UAV mapping method and system based on geological exploration

Abstract

The present invention belongs to the technical field of unmanned aerial vehicle (UAV) surveying and mapping, and specifically relates to a UAV surveying and mapping method and system based on geological exploration, which includes a remote controller, a UAV, and an ultrasonic sensor. An angle controller is connected between the ultrasonic sensor and the UAV, and the angle controller is used to control the sound wave emission angle of the ultrasonic sensor. The UAV surveying and mapping method includes: step A1, a control terminal controls the UAV to fly to an area where geological exploration is to be carried out; step A2, the ultrasonic sensor emits ultrasound in the area where geological exploration is to be carried out, so that the generated ultrasound contacts an obstacle and then returns, is received by the ultrasonic sensor, and transmits the ultrasound information to the remote controller. The device solves the problem that when geological exploration is currently carried out using UAVs, the angle deviation of the sound waves emitted by the ultrasonic sensor due to the vibration of the UAV affects the surveying and mapping accuracy.

Description

Technical Field

[0001] The present invention belongs to the field of UAV surveying and mapping technology, and in particular relates to a UAV surveying and mapping method and system based on geological exploration. Background Art

[0002] When conducting geological surveys, staff are required to conduct on-site inspections and determine the exploration ideas and methods of action based on the specific conditions on the ground. This requires staff to first understand the small-scale location of the area. However, in some cases, the geological environment required for exploration is relatively harsh, and it is difficult for staff to conduct on-foot exploration. Even if walking exploration is possible, it will waste a lot of exploration time, greatly increasing the workload of staff. Especially in some mountainous and swampy areas, walking exploration is difficult and will increase the risk of exploration work. Therefore, drones are used, ultrasonic sensors are installed on the drones, and geological exploration is carried out through acoustic positioning technology.

[0003] Ultrasonic emission must be precise, otherwise it will lead to deviations in surveying and mapping accuracy. A variety of factors, such as wind speed and temperature, can cause the vibration frequency of drones to fluctuate during flight. Therefore, the angle of ultrasonic emission must be precisely controlled, otherwise the quality of geological surveying and mapping will be greatly affected. This phenomenon has become a pressing issue for researchers in this field. Summary of the Invention

[0004] The purpose of the present invention is to provide a UAV surveying and mapping method and system based on geological exploration to solve the problems raised in the above background technology.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a geological exploration-based unmanned aerial vehicle (UAV) surveying and mapping method and system, comprising a remote controller, a UAV, and an ultrasonic sensor, wherein an angle controller is connected between the ultrasonic sensor and the UAV, and the angle controller is used to control the sound wave emission angle of the ultrasonic sensor. The UAV surveying and mapping method comprises: step A1, a control terminal controls the UAV to fly to an area where geological exploration is to be conducted; step A2, the ultrasonic sensor emits ultrasound waves to the area where geological exploration is to be conducted, so that the generated ultrasound waves return after contacting an obstacle and are received by the ultrasonic sensor, and the ultrasound information is transmitted to the remote controller; step A3, after the remote controller receives the ultrasound information, the specific distance information between the UAV and the exploration location is calculated; step A4, the UAV drives the ultrasonic sensor to move, performs ultrasonic exploration of the ground, and simultaneously transmits the received information to the remote controller, which performs digital-to-analog conversion to construct a three-dimensional model; step A5, an operator determines the location of an area suitable for field exploration based on the constructed three-dimensional model, constructs a work route, and completes the surveying and mapping work.

[0006] The present invention further describes that the surveying and mapping system includes a vibration frequency measurement module, an angle measurement module and an angle control module; the angle measurement module is electrically connected to the vibration frequency measurement module and the angle control module respectively, and the angle control module is electrically connected to the angle controller. The vibration frequency measurement module is used to calculate the vibration rate of the drone during flight under different conditions through various parameters, and the angle measurement module is used to calculate the change angle of the angle controller according to the vibration frequency of the drone during flight, and the angle control module is used to control the sound wave emission angle of the ultrasonic sensor according to the measured change angle of the angle controller.

