driving motor 7 to run. The output end of the driving motor 7 drives the winding rod 701 to rotate on the moving frame 5. The rotation of the winding rod 701 drives the driving gear 702 to engage with the driven gear 703 on the rotating rod 602. The driven gear 703 drives the rotating rod 602 to rotate, so that the rotating rod 602 drives the connecting rod 603 and the sleeve 604 to flip, so as to realize the expansion of the shock-absorbing bracket 6, so that the shock-absorbing bracket 6 in the stored state rotates to the bottom, and the shock-absorbing bracket 6 buffers the impact force received by the unmanned aerial vehicle 1 during the descent process;

[0078] S6: After completing the surveying and mapping collection work, the unmanned aerial vehicle 1 is picked up from the ground, and the surveying and mapping unmanned aerial vehicle 1 and the surveying and mapping equipment 4 are tested. After ensuring that they are correct, they can be packaged and stored.

[0079] 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 an UAV body (1) provided with a wing portion (2), characterized in that: Also includes: A housing (3), wherein the housing (3) is fixedly mounted on the bottom of the drone body (1) and a surveying and mapping device (4) is arranged inside the housing (3); A mobile frame (5), the mobile frame (5) and the housing (3) are slidably arranged, an elastic telescopic rod (501) is arranged between the mobile frame (5) and the inner wall of the housing (3), and one end of the mobile frame (5) away from the elastic telescopic rod (501) is connected to the surveying and mapping equipment (4); and Shock-absorbing brackets (6), wherein two groups of the shock-absorbing brackets (6) are arranged symmetrically on both sides of the mobile frame (5), and a storage component for storing the shock-absorbing brackets (6) is arranged on the mobile frame (5).

2. The BIM-based UAV surveying and mapping device according to claim 1 is characterized in that: The shock-absorbing bracket (6) comprises an ear plate (601) fixedly mounted on the outside of the movable frame (5), a rotating rod (602) rotatably connected to the ear plate (601), a connecting rod (603) connected to the rotating rod (602), a sleeve (604) sleeved on the outside of the connecting rod (603) and slidably arranged with the connecting rod (603), a first elastic element (605) arranged between the sleeve (604) and the connecting rod (603), and a grounding rod (606) arranged at one end of the sleeve (604) away from the connecting rod (603), wherein the first elastic element (605) is sleeved on the outside of the connecting rod (603) and its two ends are respectively connected to the sleeve (604) and the connecting rod (603).

3. The BIM-based UAV surveying and mapping device according to claim 2 is characterized in that: A shock-absorbing pad (6061) is provided at the bottom of the ground rod (606), and a conical anti-slip convex point (6062) is provided on the shock-absorbing pad (6061).

4. The BIM-based UAV surveying and mapping device according to claim 2 is characterized in that: The storage assembly comprises a driving motor (7) fixedly mounted on a moving frame (5), a reeling rod (701) rotatably connected to the moving frame (5) and connected to an output end of the driving motor (7), a driving gear (702) arranged on the reeling rod (701), and a driven gear (703) arranged on a rotating rod (602) and meshing with the driving gear (702).

5. The BIM-based UAV surveying and mapping device according to claim 4 is characterized in that: The winding rod (701) is provided with a first winding drum (7011), and a first pull rope (7012) is wound around and connected to the first winding drum (7011). The end of the first pull rope (7012) away from the first winding drum (7011) passes through the connecting rod (603) and is connected to the inner wall of the sleeve (604).

6. The BIM-based UAV surveying and mapping device according to claim 5 is characterized in that: The wing portion (2) is provided with a plurality of wing portions (2) which are evenly arranged on the outer side of the drone body (1); each wing portion (2) is symmetrically provided with movable grooves (8) on both sides; a first elastic telescopic plate (801) is rotatably connected to the movable groove (8) via a pin shaft; a torsion spring (802) is sleeved on the pin shaft for resetting and rotating the first elastic telescopic plate (801); two ends of the torsion spring (802) are respectively connected to the first elastic telescopic plate (801) and the inner wall of the movable groove (8); an auxiliary wheel (803) is provided at one end of the first elastic telescopic plate (801) away from the pin shaft; a sliding groove (9) is provided on the first elastic telescopic plate (801); a slider (901) is slidably connected to the sliding groove (9); a second pull rope (7014) is provided on the slider (901); and a second winding drum (7013) for winding up the second pull rope (7014) is provided on the winding rod (701).

