Horizontal adjustable land area surveying and mapping device

Abstract

The invention provides a horizontal adjustable land area surveying and mapping device, and relates to the technical field of land area surveying and mapping, the horizontal adjustable land area surveying and mapping device comprises a surveying and mapping unmanned aerial vehicle, an unmanned aerial vehicle connecting seat is connected below the surveying and mapping unmanned aerial vehicle through screws, and a first adjusting driving part is connected below the unmanned aerial vehicle connecting seat through screws; the surveying and mapping unmanned aerial vehicle and the airborne surveying and mapping instrument are combined for use, a connecting structure between the surveying and mapping unmanned aerial vehicle and the airborne surveying and mapping instrument is improved, the surveying and mapping flexibility is improved, and the surveying and mapping unmanned aerial vehicle can be used for surveying and mapping. The method is suitable for mountainous regions, dense buildings and regions with certain gradients, and solves the problems that for part of terrains with complex building structures, complex terrains and over-high gradients, the surveying and mapping visual angle deviates from the ground, and commonly used surveying and mapping equipment such as RTK is small in horizontal adjustment range, poor in flexibility and low in measurement precision. And the surveying and mapping work is influenced to a certain extent in part of scenes.

Description

Technical Field

[0001] The invention relates to the technical field of land area surveying and mapping, and in particular to a land area surveying and mapping device with adjustable level. Background Art

[0002] Land area surveying refers to the process of accurately measuring the actual area of ​​land through certain technical methods and means. This process is of great significance to the rational utilization, planning and management of land resources. In the existing technology, common land area surveying equipment includes RTK and other surveying equipment. With the widespread application of drones, land area surveying tools combined with drones have been widely used in the industry. They have the advantages of high surveying efficiency, convenient operation and precise surveying.

[0003] When traditional land area surveying devices are combined with drones, the surveying perspective is mostly vertical downward detection during the flight carried by the drone. However, for some terrains with complex building structures, complex terrain, and excessively steep terrain, there will be a deviation between the surveying perspective and the ground. Commonly used RTK and other surveying equipment have a small horizontal adjustment range and poor flexibility, which causes the surveying work to be affected to a certain extent in some scenarios. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned defects of the prior art and provide a land area surveying and mapping device that can adapt to various terrains and scenes with complex building structures, complex terrains and excessively high slopes, has a surveying and mapping viewing angle with no deviation from the ground, has a large horizontal adjustment range, and has good flexibility and can be adjusted horizontally.

[0005] The present invention provides a horizontally adjustable land area surveying and mapping device, comprising: a surveying and mapping unmanned aerial vehicle, a unmanned aerial vehicle connecting seat is connected to the unmanned aerial vehicle connecting seat by screws at the bottom, a first adjusting driving member is connected to the unmanned aerial vehicle connecting seat by screws at the bottom, a rotating shaft of the first adjusting driving member is rotatably connected to the lower surface of the unmanned aerial vehicle connecting seat by a bracket and a bearing, and the rotating shaft of the first adjusting driving member is fixedly connected to an adjusting rotating frame; a second adjusting driving member is provided below the adjusting rotating frame, and the second adjusting driving member is a double-axis motor; the rotating shaft of the second adjusting driving member is fixedly connected to the adjusting rotating frame; the rotating shaft axis of the second adjusting driving member is perpendicular to the rotating shaft axis of the first adjusting driving member, an upper shock-absorbing connecting plate is connected to the second adjusting driving member by screws at the bottom, a docking connecting plate is provided below the upper shock-absorbing connecting plate, both ends of the docking connecting plate are fixedly connected to a docking frame, and an airborne surveying and mapping instrument is installed below the docking frame.

[0006] Preferably, the adjusting rotating frame is a "U"-shaped frame with an opening facing downward, and a rotating frame connecting block is connected to the upper surface of the adjusting rotating frame by welding, and the rotating frame connecting block is connected to the rotating shaft of the first adjusting driving member by interference fit.

[0007] Preferably, the two side frames of the adjusting rotating frame are connected to the two end rotating shafts of the second adjusting driving member through interference fit, and the second adjusting driving member is located in the middle of the two side frames of the adjusting rotating frame.

