Measurement positioning device and method using unmanned aerial vehicle

Abstract

The invention discloses a measurement positioning device and method using an unmanned aerial vehicle, and belongs to the technical field of measurement. The device comprises a fixing platform, a reflection mark fixing frame, supporting legs and an auxiliary positioning piece. The fixing platform is used for fixing an unmanned aerial vehicle. The reflection mark fixing frame is arranged on the fixing platform, a first reflection mark, a second reflection mark and a third reflection mark are arranged on the reflection mark fixing frame, and the first reflection mark, the second reflection mark and the third reflection mark are not located on the same straight line; the number of the supporting legs is multiple, and the multiple supporting legs are arranged on the fixed platform. The multiple auxiliary positioning pieces are arranged at the ends, away from the fixed platform, of the multiple supporting legs correspondingly. According to the measurement positioning device and method using the unmanned aerial vehicle, measurement personnel do not need to arrive at the position of a measured point, the efficiency and safety of measurement operation are improved, road repairing or leasing of equipment such as a lift truck and a crane is not needed, and the cost of measurement operation is saved.

Description

Technical Field

[0001] The present invention belongs to the field of measurement technology, and in particular relates to a measurement and positioning device and method using an unmanned aerial vehicle. Background Art

[0002] In many fields such as construction and geographic surveying, accurate measurement plays a critical role in the smooth progress and quality assurance of projects. At present, traditional measurement methods mainly rely on surveyors to personally operate total station prisms or GNSS measurement systems and RTK measurement systems. Among them, total station prism measurement is widely used in high-precision scenarios, but its operation process, especially the pole erection link, is highly professional and empirical, and it is difficult for non-professional surveyors to ensure measurement accuracy.

[0003] In actual surveying operations, when the measuring points are in special locations, such as the top of piers, structures in swamps or rivers, and near high-voltage lines, conventional surveying methods expose many drawbacks. Since these locations are difficult for personnel to reach directly, professional equipment is often needed to transport surveyors and measuring instruments. This process not only involves high equipment rental fees, road repairs and other additional costs, but also during transportation, surveyors face safety risks such as falling from heights, electric shock, and drowning, which greatly threatens the safety of personnel lives. At the same time, the entire surveying process becomes extremely inefficient due to the complicated preliminary preparation work, which seriously affects the project progress and construction efficiency.

[0004] In addition, when the measured point cannot be approached directly, in order to implement the measurement, the construction party has to invest a lot of time and resources in building roads to allow equipment and personnel to approach, or spend a high cost to rent special transportation equipment, which undoubtedly increases the project cost and time cost. In addition, safety risks are always present in complex environments, which brings huge challenges to the measurement work. A new measurement method or technology is urgently needed to overcome the above difficulties. Summary of the invention

[0005] In view of the deficiencies existing in the related art, the purpose of the present invention is to provide a measurement and positioning device and method using an unmanned aerial vehicle to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A measurement and positioning device using an unmanned aerial vehicle, comprising: Fixed platform, the fixed platform is used to fix the UAV; A reflective marker fixing frame, the reflective marker fixing frame is arranged on the fixed platform, a first reflective marker, a second reflective marker and a third reflective marker are arranged on the reflective marker fixing frame, and the first reflective marker, the second reflective marker and the third reflective marker are not in a straight line; Outriggers, wherein a plurality of outriggers are provided, and the plurality of outriggers are arranged on a fixed platform; Auxiliary positioning pieces, a plurality of auxiliary positioning pieces are provided, and the plurality of auxiliary positioning pieces are respectively arranged at the ends of the plurality of legs away from the fixed platform.

[0007] In some embodiments, the first reflective mark, the second reflective mark and the third reflective mark are distributed on the reflective mark fixing frame in the shape of an equilateral triangle.

[0008] In some of the embodiments, the first reflective mark, the second reflective mark and the third reflective mark are located on the axis plane of the measurement and positioning device.

[0009] In some embodiments, the auxiliary positioning member adopts an inverted cone structure, and a flat plate is provided on the top surface of the inverted cone structure. The diameter of the flat plate is larger than the diameter of the hole of the measured point, so that the auxiliary positioning member can be stuck in the hole of the measured point.

[0010] In some embodiments, the number of legs is four.

