A land area surveying and mapping device with adjustable level

Abstract

The present invention provides a land area surveying and mapping device with adjustable level, which relates to the technical field of land area surveying and mapping, and comprises: a surveying and mapping unmanned aerial vehicle, wherein a unmanned aerial vehicle connecting seat is connected to the bottom of the unmanned aerial vehicle connecting seat by screws, a first adjusting driving member is connected to the bottom of the unmanned aerial vehicle connecting seat by screws, and 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. In the present invention, the surveying and mapping unmanned aerial vehicle is used in combination with an airborne surveying and mapping instrument, and improvements are made in the connection structure between the surveying and mapping unmanned aerial vehicle and the airborne surveying and mapping instrument, thereby improving the surveying and mapping flexibility. The device is suitable for mountainous areas, areas with dense buildings, and areas with a certain slope in the surveyed area, and solves the problem that for some areas with complex building structures, complex terrain, and terrain with a high slope, the surveying and mapping viewing angle will deviate from the ground, and the commonly used surveying and mapping equipment such as RTK has a small horizontal adjustment range and poor flexibility, resulting in a certain impact on the surveying and mapping work in some scenes.

Description

Technical Field

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

[0002] Land area surveying and mapping refers to the process of accurately measuring the actual area of land through certain technical methods and means, which is of great significance for the rational utilization, planning, and management of land resources; in the prior art, common instruments for land area surveying and mapping work include surveying and mapping equipment such as RTK, and with the wide application of unmanned aerial vehicles (UAVs), land area surveying and mapping tools combined with UAVs have been widely used in the industry, which have the advantages of high surveying and mapping efficiency, convenient operation, and accurate surveying and mapping.

[0003] After the traditional land area surveying and mapping device is combined with a UAV, during the flight carried by the UAV, most of the surveying and mapping perspectives are vertically downward detection. For some terrains with complex building structures, complex terrains, and excessive slopes, there will be a deviation between the surveying and mapping perspective and the ground. The horizontal adjustment range of common surveying and mapping equipment such as RTK is small and the flexibility is poor, resulting in certain impacts on the surveying and mapping work 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 existing in the prior art, and provide a horizontally adjustable land area surveying and mapping device that can adapt to various terrains and scenarios with complex building structures, complex terrains, and excessive slopes, has no deviation between the surveying and mapping perspective and the ground, has a large horizontal adjustment range, and good flexibility.

[0005] The present invention provides a horizontally adjustable land area surveying and mapping device, including: a surveying UAV, a UAV connecting seat is connected below the surveying UAV by screws, a first adjustment driving member is connected below the UAV connecting seat by screws, a rotating shaft of the first adjustment driving member is rotationally connected to the lower surface of the UAV connecting seat through a bracket and a bearing, and a regulating rotating frame is fixedly connected to the rotating shaft of the first adjustment driving member; a second adjustment driving member is arranged below the regulating rotating frame, and the second adjustment driving member is a dual-axis motor; a rotating shaft of the second adjustment driving member is fixedly connected to the regulating rotating frame; an axis of the rotating shaft of the second adjustment driving member is perpendicular to an axis of the rotating shaft of the first adjustment driving member, an upper damping connecting plate is connected below the second adjustment driving member by screws, a docking connecting plate is arranged below the upper damping connecting plate, docking frames are fixedly connected to both ends of the docking connecting plate, and an airborne surveying and mapping instrument is installed below the docking frames.

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

[0007] Preferably, both side plates of the adjusting rotary 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 between the two side plates of the adjusting rotary frame.

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

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

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

[0011] Preferably, a frame arc plate is fixedly connected to the side of the docking frame facing the center of the docking connecting plate. The frame arc plate is in a circular arc 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 column is fixedly connected to the center of the upper surface of the airborne surveying instrument. An upper wedge edge is provided on the upper edge of the surveying instrument docking column, and two docking column side sockets are provided on the outer surface of the surveying instrument docking column.

[0013] Preferably, the openings of the two docking column side sockets face in directions with a 180° difference. The docking column side sockets are located below the upper wedge edge, and the docking column side sockets are rectangular grooves.