[0008] Preferably, the outer edge of the upper surface of the upper shock-absorbing connecting plate is fixedly connected with six upper buffer connecting rods by screws, the upper buffer connecting rods are made of carbon fiber material, and the outer ends of the upper buffer connecting rods are bent and processed to have upper connecting rod connecting plates.

[0009] Preferably, a lower buffer link is fixedly connected to the outer edge of the connecting plate, the lower buffer link is made of carbon fiber material, the outer end of the lower buffer link is bent to form a lower link connecting plate, the lower connecting rod connecting plate is connected to the upper connecting rod connecting plate by bolts, and the upper buffer link and the lower buffer link are both bent downward.

[0010] Preferably, the connecting plate is in a "C"-shaped structure with its opening facing downward, and the connecting plate is made of a carbon fiber material with good elasticity.

[0011] Preferably, a frame arc plate is fixedly connected to one side of the docking frame facing the center of the docking connecting plate. The frame arc plate has an arc-shaped structure, and an inner wedge surface is provided on the inner surface of the arc surface of the frame arc plate, and the inner wedge surface faces inward and downward.

[0012] Preferably, a surveying instrument docking post is fixedly connected to the center of the upper surface of the airborne surveying instrument, an upper edge of the surveying instrument docking post is provided with an upper wedge edge, and two docking post side sockets are provided on the outer surface of the surveying instrument docking post.

[0013] Preferably, the opening directions of the two docking column side sockets differ by 180°, the docking column side sockets are located below the upper wedge edge, and the docking column side sockets are rectangular slots.

[0014] Preferably, the distance between the front and rear inner walls of the docking column side socket is equal to the front and rear dimensions of the docking frame, and the inner wedge surface fits the inner surface of the docking column side socket.