[0007] The present invention further describes that the seismic frequency measurement module includes a wind speed identification unit, an environment identification unit and a seismic frequency parameter unit; the wind speed identification unit, the environment identification unit and the seismic frequency parameter unit are electrically connected to each other, the wind speed identification unit is used to identify the wind speed during the flight of the UAV, the environment identification unit is used to identify whether there are obstructions around the UAV, and the seismic frequency parameter unit is used to measure different seismic frequency parameters based on various parameters.

[0008] The present invention further illustrates that the operating steps of the surveying and mapping system include: step S1, the UAV flies and the surveying and mapping system runs; step S2, by identifying the wind speed during the flight of the UAV and the flight environment of the UAV, measuring the first seismic frequency parameter and the second seismic frequency parameter, and calculating the change angle of the angle controller according to the two parameters, which correspond to the change angle of the first angle controller and the change angle of the second angle controller respectively, and then controlling the sound wave emission angle of the ultrasonic sensor according to the change angle, when the wind speed is greater than the system setting value, entering step S3, otherwise entering step S4; step S3, measuring the change angle of the third angle controller according to the wind speed, and when the UAV flies to whether there are obstacles around, measuring the change angle of the fourth angle controller respectively; step S4, the surveying and mapping is completed, and the surveying and mapping system stops running.

[0009] The present invention further illustrates that in step S2, the first angle controller changes the angle to: R max , R1 is the change angle of the first angle controller, R max is the maximum variable angle of the angle controller, F1 is the first vibration frequency of the drone / Hz, that is, the vibration frequency / Hz during normal flight, F max is the maximum vibration frequency of the drone / Hz; that is, the higher the vibration frequency of the drone, the greater the angle change of the angle controller, and thus the greater the change in the sound wave emission angle of the ultrasonic sensor.

[0010] The present invention further illustrates that in step S2, the second angle controller changes the angle to: V is the wind speed when the drone is flying / meters per second, V max is the maximum wind speed / m / s, R2 is the change angle of the second angle controller, that is, F2 is the second frequency parameter.

[0011] The present invention further illustrates that in step S2 and step S3: when V≥V mid When V mid Normal wind speed / meter per second: C is the ambient temperature of the drone during flight (degrees Celsius), max The maximum temperature of the surrounding area when the drone is flying (degrees Celsius), C min V is the lowest ambient temperature of the drone during flight (degrees Celsius), min is the minimum wind speed / meter per second, F3 is the third vibration frequency / Hz, R3 is the variable angle of the third angle controller; that is, the greater the wind speed, the lower the ambient temperature of the drone during flight, which reduces the performance of the drone and increases the vibration frequency; when V <V mid When: R3=R2.

[0012] The present invention further illustrates that in step S2 and step S3: when V≥V mid When: There are obstacles around the drone, R4 is the change angle of the fourth angle controller, and F4 is the vibration frequency / Hz increased by the drone during flight due to obstacles around the drone. If there are no obstacles around the drone, F5 is the vibration frequency / Hz that is reduced when the drone is flying due to the open space around it; when V <V mid When: R4=R2.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the surveying and mapping system adopted by the present invention increases the angle of sound wave generation when the seismic frequency is large to improve the surveying and mapping accuracy and avoid the deviation of the emission angle caused by the vibration of the sound wave, which affects the surveying and mapping accuracy; when the seismic frequency is small, the sound wave emission angle is reduced to avoid the deviation of the constructed three-dimensional model caused by excessive angle change, which affects the subsequent field exploration work; the seismic frequency of the drone is increased during the flight of the drone through the influence of wind speed; the greater the wind speed, the greater the angle change data of the angle controller; the seismic frequency parameters of the drone are adjusted and optimized, so that the measured angle change data of the angle controller is more accurate, further improving the surveying and mapping accuracy; when the wind speed during the flight of the drone is large, the temperature around the drone is reduced, the performance of the drone is reduced, and the seismic frequency of the drone is increased, so as to further optimize the change angle of the angle controller, so that the surveying and mapping accuracy is further improved, and the quality of geological exploration is greatly optimized; when the wind speed during the flight of the drone is small, the temperature around the drone is relatively stable, so that the performance impact is negligible, and the previous change angle parameters are maintained, thereby ensuring the accuracy of the surveying and mapping data;