[0011] In some of the embodiments, the plurality of legs are hingedly connected to the fixed platform.

[0012] In some of the embodiments, positioning holes are provided on the plurality of legs, and the positioning holes on adjacent legs are connected by an adjusting rod to adjust the spacing and plane positions of the plurality of legs.

[0013] A method for measuring and positioning using a drone, using the above-mentioned device for measuring and positioning using a drone, the method comprises the following steps: S1. The reflective label pasting position on the reflective label fixing frame is concavely processed, and the first reflective label, the second reflective label and the third reflective label are pasted at the reflective label pasting position, and the first reflective label, the second reflective label and the third reflective label are distributed in an equilateral triangle; S2. Select a suitable auxiliary positioning piece so that it can just fit in the hole position of the measured point. Adjust the spacing between multiple legs by adjusting the rod so that the auxiliary positioning piece at the end of the leg can be accurately placed in the hole position of the measured point. Then fix the drone on the fixed platform. S3, start the drone, transport the measuring and positioning device to the top of the measured point, with the first reflective mark, the second reflective mark and the third reflective mark facing the direction of the total station, and the camera of the drone pointing vertically downward, and fine-tune and slowly lower the drone so that the auxiliary positioning piece of the measuring and positioning device is stuck in the hole position of the measured point; S4. Use a total station to measure the spatial positions of the first reflective mark, the second reflective mark, and the third reflective mark, and record them as (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3), respectively. S5. Repeat steps S3 to S4 to complete the measurement of other measurement points.

[0014] In some embodiments, the measurement and positioning method using a drone further includes step S6: after completing steps S1 and S2, that is, the spatial position correspondence between the measured point and the first reflective mark, the second reflective mark and the third reflective mark is known, after completing steps S3 and S4, the center coordinates of the holes of the four measured points are set as (X D1 , Y D1 , Z D1 )、(X D2 , Y D2 , Z D2 )、(X D3 , Y D3 , Z D3 ) and (X D4 , Y D4 , Z D4 ), back-calculate according to the known spatial position correspondence to obtain the spatial position of the measured point.

[0015] In some of the embodiments, in step S3, the drone is fine-tuned and slowly lowered, but the auxiliary positioning piece of the measuring and positioning device cannot be stuck in the hole position of the measured point. Then, the error of the measured point exceeds the allowable deviation, and the measuring point needs to be manually repaired before re-measurement and positioning.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The measuring and positioning device using an unmanned aerial vehicle provided by the present invention is composed of a fixed platform, a reflective mark fixing frame, outriggers and auxiliary positioning parts. It does not require surveying personnel to arrive at the location of the measured point, thereby improving the efficiency and safety of the measuring operation. It does not require road construction or rental of equipment such as lifts and cranes, thereby saving the cost of the measuring operation.

[0017] 2. The measurement and positioning method using an unmanned aerial vehicle provided by the present invention adopts a method of mounting a measurement and positioning device on an unmanned aerial vehicle, which can quickly cover a large measurement area, and can perform precise measurement and back calculation based on the spatial position correspondence between the measured point and the first reflective mark, the second reflective mark and the third reflective mark, thereby ensuring the accuracy and effectiveness of the measurement results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 A schematic diagram of the structure of a measurement and positioning device using an unmanned aerial vehicle according to an embodiment of the measurement and positioning device and method using an unmanned aerial vehicle of the present invention; Figure 2This is a flow chart of a method for measuring and positioning using a drone according to one embodiment of the device and method for measuring and positioning using a drone of the present invention.

[0019] In the figure: 1. Fixed platform; 2. Reflection mark fixing frame; 21. First reflection mark; 22. Second reflection mark; 23. Third reflection mark; 3. Support legs; 4. Auxiliary positioning parts; 41. Inverted cone structure; 42. Flat plate; 51. First pad stone hole; 52. Second pad stone hole; 53. Third pad stone hole; 54. Fourth pad stone hole. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] Embodiment 1: See attached Figure 1 to Figure 2 , a schematic embodiment of the measuring and positioning device using an unmanned aerial vehicle proposed in the present invention is given, and the measuring and positioning device using an unmanned aerial vehicle includes a fixed platform 1, a reflective mark fixing frame 2, a support leg 3 and an auxiliary positioning member 4.