[0015] The beneficial effects of the land area surveying and mapping device with adjustable level of the present invention are as follows: (1) In the land area surveying and mapping device with adjustable level of the present invention, a surveying and mapping UAV is used in combination with an airborne surveying and mapping instrument. The airborne surveying and mapping instrument is carried by the surveying and mapping UAV to survey and map the land in the surveyed area. An improvement is made in the connection structure between the surveying and mapping UAV and the airborne surveying and mapping instrument. The first adjustment driving member and the second adjustment driving member are used to adjust the tilt angle between the airborne surveying and mapping instrument and the surveying and mapping UAV. This further increases the horizontal adjustment range of the airborne surveying and mapping instrument during the surveying and mapping process, improves the surveying and mapping flexibility, and is suitable for mountainous areas, areas with dense buildings, and areas with a certain slope in the surveyed area. (2) In the horizontally adjustable land area surveying and mapping device of the present invention, the upper shock-absorbing connecting plate and the connecting connecting plate are connected by the upper buffer connecting rod and the lower buffer connecting rod, and the buffer connecting rod made of carbon fiber material forms a buffer shock-absorbing structure, thereby reducing the impact of the shaking of the drone on the airborne surveying and mapping instrument during the surveying and mapping process, reducing the shaking during the surveying and mapping image acquisition process, and improving the stability of surveying and mapping. At the same time, the lower buffer connecting rod and the upper buffer connecting rod cooperate to form a semi-enclosed protection structure for the airborne surveying and mapping instrument, which can protect the airborne surveying and mapping instrument, avoid the surveying and mapping device from being hit and causing the airborne surveying and mapping instrument to be directly impacted and damaged, and effectively reduce the economic losses caused by the explosion of the aircraft; (3) In the horizontally adjustable land area surveying and mapping device of the present invention, the airborne surveying and mapping instrument and the docking frame are docked by connecting the surveying and mapping instrument docking column with the frame arc plate. When the airborne surveying and mapping instrument is normally installed, the frame arc plate fits on the inner surface of the docking column side socket. The airborne surveying and mapping instrument is firmly connected by plugging the frame arc plate with the docking column side socket, and the axial, circumferential and radial fixation is achieved. When the airborne surveying and mapping instrument is docked with the docking frame, the surveying and mapping instrument docking column is pushed upward from the bottom between the two docking frames, so that the upper wedge edge and the inner wedge surface are squeezed, and the docking connecting plate is deformed. When the docking column side socket is located at the height of the docking frame, the docking frame is pushed toward the middle again due to the elasticity of the docking connecting plate, so that the docking frame moves toward the middle, and the surveying and mapping instrument docking column is locked, so that the airborne surveying and mapping instrument can be quickly assembled, the installation and disassembly efficiency of the airborne surveying and mapping instrument is improved, and the transportation and maintenance of the surveying and mapping device are convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the land area surveying and mapping device with adjustable level according to the present invention; Figure 2 It is a structural schematic diagram of an airborne surveying instrument in a land area surveying and mapping device with adjustable level according to the present invention; Figure 3 It is a structural schematic diagram of a docking column of a surveying instrument in a land area surveying and mapping device with adjustable level according to the present invention; Figure 4 It is a schematic diagram of the structure of the land area surveying and mapping device with adjustable level according to the present invention in a disassembled state; Figure 5 yes Figure 4 A schematic diagram of the structure from the bottom perspective; Figure 6 It is a schematic diagram of the structure of the land area surveying and mapping device with adjustable level according to the present invention, in which the docking frame and the docking column of the surveying and mapping instrument are separated; Figure 7 It is a schematic structural diagram of the inner wedge surface in the horizontally adjustable land area surveying and mapping device of the present invention; Figure 8It is a structural schematic diagram of the upper shock-absorbing connecting plate in the horizontally adjustable land area surveying and mapping device of the present invention; Fig. 9 yes Figure 2 A front view structural diagram of Fig.10 yes Figure 3 A schematic diagram of the local enlarged structure at point A in the middle; List of reference numerals: 1. Surveying and mapping UAV; 2. UAV connecting seat; 3. First adjusting drive member; 4. Adjusting rotating frame; 401. Rotating frame connecting block; 5. Second adjusting drive member; 6. Upper shock-absorbing connecting plate; 601. Upper buffer connecting rod; 602. Upper connecting rod connecting plate; 7. Docking connecting plate; 701. Lower buffer connecting rod; 702. Lower connecting rod connecting plate; 8. Docking frame; 801. Frame arc plate; 802. Inner wedge surface; 9. Airborne surveying and mapping instrument; 901. Surveying and mapping instrument docking column; 902. Upper wedge edge; 903. Docking column side socket. DETAILED DESCRIPTION

[0017] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention.

[0018] Example 1: Please refer to Figures 1 to 10 : The present invention provides a horizontally adjustable land area surveying and mapping device, comprising: a surveying and mapping drone 1, a drone connecting seat 2 is connected to the bottom of the surveying and mapping drone 1 by screws, a first adjusting driving member 3 is connected to the bottom of the drone connecting seat 2 by screws, a rotating shaft of the first adjusting driving member 3 is rotatably connected to the lower surface of the drone connecting seat 2 by a bracket and a bearing, a rotating shaft of the first adjusting driving member 3 is fixedly connected to an adjusting rotating frame 4, and the angle between the adjusting rotating frame 4 and the drone connecting seat 2 can be adjusted by rotating the first adjusting driving member 3; a second adjusting driving member 5 is provided below the adjusting rotating frame 4, the second adjusting driving member 5 is a double-axis motor, and both the first adjusting driving member 3 and the second adjusting driving member 5 are high-precision motors, which can realize rotation at a small angle; the rotating shaft of the second adjusting driving member 5 is fixedly connected to the adjusting rotating frame 4, and the angle between the second adjusting driving member 5 and the adjusting rotating frame 4 can be adjusted by rotating the second adjusting driving member 5; the rotating shaft axis of the second adjusting driving member 5 is perpendicular to the rotating shaft axis of the first adjusting driving member 3, and the first adjusting driving member 3 cooperates with the second adjusting driving member 5 The tilt angle of the upper damping connecting plate 6 in multiple directions can be adjusted; the lower part of the second adjusting driving member 5 is connected to the upper damping connecting plate 6 by screws, and the lower part of the upper damping connecting plate 6 is provided with a docking connecting plate 7, and the two ends of the docking connecting plate 7 are fixedly connected with a docking frame 8, and an airborne surveying instrument 9 is installed under the docking frame 8; the adjusting rotating frame 4 is a "U"-shaped frame with an opening facing downward, and the upper surface of the adjusting rotating frame 4 is connected to a rotating frame connecting block 401 by welding, and the rotating frame connecting block 401 is connected to the rotating shaft of the first adjusting driving member 3 by interference fit; the two side frames of the adjusting rotating frame 4 The plate is connected to the rotating shafts at both ends of the second adjustment drive member 5 by interference fit, and the second adjustment drive member 5 is located in the middle of the frame plates on both sides of the adjustment rotating frame 4; through the combination of the surveying and mapping UAV 1 and the airborne surveying and mapping instrument 9, the surveyed land can be surveyed from top to bottom, and the adjustment of the inclination angle between the airborne surveying and mapping instrument 9 and the surveying and mapping UAV 1 is achieved through the cooperation of the first adjustment drive member 3 and the second adjustment drive member 5, which further improves the horizontal adjustment range of the airborne surveying and mapping instrument 9 during the surveying and mapping process, improves the surveying and mapping flexibility, and is suitable for mountainous areas and areas with dense buildings.