[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 horizontally adjustable land area surveying device of the present invention are as follows:

[0016] (1) In the horizontally adjustable land area surveying device of the present invention, the surveying unmanned aerial vehicle and the airborne surveying instrument are combined for use. The airborne surveying instrument is carried by the surveying unmanned aerial vehicle to survey the land in the measured area. Improvements have been made to the connection structure between the surveying unmanned aerial vehicle and the airborne surveying instrument. Through the cooperation of the first adjusting driving member and the second adjusting driving member, the adjustment of the inclination angle between the airborne surveying instrument and the surveying unmanned aerial vehicle is realized, further improving the horizontal adjustment range of the airborne surveying instrument during the surveying process, improving the surveying flexibility, and being applicable to mountainous areas, areas with dense buildings, and areas with a certain slope in the measured area;

[0017] (2) In the horizontally adjustable land area surveying and mapping device of the present invention, the upper damping link and the lower damping link are used to dock the upper damping connecting plate and the docking connecting plate, and the damping link made of carbon fiber material forms a damping and shock-absorbing structure, thereby reducing the impact of the drone jitter during the surveying and mapping process on the airborne surveying instrument, reducing the jitter during the acquisition of the surveying and mapping image, improving the stability of the surveying and mapping. At the same time, the lower damping link and the upper damping link cooperate to form a semi-surrounding protection structure for the airborne surveying instrument, which can protect the airborne surveying instrument, avoid the direct impact on the airborne surveying instrument caused by the impact of the surveying and mapping device, and effectively reduce the economic loss caused by the crash of the drone;

[0018] (3) In the horizontally adjustable land area surveying and mapping device of the present invention, the airborne surveying instrument and the docking frame are docked through the connection between the surveying instrument docking column and the frame arc plate. In the normal installation state of the airborne surveying instrument, the frame arc plate fits on the inner surface of the side socket of the docking column. The stable connection of the airborne surveying instrument is realized through the insertion of the frame arc plate into the side socket of the docking column, achieving axial, circumferential and radial fixation. When the airborne surveying instrument is docked with the docking frame, the surveying instrument docking column is pushed upward from below between the two docking frames, so that the upper wedge edge is squeezed against the inner wedge surface, causing the docking connecting plate to deform. When the side socket of the docking column is at the height of the docking frame, with the elasticity of the docking connecting plate, the docking frame is pushed towards the middle again, causing the docking frame to move towards the middle to lock the surveying instrument docking column, thus realizing the quick assembly of the airborne surveying instrument, improving the installation and disassembly efficiency of the airborne surveying instrument, and facilitating the transportation and maintenance of the surveying and mapping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the overall structural schematic diagram of the horizontally adjustable land area surveying and mapping device of the present invention;

[0020] Figure 2 is the structural schematic diagram of the airborne surveying instrument in the horizontally adjustable land area surveying and mapping device of the present invention;

[0021] Figure 3 is the structural schematic diagram of the surveying instrument docking column in the horizontally adjustable land area surveying and mapping device of the present invention;

[0022] Figure 4 is the structural schematic diagram of the horizontally adjustable land area surveying and mapping device in a disassembled state;

[0023] Figure 5 is Figure 4 the structural schematic diagram from the lower perspective;

[0024] Figure 6 is the structural schematic diagram of the docking frame and the surveying instrument docking column in a separated state in the horizontally adjustable land area surveying and mapping device of the present invention;

[0025] 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;

[0026] Figure 8 It is a schematic structural diagram of the upper shock-absorbing connecting plate in the horizontally adjustable land area surveying and mapping device of the present invention;

[0027] Figure 9 is Figure 2 the front view structural diagram of

[0028] Figure 10 is Figure 3 the partial enlarged structural diagram at position A in

[0029] List of reference numerals:

[0030] 1, Surveying and mapping UAV; 2, UAV connecting seat; 3, First adjustment driving member; 4, Adjustment rotating frame; 401, Rotating frame connecting block; 5, Second adjustment driving 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, Onboard surveying and mapping instrument; 901, Surveying instrument docking column; 902, Upper wedge edge; 903, Docking column side socket. Specific embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0032] Embodiment 1: Please refer to Figures 1 to 10 :