7. The BIM-based UAV surveying and mapping device according to claim 1 is characterized in that: The housing (3) is provided with a support plate (301), the support plate (301) is rotatably connected to an active rotating rod (10), the active rotating rod (10) is provided with a one-way gear (1001), the mobile frame (5) is provided with a rack plate (502) meshing with the one-way gear (1001), the outer side of the active rotating rod (10) is wound with a cleaning cloth (1002) that is movably opposed to a lens of a surveying and mapping device (4), one end of the cleaning cloth (1002) away from the active rotating rod (10) passes through the housing (3) and is connected to a driven rotating rod (11), and the driven rotating rod (11) is rotatably connected in the housing (3).

8. The BIM-based UAV surveying and mapping device according to claim 7 is characterized in that: A second elastic telescopic plate (12) is fixedly provided on the inner wall of the shell (3); the telescopic end of the second elastic telescopic plate (12) is connected to a connecting plate (121); auxiliary rods (122) are provided on the upper and lower sides of the outer side of the connecting plate (121); the auxiliary rods (122) are slidably arranged with the cleaning cloth (1002).

9. The BIM-based UAV surveying and mapping device according to claim 8, characterized in that: The shell (3) is provided with a working tube (13), a piston (131) is slidably connected inside the working tube (13), a second elastic element (132) is provided between the piston (131) and the inner wall of the working tube (13), a sliding rod (133) is provided at one end of the piston (131) away from the second elastic element (132), a force plate (134) is provided at the end of the sliding rod (133), a convex block (135) movably abutting against the force plate (134) is provided on the active rotating rod (10), a water outlet (136) and a water inlet (137) are provided on the working tube (13), both the water outlet (136) and the water inlet (137) are provided with a one-way valve, a water tank (14) connected to the water inlet (137) through a water pipe is provided inside the shell (3), and an atomizing nozzle (138) is provided at the water outlet (136).

10. The surveying and mapping method based on the BIM UAV surveying and mapping device according to claim 5 is characterized in that: The following steps are involved: S1: Based on the surveyed position, a relatively flat position is selected as a parking preparation position for the unmanned aerial vehicle (1), and a flight route is determined; S2: Then, each route plan is sent to the UAV control platform through instructions at the ground base. At this time, the UAV body (1) is taken out, the performance of the surveying and mapping UAV body (1) is checked, and the surveying and mapping equipment (4) is debugged; S3: placing the unmanned aerial vehicle (1) on the ground, starting the unmanned aerial vehicle (1), and after the unmanned aerial vehicle (1) flies to the designated location according to the command, the internal adjustment function of the surveying and mapping equipment (4) is used to adjust the surveying and mapping perspective and direction. After the adjustment is completed, the surveying and mapping information is collected through the surveying and mapping equipment (4) and the collected data and the photographed pictures are uploaded to the background terminal database of the unmanned aerial vehicle (1); S4: Data analysis through BIM software facilitates engineers to quickly carry out site planning and design; S5: After the surveying and mapping information is collected, the surveying and mapping unmanned aerial vehicle (1) is controlled to return. When the surveying and mapping unmanned aerial vehicle (1) moves to a pre-selected parking position, the surveying and mapping unmanned aerial vehicle (1) is controlled to stop. During the descent of the unmanned aerial vehicle (1), the staff controls the storage component to drive the shock-absorbing bracket (6) to flip over, controls the drive motor (7) to operate, and the output end of the drive motor (7) drives the winding rod (701) to rotate on the moving frame (5). The rotation of the winding rod (701) drives the driving gear (702) to mesh with the driven gear (703) on the rotating rod (602). The driven gear (703) drives the rotating rod (602) to rotate, so that the rotating rod (602) drives the connecting rod (603) and the sleeve (604) to flip over, thereby realizing the expansion of the shock-absorbing bracket (6), so that the shock-absorbing bracket (6) in the stored state rotates to the bottom. The shock-absorbing bracket (6) buffers the impact force received by the unmanned aerial vehicle (1) during the descent; S6: After the surveying and mapping collection work is completed, the unmanned aerial vehicle (1) is picked up from the ground, and the surveying and mapping unmanned aerial vehicle (1) and the surveying and mapping equipment (4) are tested. After ensuring that they are correct, they can be put away.

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