[0019] Among them, the outer edge of the upper surface of the upper shock-absorbing connecting plate 6 is fixedly connected with six upper buffer connecting rods 601 by screws. The upper buffer connecting rod 601 is made of carbon fiber material, and the outer end of the upper buffer connecting rod 601 is bent and processed with an upper connecting rod connecting plate 602; the outer edge of the docking connecting plate 7 is fixedly connected with a lower buffer connecting rod 701, and the lower buffer connecting rod 701 is made of carbon fiber material, and the outer end of the lower buffer connecting rod 701 is bent and processed with a lower connecting rod connecting plate 702, and the lower connecting rod connecting plate 702 is connected to the upper connecting rod connecting plate 602 by bolts, and the upper buffer connecting rod 601 and the lower buffer connecting rod 701 are both bent and arranged downwardly, and the upper buffer connecting rod 601 and the lower buffer connecting rod 701 are easy to assemble and can be disassembled for maintenance and cleaning; the upper shock-absorbing connecting plate 6 is docked with the docking connecting plate 7 through the upper buffer connecting rod 601 and the lower buffer connecting rod 701, and a buffering and shock-absorbing structure is formed by the buffer connecting rod made of carbon fiber material, which has good buffering and vibration absorption effects. , the cooperation between the lower buffer link 701 and the upper buffer link 601 can reduce the jitter amplitude and frequency, thereby reducing the impact of the drone jitter on the airborne surveying and mapping instrument 9 during the surveying and mapping process, reducing the jitter during the surveying and mapping picture acquisition process, and improving the surveying and mapping stability. At the same time, the lower buffer link 701 and the upper buffer link 601 cooperate to form a semi-enclosed protection structure for the airborne surveying and mapping instrument 9, which can protect the airborne surveying and mapping instrument 9 without blocking the shooting of the surveying and mapping picture. If a collision is caused by an operational error or climatic reasons, the upper buffer link 601 and the lower buffer link 701 will contact the obstacle before the airborne surveying and mapping instrument 9 collides with the obstacle. The upper buffer link 601 and the lower buffer link 701 are broken to buffer the impact force, thereby reducing the impact force on the airborne surveying and mapping instrument 9, avoiding the surveying and mapping device from being hit and causing the airborne surveying and mapping instrument 9 to be directly impacted and damaged, effectively reducing the economic losses caused by the explosion, and greatly improving the operational stability of the surveying and mapping device.

[0020] Among them, the docking plate 7 is a "C"-shaped structure with its opening facing downward, and is made of carbon fiber material with good elasticity; the docking plate 7 can be slightly deformed under the action of external force, which plays a role in buffering and vibration absorption. At the same time, it serves as a supporting structure of the docking frame 8, maintaining the distance between the two docking frames 8, so that the docking frame 8 can stably clamp the surveying instrument docking column 901.