[0024] The fixed platform 1 is used to fix the drone, which can transport the measuring and positioning device to the specified position and can automatically align. The reflective mark fixing frame 2 is arranged on the fixed platform 1, and the reflective mark fixing frame 2 is provided with a first reflective mark 21, a second reflective mark 22 and a third reflective mark 23, and the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are not in a straight line. The first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are used to measure and locate the measured point at a long distance. The three reflective marks are set to ensure that the measuring and positioning device does not tilt left and right or front and back. There are multiple legs 3, and multiple legs 3 are arranged on the fixed platform 1. There are multiple auxiliary positioning members 4, and the multiple auxiliary positioning members 4 are respectively arranged at the ends of the multiple legs 3 away from the fixed platform 1.

[0025] The entire measuring and positioning device is made of lightweight materials. In this embodiment, carbon fiber tubes and PET plastic tubes are preferred, which are relatively light and easy to obtain and customize. Carbon fiber tubes and PET plastic tubes are lightweight, which can greatly reduce the overall weight of the measuring and positioning device and reduce transportation energy consumption. In addition, their easy availability ensures that the material supply is timely and the cost is controllable, which is convenient for project development. Good customization can meet diverse design requirements.

[0026] In order to facilitate the back calculation of the spatial parameters of the measured point, in this embodiment, the first reflective mark 21 , the second reflective mark 22 and the third reflective mark 23 are distributed on the reflective mark fixing frame 2 in the shape of an equilateral triangle.

[0027] In this embodiment, the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are fixed to the reflective mark fixing frame 2 by pasting. When pasting, the pasting position should be concave so that the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are located on the axis plane of the measurement and positioning device, eliminating the influence of the thickness of the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 on the measurement position. If the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are not on the axis plane, correction calculations need to be performed when calculating the position of the measured point.

[0028] The auxiliary positioning member 4 can adopt a hollow structure to reduce wind resistance. In this embodiment, when the measuring and positioning device is used to measure the reserved hole of the pad stone, the auxiliary positioning member 4 adopts an inverted cone structure 41, and a flat plate 42 is provided on the top surface of the inverted cone structure 41. The diameter of the flat plate 42 is larger than the diameter of the hole position of the measured point, so that the auxiliary positioning member 4 can be stuck in the hole position of the measured point. When the drone falls at the specified position, the measuring and positioning device is directly dropped at the precise position. In some embodiments, when the measuring and positioning device is used to measure the anchor bolts, the auxiliary positioning member 4 can adopt a right cone structure, and the principle is the same as above.

[0029] The number of the legs 3 is determined according to the actual structure being measured. Taking the support pad stone as an example, in this case, four legs 3 are provided.

[0030] In this embodiment, a plurality of legs 3 are hingedly connected to the fixed platform 1. Positioning holes are provided on the plurality of legs 3, and the positioning holes on adjacent legs 3 are connected by adjusting rods to adjust the spacing and plane positions of the plurality of legs 3 and achieve a fixing effect.

[0031] In the above-mentioned schematic embodiment, the measurement and positioning device using the drone is composed of a fixed platform, a reflective mark fixing frame, outriggers and auxiliary positioning parts. There is no need for measurement personnel to arrive at the location of the measured point, which improves the efficiency and safety of the measurement operation. There is no need to build roads or rent equipment such as lifts and cranes, thus saving the cost of the measurement operation.

[0032] Embodiment 2: This embodiment provides a method for measuring and positioning using a drone, using the device for measuring and positioning using a drone in Embodiment 1, and the method for measuring and positioning using a drone includes the following steps: S1, the reflective label pasting position on the reflective label fixing frame 2 is concavely processed, and the first reflective label 21, the second reflective label 22 and the third reflective label 23 are pasted at the reflective label pasting position, and the first reflective label 21, the second reflective label 22 and the third reflective label 23 are distributed in an equilateral triangle; S2. Select a suitable auxiliary positioning member 4 so that it can just fit in the hole position of the measured point, adjust the spacing between the multiple legs 3 by adjusting the rod, so that the auxiliary positioning member 4 at the end of the leg 3 can be accurately placed at the hole position of the measured point, and then fix the drone on the fixed platform 1; S3, start the drone, transport the measuring and positioning device to the top of the measured point, with the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 facing the total station, and the camera of the drone pointing vertically downward, fine-tune and slowly lower the drone, so that the auxiliary positioning member 4 of the measuring and positioning device is stuck in the hole position of the measured point; S4. Use a total station to measure the spatial positions of the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23, and record them as (X1, Y1, Z1), (X2, Y2, Z2) and (X3, Y3, Z3), respectively. S5. Repeat steps S3 to S4 to complete the measurement of other measurement points.