[0033] The present invention provides a horizontally adjustable land area surveying device, comprising: a surveying drone 1, a drone connecting seat 2 is connected to the lower part of the surveying drone 1 by screws, a first adjusting driving member 3 is connected to the lower part of the drone connecting seat 2 by screws, the rotating shaft of the first adjusting driving member 3 is rotationally connected to the lower surface of the drone connecting seat 2 through a bracket and a bearing, the rotating shaft of the first adjusting driving member 3 is fixedly connected with 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 arranged below the adjusting rotating frame 4, the second adjusting driving member 5 is a double-shaft motor, and both the first adjusting driving member 3 and the second adjusting driving member 5 are high-precision motors, which can realize rotation of a small angle; the rotating shaft of the second adjusting driving member 5 is fixedly connected with 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 axis of the rotating shaft of the second adjusting driving member 5 is perpendicular to the axis of the rotating shaft of the first adjusting driving member 3, and the adjustment of the tilting angles of the upper shock-absorbing connecting plate 6 in multiple directions can be realized through the cooperation of the first adjusting driving member 3 and the second adjusting driving member 5; the second adjusting driving member 5 is connected to the upper shock-absorbing connecting plate 6 by screws below, a docking connecting plate 7 is arranged below the upper shock-absorbing connecting plate 6, docking frames 8 are fixedly connected to both ends of the docking connecting plate 7, and an airborne surveying instrument 9 is installed below the docking frames 8; the adjusting rotating frame 4 is a "U" - shaped frame with an opening facing downwards, a rotating frame connecting block 401 is connected to the upper surface of the adjusting rotating frame 4 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; both side frame plates of the adjusting rotating frame 4 are connected to the two end rotating shafts of the second adjusting driving member 5 by interference fit, and the second adjusting driving member 5 is located between the two side frame plates of the adjusting rotating frame 4; through the combination of the surveying drone 1 and the airborne surveying instrument 9, the measured land can be surveyed from top to bottom, and through the cooperation of the first adjusting driving member 3 and the second adjusting driving member 5, the adjustment of the tilting angle between the airborne surveying instrument 9 and the surveying drone 1 is realized, further improving the horizontal adjustment range of the airborne surveying instrument 9 during the surveying process, improving the surveying flexibility, and being applicable to mountainous areas and areas with dense buildings.

[0034] Among them, six upper buffer linkages 601 are fixedly connected to the outer edge of the upper surface of the upper shock-absorbing connecting plate 6 by screws. The upper buffer linkages 601 are made of carbon fiber. The outer ends of the upper buffer linkages 601 are bent and processed with upper link plates 602; the outer edge of the docking connecting plate 7 is fixedly connected with lower buffer linkages 701. The lower buffer linkages 701 are made of carbon fiber. The outer ends of the lower buffer linkages 701 are bent and processed with lower link plates 702. The lower link plates 702 and the upper link plates 602 are connected by bolts. The upper buffer linkages 601 and the lower buffer linkages 701 are both bent downward and obliquely. The upper buffer linkages 601 and the lower buffer linkages 701 are convenient to assemble and can be disassembled for maintenance and cleaning; the upper shock-absorbing connecting plate 6 and the docking connecting plate 7 are docked through the upper buffer linkages 601 and the lower buffer linkages 701, and a buffer and shock-absorbing structure is formed by the buffer linkages made of carbon fiber material, which has good buffering and vibration absorption effects. During the flight of the mapping UAV 1, due to the airflow, the UAV shakes. Through the cooperation of the lower buffer linkages 701 and the upper buffer linkages 601, the shaking amplitude and frequency can be reduced, and further the influence of the UAV shaking on the airborne mapping instrument 9 during the mapping process can be reduced, the shaking during the acquisition of the mapping image can be reduced, and the mapping stability can be improved. At the same time, a semi-surrounding protection structure for the airborne mapping instrument 9 is formed through the cooperation of the lower buffer linkages 701 and the upper buffer linkages 601, which can protect the airborne mapping instrument 9 while not blocking the shooting of the mapping image. If a collision is caused by an operation error or climate reasons, the upper buffer linkages 601 and the lower buffer linkages 701 will contact the obstacle first before the airborne mapping instrument 9 collides with the obstacle. The buffer impact force is generated by the fracture of the upper buffer linkages 601 and the lower buffer linkages 701, the impact force received by the airborne mapping instrument 9 is reduced, and the direct impact on the airborne mapping instrument 9 caused by the mapping device being impacted is avoided, the economic loss caused by the aircraft crashing is effectively reduced, and the operation stability performance of the mapping device is greatly improved.

[0035] Among them, the docking connecting plate 7 is in a "C" - shaped structure with an opening facing downward. The docking connecting plate 7 is made of carbon fiber with good elasticity; the docking connecting plate 7 can undergo a small amount of deformation under the action of an external force, playing a role in buffering and vibration absorption, and at the same time serving as a support structure for the docking frame 8 to maintain the distance between the two docking frames 8 so that the docking frame 8 can stably clamp the mapping instrument docking post 901.