[0021] Embodiment 2: On the basis of embodiment 1, a frame arc plate 801 is fixedly connected to the docking frame 8 on one side facing the center of the docking connecting plate 7. The frame arc plate 801 is in an arc-shaped structure. An inner wedge surface 802 is provided on the inner surface of the arc surface of the frame arc plate 801, and the inner wedge surface 802 faces inward and downward; a surveying instrument docking column 901 is fixedly connected to the center of the upper surface of the airborne surveying instrument 9, and an upper wedge edge 902 is provided on the upper edge of the surveying instrument docking column 901. Two docking column side sockets 903 are provided on the outer surface of the surveying instrument docking column 901; the opening directions of the two docking column side sockets 903 differ by 180°, and the docking column side sockets 903 are located below the upper wedge edge 902, and the docking column side sockets 903 are rectangular grooves; the front and rear inner wall spacing of the docking column side sockets 903 is equal to the front and rear dimensions of the docking frame 8, and the inner wedge surface 802 fits the inner surface of the docking column side sockets 903; the airborne surveying instrument 9 is fixedly installed When the airborne surveying instrument 9 is installed, the two docking frames 8 are respectively located inside the two docking column side sockets 903 and fit with the inner surfaces of the docking column side sockets 903, thereby locking the surveying instrument docking column 901 in radial, circumferential and axial directions, so that the airborne surveying instrument 9 has a good shock-absorbing effect while being firmly installed. When installing the airborne surveying instrument 9, the surveying instrument docking column 901 is pushed upward from the bottom between the two docking frames 8 to squeeze the upper wedge edge 902 and the inner wedge surface 802 to deform the docking connecting plate 7, and the two docking frames 8 move outward by an appropriate distance. When the docking column side sockets 903 are located at the height of the docking frames 8, the docking frame 8 is pushed toward the middle again due to the elasticity of the docking connecting plate 7, so that the docking frame 8 moves toward the middle and locks the surveying instrument docking column 901, thereby realizing the quick assembly of the airborne surveying instrument 9. The installation method of the airborne surveying instrument 9 is quick, and the disassembly and debugging are convenient.

[0022] The working process and use method of the embodiment of the horizontally adjustable land area surveying and mapping device of the present invention are as follows: first, after arriving at the surveying and mapping area, the surveying and mapping area range is input to the surveying and mapping UAV 1 through a computer or an intelligent remote control device, and the surveying and mapping route is set, and the airborne surveying and mapping instrument 9 is docked with the UAV. When the airborne surveying and mapping instrument 9 is installed, the surveying and mapping instrument docking column 901 is pushed upward from the bottom between the two docking frames 8 to squeeze the upper wedge edge 902 and the inner wedge surface 802, so that the docking connecting plate 7 is deformed, and the two docking frames 8 move outward by an appropriate distance. When the docking column side socket 903 is located at the height of the docking frame 8, the docking frame 8 is pushed toward the middle again with the elasticity of the docking connecting plate 7, and the docking frame 8 is plugged into the docking The column side socket 903 is used to lock the airborne surveying instrument 9 in the circumferential, axial and radial directions. The surveying and mapping UAV 1 is controlled to take off and fly along the set route through a computer or an intelligent remote control device. The land surface is surveyed and mapped through the airborne surveying instrument 9. During the surveying process, when the UAV enters a complex ground area, if the surveying angle of the airborne surveying instrument 9 cannot map the target object in the inclined state or the vertical state, the first adjustment drive member 3 and the second adjustment drive member 5 can cooperate to adjust the inclination angle of the upper shock-absorbing connecting plate 6 in multiple directions, thereby changing the angle between the upper shock-absorbing connecting plate 6 and the UAV connecting seat 2, so that the airborne surveying instrument 9 is tilted, which is suitable for surveying and mapping areas with complex terrain.