[0033] In some embodiments, the measurement and positioning method using a drone further includes step S6: after completing steps S1-S2, that is, the spatial position correspondence between the measured point and the first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 is known, after completing steps S3-S4, the center coordinates of the holes of the four measured points are set as (X D1 , Y D1, Z D1 )、(X D2 , Y D2 , Z D2 )、(X D3 , Y D3 , Z D3 ) and (X D4 , Y D4 , Z D4 ), back-calculate according to the known spatial position correspondence to obtain the spatial position of the measured point.

[0034] In step S3, the drone is fine-tuned and slowly lowered, but the auxiliary positioning member 4 of the measuring and positioning device cannot be stuck in the hole position of the measured point. The error of the measured point exceeds the allowable deviation, and the measuring point needs to be manually repaired before re-measurement and positioning.

[0035] In step S1, a cone with a large or small diameter can be appropriately selected according to the allowable deviation of the measurement operation. In step S2, the drone is fixed on the fixed platform 1 in any suitable manner according to actual needs.

[0036] Assume that the location to be measured is the stone hole, see the attached Figure 1 , are four rectangularly arranged stone holes, namely the first stone hole 51, the second stone hole 52, the third stone hole 53 and the fourth stone hole 54. Suppose their center coordinates are (X D1 , Y D1 , Z D1 )、(X D2 , Y D2 , Z D2 )、(X D3 , Y D3 , Z D3 ) and (X D4 , Y D4 , Z D4 ). The inverted cone structure 41 of the auxiliary positioning member 4 is placed vertically in the pad stone hole, and the flat member 42 is stuck on the pad stone hole, then the bottom elevation of the flat member 42 is the same as the top elevation of the pad stone hole. The spatial positions of the first reflection mark 21, the second reflection mark 22 and the third reflection mark 23 measured by the total station are (X1, Y1, Z1), (X2, Y2, Z2) and (X3, Y3, Z3), respectively. Among them, the heights of the first reflection mark 21 and the second reflection mark 22 are the same, the heights of the first reflection mark 21 and the second reflection mark 22 are H higher than the flat member 42, and the heights of the first reflection mark 21 and the second reflection mark 22 are h higher than the height of the third reflection mark 23.

[0037] The first reflective mark 21, the second reflective mark 22 and the third reflective mark 23 are located in the center of the measuring and positioning device, and measures are taken to ensure that during the measurement of the total station, the measured X-axis coordinate is located in the center of the frame.

[0038] Calculate and verify the position of the pad stone hole, (X1+X2) / 2=X3=(X D1 +X D3 ) / 2=(X D2 +X D4 ) / 2, if the verification conforms to the above formula, it proves that there is no problem with the X coordinate and there is no skew. (Y1+Y2) / 2=Y3=(Y D1 +Y D3 ) / 2=(Y D2 +Y D4 ) / 2, if the verification conforms to the above formula, it proves that the Y coordinate is fine and there is no deflection. Calculate and verify the elevation, (Z1+Z2) / 2-H=Z D1 =Z D2 =Z D3 =Z D4 If the verification meets the above formula, it proves that there is no problem with the Z coordinate. In the above verification calculation, if any of the calculation items are found to be unqualified after calculation, it proves that the measured position is unqualified and needs to be rushed or repaired. The allowable deviation can be set according to the requirements of the actual project. When the accuracy requirement is low, the position deviation of 3cm and the elevation deviation of 2cm can be accepted.

[0039] In the above-mentioned exemplary embodiment, the measurement and positioning method using a drone adopts a method of mounting a measurement and positioning device on a drone, which can quickly cover a large measurement area, and can perform precise measurement and back calculation based on the spatial position correspondence between the measured point and the first reflective mark, the second reflective mark and the third reflective mark, thereby ensuring the accuracy and effectiveness of the measurement results.