[0036] Embodiment 2: On the basis of Embodiment 1, 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 has a circular arc 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. 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 openings of the two docking column side sockets 903 are 180° different in orientation. 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 distance between the front and rear inner walls of the docking column side sockets 903 is equal to the front and rear dimensions of the docking frame 8. The inner wedge surface 802 fits the inner surface of the docking column side sockets 903. In the state where the airborne surveying instrument 9 is fixedly installed, the two docking frames 8 are respectively located inside the two docking column side sockets 903 and fit the inner surface of the docking column side sockets 903, realizing the locking of the surveying instrument docking column 901 in three directions of radial, circumferential and axial directions, so that the airborne surveying instrument 9 has a good shock absorption effect while being firmly installed. When installing the airborne surveying instrument 9, the surveying instrument docking column 901 is pushed upward from below between the two docking frames 8, so that the upper wedge edge 902 is squeezed against the inner wedge surface 802, deforming the docking connecting plate 7, and the two docking frames 8 move outward an appropriate distance. When the docking column side sockets 903 are at the height of the docking frames 8, as the docking connecting plate 7 elastically pushes the docking frames 8 back to the middle again, the docking frames 8 move toward the middle to lock the surveying instrument docking column 901, and the quick assembly of the airborne surveying instrument 9 can be realized. The installation method of the airborne surveying instrument 9 is fast, and the disassembly and debugging are convenient.

[0037] The working process and usage method of the embodiment of the land area surveying and mapping device with adjustable horizontal level of the present invention are as follows: First, after arriving at the surveying and mapping area, input the surveying and mapping area range into the surveying and mapping UAV 1 through a computer or an intelligent remote control device, and set the surveying and mapping route. Dock the airborne surveying instrument 9 with the UAV. When installing the airborne surveying instrument 9, push the surveying instrument docking column 901 upward from below between the two docking frames 8, so that the upper wedge edge 902 is squeezed against the inner wedge surface 802, deforming the docking connecting plate 7, and the two docking frames 8 move outward an appropriate distance. When the side socket 903 of the docking column is at the height of the docking frame 8, the docking frame 8 is pushed back towards the middle again with the elasticity of the docking connecting plate 7, and the docking frame 8 is inserted into the side socket 903 of the docking column to lock the airborne surveying instrument 9 in the circumferential, axial, and radial directions. Control the surveying and mapping UAV 1 to take off and fly along the set route through a computer or an intelligent remote control device, and survey the land surface through the airborne surveying instrument 9. When the UAV enters a complex area on the ground during the surveying process, if the surveying angle of the airborne surveying instrument 9 cannot survey the target objects in the inclined state or the vertical state, the cooperation of the first adjustment driving member 3 and the second adjustment driving member 5 can realize the adjustment of the tilt angles of the upper shock-absorbing connecting plate 6 in multiple directions, thereby changing the included angle between the upper shock-absorbing connecting plate 6 and the UAV connecting seat 2, making the airborne surveying instrument 9 tilt, which is suitable for surveying areas with complex terrains.

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 the lower part of the surveying and mapping unmanned aerial vehicle (1) is connected to an unmanned aerial vehicle connection seat (2) by screws, and the lower part of the unmanned aerial vehicle connection seat (2) is connected to a first adjusting driving member (3) by screws, the rotating shaft of the first adjusting driving member (3) is rotatably connected to the lower surface of the unmanned aerial vehicle 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), and the lower part of the second adjusting driving member (5) is connected to an upper shock-absorbing connecting plate (6) by screws, and the upper shock-absorbing connecting plate (6) 6) is provided below a butt joint plate (7), the two ends of the butt joint plate (7) are fixedly connected to a butt joint frame (8), and an airborne surveying instrument (9) is installed below the butt joint frame (8); the outer edge of the upper surface of the upper shock-absorbing connecting plate (6) is fixedly connected to six upper buffer connecting rods (601) by screws, the upper buffer connecting rods (601) are made of carbon fiber material, and the outer ends of the upper buffer connecting rods (601) are bent to form an upper connecting rod connecting plate (602); the outer edge of the butt joint plate (7) is fixedly connected to a lower buffer connecting rod (701), the lower buffer connecting rod (701) is made of carbon fiber material, and the outer ends of the lower buffer connecting rods (701) are 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, and the upper buffer connecting rod (601) and the lower buffer connecting rod (701) are both arranged to be bent and tilted downward.

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 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.

5. 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.

6. 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).

7. The land area surveying and mapping device with adjustable level according to claim 6, 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.

8. The land area surveying and mapping device with adjustable level according to claim 7, 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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