Claims

1. A land area surveying and mapping device with adjustable level, characterized in that: include: A surveying and mapping unmanned aerial vehicle (1), wherein a drone connection seat (2) is connected to the bottom of the surveying and mapping unmanned aerial vehicle (1) by screws, a first adjusting driving member (3) is connected to the bottom of the drone connection seat (2) by screws, a rotating shaft of the first adjusting driving member (3) is rotatably connected to the bottom surface of the drone connection seat (2) by a bracket and a bearing, and the rotating shaft of the first adjusting driving member (3) is fixedly connected to an adjusting rotating frame (4); a second adjusting driving member (5) is provided below the adjusting rotating frame (4), and the second adjusting driving member (5) is a double-axis motor; the rotating shaft of the second adjusting driving member (5) is fixedly connected to the adjusting rotating frame (4); the rotating shaft axis of the second adjusting driving member (5) is perpendicular to the rotating shaft axis of the first adjusting driving member (3), an upper shock-absorbing connecting plate (6) is connected to the bottom of the second adjusting driving member (5) by screws, a docking connecting plate (7) is provided below the upper shock-absorbing connecting plate (6), and docking frames (8) are fixedly connected to the two ends of the docking connecting plate (7), and an airborne surveying and mapping instrument (9) is installed below the docking frame (8).

2. The land area surveying and mapping device with adjustable level according to claim 1, characterized in that: The adjusting rotating frame (4) is a "U"-shaped frame with an opening facing downwards, and the upper surface of the adjusting rotating frame (4) is connected to a rotating frame connecting block (401) by welding, and the rotating frame connecting block (401) is connected to the rotating shaft of the first adjusting driving member (3) by interference fit.

3. A land area surveying and mapping device with adjustable level according to claim 1 or 2, characterized in that: The two side frames of the adjusting rotating frame (4) are connected to the two end rotating shafts of the second adjusting driving member (5) through interference fit, and the second adjusting driving member (5) is located in the middle of the two side frames of the adjusting rotating frame (4).

4. A land area surveying and mapping device with adjustable level according to claim 1 or 2, characterized in that: The outer edge of the upper surface of the upper damping connecting plate (6) is fixedly connected to six upper buffer connecting rods (601) by means of screws. The upper buffer connecting rods (601) are made of carbon fiber material. The outer ends of the upper buffer connecting rods (601) are bent to form upper connecting rod connecting plates (602).

5. The land area surveying and mapping device with adjustable level according to claim 4, characterized in that: A lower buffer connecting rod (701) is fixedly connected to the outer edge of the butt-jointed plate (7); the lower buffer connecting rod (701) is made of carbon fiber material; the outer end of the lower buffer connecting rod (701) is bent to form a lower connecting rod connecting plate (702); the lower connecting rod connecting plate (702) is connected to the upper connecting rod connecting plate (602) by bolts; the upper buffer connecting rod (601) and the lower buffer connecting rod (701) are both bent and arranged to be inclined downward.

6. A land area surveying and mapping device with adjustable level according to claim 1 or 2, characterized in that: The butt-jointed plate (7) is in a "C"-shaped structure with its opening facing downwards, and the butt-jointed plate (7) is made of a carbon fiber material having good elasticity.

7. A land area surveying and mapping device with adjustable level according to claim 1 or 2, characterized in that: A frame arc plate (801) is fixedly connected to one side of the docking frame (8) facing the center of the docking connecting plate (7); the frame arc plate (801) is in an arc-shaped structure; an inner wedge surface (802) is provided on the inner surface of the arc surface of the frame arc plate (801); the inner wedge surface (802) faces inward and downward.

8. A land area surveying and mapping device with adjustable level according to claim 1 or 2, characterized in that: A surveying instrument docking column (901) is fixedly connected to the center of the upper surface of the airborne surveying instrument (9), an upper edge of the surveying instrument docking column (901) is provided with an upper wedge edge (902), and an outer surface of the surveying instrument docking column (901) is provided with two docking column side sockets (903).

9. The land area surveying and mapping device with adjustable level according to claim 8, characterized in that: The opening directions of the two docking column side sockets (903) differ by 180 degrees. The docking column side sockets (903) are located below the upper wedge edge (902) and are rectangular slots.

10. The land area surveying and mapping device with adjustable level according to claim 9, characterized in that: The distance between the front and rear inner walls of the docking column side socket (903) is equal to the front and rear dimensions of the docking frame (8), and the inner wedge surface (802) fits the inner surface of the docking column side socket (903).

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