[0040] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0041] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A measurement and positioning device using an unmanned aerial vehicle, characterized in that: include: A fixed platform, wherein the fixed platform is used to fix the drone; A reflective marker fixing frame, wherein the reflective marker fixing frame is arranged on the fixed platform, and a first reflective marker, a second reflective marker and a third reflective marker are arranged on the reflective marker fixing frame, and the first reflective marker, the second reflective marker and the third reflective marker are not in a straight line; A supporting leg, wherein a plurality of the supporting legs are provided, and the plurality of the supporting legs are arranged on the fixed platform; Auxiliary positioning members, wherein a plurality of the auxiliary positioning members are provided, and the plurality of the auxiliary positioning members are respectively arranged at the ends of the plurality of the legs away from the fixed platform.

2. The measurement and positioning device using an unmanned aerial vehicle according to claim 1, characterized in that: The first reflective mark, the second reflective mark and the third reflective mark are distributed on the reflective mark fixing frame in the form of an equilateral triangle.

3. The measurement and positioning device using an unmanned aerial vehicle according to claim 2, characterized in that: The first reflective mark, the second reflective mark and the third reflective mark are located on the axial plane of the measuring and positioning device.

4. The measurement and positioning device using an unmanned aerial vehicle according to claim 3, characterized in that: The auxiliary positioning piece adopts an inverted cone structure, and a flat plate is provided on the top surface of the inverted cone structure. The diameter of the flat plate is larger than the diameter of the hole of the measured point, so that the auxiliary positioning piece can be stuck in the hole of the measured point.

5. The measurement and positioning device using an unmanned aerial vehicle according to claim 4, characterized in that: The supporting legs are provided in four.

6. The measurement and positioning device using an unmanned aerial vehicle according to claim 5, characterized in that: A plurality of the legs are hingedly connected to the fixed platform.

7. The measurement and positioning device using an unmanned aerial vehicle according to claim 6, characterized in that: Positioning holes are provided on the plurality of legs, and the positioning holes on adjacent legs are connected by an adjusting rod to adjust the spacing and plane positions of the plurality of legs.

8. A method for measuring and positioning using an unmanned aerial vehicle, characterized in that: Using the measurement and positioning device using an unmanned aerial vehicle as described in claim 7, the method comprises the following steps: S1. The reflective label pasting position on the reflective label fixing frame is concavely processed, and the first reflective label, the second reflective label and the third reflective label are pasted at the reflective label pasting position, and the first reflective label, the second reflective label and the third reflective label are distributed in an equilateral triangle; S2. Select a suitable auxiliary positioning piece so that it can just fit in the hole position of the measured point. Adjust the spacing between multiple legs by adjusting the rod so that the auxiliary positioning piece at the end of the leg can be accurately placed in the hole position of the measured point. Then fix the drone on the fixed platform. S3, start the drone, transport the measuring and positioning device to the top of the measured point, with the first reflective mark, the second reflective mark and the third reflective mark facing the direction of the total station, and the camera of the drone pointing vertically downward, and fine-tune and slowly lower the drone so that the auxiliary positioning piece of the measuring and positioning device is stuck in the hole position of the measured point; S4. Use a total station to measure the spatial positions of the first reflective mark, the second reflective mark, and the third reflective mark, and record them as (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3), respectively. S5. Repeat steps S3 to S4 to complete the measurement of other measurement points.

9. The method for measuring and positioning using an unmanned aerial vehicle according to claim 8, characterized in that: The method also includes step S6: after completing steps S1 and S2, that is, the spatial position correspondence between the measured point and the first reflective mark, the second reflective mark and the third reflective mark is known, after completing steps S3 and S4, the center coordinates of the holes of the four measured points are set as (X D1 , Y D1 , Z D1 )、(X D2 , Y D2 , Z D2 )、(X D3 , Y D3 , Z D3 ) and (X D4 , Y D4 , Z D4 ), back-calculate according to the known spatial position correspondence to obtain the spatial position of the measured point.

10. The method for measuring and positioning using an unmanned aerial vehicle according to claim 8, characterized in that: In step S3, the drone is fine-tuned and slowly lowered, but the auxiliary positioning piece of the measuring and positioning device cannot be stuck in the hole position of the measured point. The error of the measured point exceeds the allowable deviation, and the measuring point needs to be manually repaired before re-measurement and positioning.

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