[0014] When a drone is flying, obstacles appear around it, resulting in poor airflow stability and increased vibration of the drone. By increasing the vibration frequency parameters, the surveying and mapping accuracy can be maximized. When there are no obstacles, the drone's flight is relatively stable and the vibration frequency parameters are relatively reduced, which can relatively reduce the change angle, so that the sound waves emitted by the ultrasonic sensor are always transmitted with high precision, which greatly improves the accuracy of surveying and mapping, and the constructed three-dimensional model remains in a high-precision state, so that there will be no problems in subsequent field exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 This is a schematic diagram of the signal connection relationship between the remote control, drone, and ultrasonic sensor of the present invention;

[0017] Figure 2 It is a schematic diagram of the steps of the surveying and mapping method of the present invention;

[0018] Figure 3 It is a schematic diagram of the module connection relationship of the surveying and mapping system of the present invention. DETAILED DESCRIPTION

[0019] The following is a non-limiting detailed description of the technical solutions of the present invention in conjunction with preferred embodiments and the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 3 The present invention provides a technical solution: a UAV surveying and mapping method and system based on geological exploration, including a remote control, a UAV, and an ultrasonic sensor. An angle controller is connected between the ultrasonic sensor and the UAV, and the angle controller is used to control the sound wave emission angle of the ultrasonic sensor. The UAV surveying and mapping method includes:

[0021] Step A1: The control terminal controls the UAV to fly to the area where geological exploration is to be carried out;

[0022] Step A2: The ultrasonic sensor transmits ultrasound to the area to be geologically surveyed, so that the generated ultrasound waves hit the obstacle and then return, and are received by the ultrasonic sensor, and the ultrasound information is transmitted to the remote control;

[0023] Step A3: After the remote controller receives the ultrasonic information, the specific distance between the UAV and the exploration location is calculated;

[0024] Step A4: The drone drives the ultrasonic sensor to move and perform ultrasonic exploration of the ground. The drone transmits the received information to the remote controller, which converts the information into digital-to-analog signals to construct a three-dimensional model.

[0025] Step A5: The operator determines the location of the area suitable for field exploration through the constructed 3D model, and constructs a work route to complete the surveying and mapping work.

[0026] The surveying and mapping system includes a vibration frequency measurement module, an angle measurement module, and an angle control module;

[0027] The angle measurement module is electrically connected to the vibration frequency measurement module and the angle control module respectively, and the angle control module is electrically connected to the angle controller. The vibration frequency measurement module is used to calculate the vibration rate of the drone during flight under different conditions through various parameters. The angle measurement module is used to calculate the change angle of the angle controller according to the vibration frequency during flight of the drone. The angle control module is used to control the sound wave emission angle of the ultrasonic sensor according to the measured change angle of the angle controller.

[0028] The seismic frequency measurement module includes a wind speed identification unit, an environment identification unit, and a seismic frequency parameter unit;

[0029] The wind speed identification unit, the environment identification unit and the vibration frequency parameter unit are electrically connected to each other. The wind speed identification unit is used to identify the wind speed when the drone is flying, the environment identification unit is used to identify whether there are any obstructions around the drone, and the vibration frequency parameter unit is used to measure different vibration frequency parameters based on various parameters.

[0030] The operation steps of the surveying and mapping system include:

[0031] Step S1: The UAV flies and the surveying and mapping system runs;

[0032] Step S2: By identifying the wind speed during the flight of the UAV and the flight environment of the UAV, the first and second vibration frequency parameters are measured, and the change angles of the angle controller are calculated based on the two parameters, which correspond to the change angles of the first angle controller and the second angle controller, respectively. The sound wave emission angle of the ultrasonic sensor is then controlled based on the change angles. When the wind speed is greater than the system set value, the process proceeds to step S3; otherwise, the process proceeds to step S4.

[0033] Step S3: Measure the change angle of the third angle controller according to the wind speed, and measure the change angle of the fourth angle controller when the UAV flies to the surrounding area where there are no obstacles;

[0034] Step S4: Surveying and mapping is completed, and the surveying and mapping system stops running.

[0035] In step S2, the first angle controller changes the angle to:

[0036] R1 is the changing angle of the first angle controller, R max is the maximum variable angle of the angle controller, F1 is the first vibration frequency of the drone / Hz, that is, the vibration frequency / Hz during normal flight, F max is the maximum vibration frequency of the drone / Hz;

[0037] That is, the higher the vibration frequency of the drone, the greater the angle change of the angle controller, which in turn causes the greater change in the sound wave emission angle of the ultrasonic sensor;

[0038] For high seismic frequency, the sound wave emission angle is increased to improve the surveying and mapping accuracy, and to avoid the sound wave being affected by vibration and causing the emission angle deviation to affect the surveying and mapping accuracy. For low seismic frequency, the sound wave emission angle is reduced to avoid excessive angle changes that cause deviations in the constructed three-dimensional model and affect subsequent field exploration work.

[0039] In step S2, the second angle controller changes the angle to:

[0040] V is the wind speed when the drone is flying / meters per second, V maxis the maximum wind speed / m / s, R2 is the change angle of the second angle controller, that is, F2 is the second frequency parameter;

[0041] Due to the influence of wind speed, the vibration frequency of the drone increases during flight. The greater the wind speed, the greater the angle data of the angle controller change. The vibration frequency parameters of the drone are adjusted and optimized, so that the measured angle controller change angle data is more accurate, further improving the surveying and mapping accuracy.

[0042] In step S2 and step S3:

[0043] When V≥V mid When V mid Normal wind speed / meter per second: C is the ambient temperature of the drone during flight (degrees Celsius), max The maximum temperature of the surrounding area when the drone is flying (degrees Celsius), C min V is the lowest ambient temperature of the drone during flight (degrees Celsius), min is the minimum wind speed / meter per second, F3 is the third vibration frequency / Hz, R3 is the changing angle of the third angle controller;

[0044] That is, the greater the wind speed, the lower the ambient temperature of the drone during flight, which reduces the drone's performance and increases the vibration frequency;

[0045] When V <V mid When: R3=R2;

[0046] When the wind speed is high during flight, the temperature around the drone decreases, the drone performance decreases, and the drone vibration frequency increases, thereby further optimizing the angle change of the angle controller, further improving the surveying and mapping accuracy, and greatly optimizing the quality of geological exploration. When the wind speed is low during flight, the temperature around the drone is relatively stable, making the performance impact negligible and maintaining the previous angle change parameters, thereby ensuring the accuracy of the surveying and mapping data.

[0047] In step S2 and step S3:

[0048] When V≥V mid When: There are obstacles around the drone, R4 is the change angle of the fourth angle controller, and F4 is the increased vibration frequency (Hz) during the flight of the drone caused by obstacles around the drone;

[0049] If there are no obstacles around the drone, F5 is the vibration frequency / Hz that is reduced when the drone is flying due to the open space around the drone;

[0050] When V <Vmid When: R4=R2;

[0051] When a drone is flying, obstacles appear around it, resulting in poor airflow stability and increased vibration of the drone. By increasing the vibration frequency parameters, the surveying and mapping accuracy can be maximized. When there are no obstacles, the drone's flight is relatively stable and the vibration frequency parameters are relatively reduced, which can relatively reduce the change angle, so that the sound waves emitted by the ultrasonic sensor are always transmitted with high precision, which greatly improves the accuracy of surveying and mapping, and the constructed three-dimensional model remains in a high-precision state, so that there will be no problems in subsequent field exploration.

[0052] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0053] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that modifications may be made to the technical solutions described in the aforementioned embodiments, or that some of the technical features may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A UAV surveying and mapping method for geological exploration, comprising a remote controller, a UAV, a surveying and mapping system, and an ultrasonic sensor, characterized in that: An angle controller is connected between the ultrasonic sensor and the drone, and the angle controller is used to control the sound wave emission angle of the ultrasonic sensor. The drone mapping method includes: Step A1: The control terminal controls the UAV to fly to the area where geological exploration is to be carried out; Step A2: The ultrasonic sensor transmits ultrasound to the area to be geologically surveyed, so that the generated ultrasound waves hit the obstacle and then return, and are received by the ultrasonic sensor, and the ultrasound information is transmitted to the remote control; Step A3: After the remote controller receives the ultrasonic information, the specific distance between the UAV and the exploration location is calculated; Step A4: The drone drives the ultrasonic sensor to move and perform ultrasonic exploration of the ground. The drone transmits the received information to the remote controller, which converts the information into digital-to-analog signals to construct a three-dimensional model. Step A5: The operator determines the location of the area suitable for field exploration based on the constructed 3D model, and constructs a work route to complete the surveying and mapping work; The surveying and mapping system includes a vibration frequency measurement module, an angle measurement module and an angle control module; The angle calculation module is electrically connected to the vibration frequency calculation module and the angle control module respectively. The angle control module is electrically connected to the angle controller. The vibration frequency calculation module is used to calculate the vibration rate of the drone during flight under different conditions through various parameters. The angle calculation module is used to calculate the change angle of the angle controller according to the vibration frequency during flight of the drone. The angle control module is used to control the sound wave emission angle of the ultrasonic sensor according to the measured change angle of the angle controller. The vibration frequency calculation module includes a wind speed identification unit, an environment identification unit and a vibration frequency parameter unit. The wind speed identification unit, the environment identification unit and the vibration frequency parameter unit are electrically connected to each other. The wind speed identification unit is used to identify the wind speed when the drone is flying, the environment identification unit is used to identify whether there are obstructions around the drone, and the vibration frequency parameter unit is used to measure different vibration frequency parameters based on various parameters.

2. The UAV mapping system based on geological exploration, according to claim 1, is characterized by: The operation steps of the surveying and mapping system include: Step S1: The UAV flies and the surveying and mapping system runs; Step S2: By identifying the wind speed during the flight of the UAV and the flight environment of the UAV, the first and second vibration frequency parameters are measured, and the change angles of the angle controller are calculated based on the two parameters, which correspond to the change angles of the first angle controller and the second angle controller, respectively. The sound wave emission angle of the ultrasonic sensor is then controlled based on the change angles. When the wind speed is greater than the system set value, the process proceeds to step S3; otherwise, the process proceeds to step S4. Step S3: Measure the change angle of the third angle controller according to the wind speed, and measure the change angle of the fourth angle controller when the UAV flies to the surrounding area where there are no obstacles; Step S4: Surveying and mapping is completed, and the surveying and mapping system stops running.

3. The surveying and mapping system according to claim 2, characterized in that: In step S2, the first angle controller changes the angle to: R1 is the changing angle of the first angle controller, R max is the maximum variable angle of the angle controller, F1 is the first vibration frequency of the drone / Hz, that is, the vibration frequency / Hz during normal flight, F max is the maximum vibration frequency of the drone / Hz; That is, the higher the vibration frequency of the drone, the greater the angle change of the angle controller, and thus the greater the change in the sound wave emission angle of the ultrasonic sensor.

4. The surveying and mapping system according to claim 3, wherein: In step S2, the second angle controller changes the angle to: V is the wind speed when the drone is flying / meters per second, V max is the maximum wind speed / m / s, R2 is the change angle of the second angle controller, that is, F2 is the second frequency parameter.

5. The surveying and mapping system according to claim 4, characterized in that: In the steps S2 and S3: When V≥V mid When V mid Normal wind speed / meters per second: C is the ambient temperature of the drone during flight (degrees Celsius), max The maximum temperature of the surrounding area when the drone is flying (degrees Celsius), C min V is the lowest ambient temperature of the drone during flight (degrees Celsius), min is the minimum wind speed / meter per second, F3 is the third vibration frequency / Hz, R3 is the changing angle of the third angle controller; That is, the greater the wind speed, the lower the ambient temperature of the drone during flight, which reduces the drone's performance and increases the vibration frequency; When V <V mid When: R3=R2.

6. The surveying and mapping system according to claim 5, characterized in that: In the steps S2 and S3: When V≥V mid When: There are obstacles around the drone, R4 is the change angle of the fourth angle controller, and F4 is the increased vibration frequency (Hz) during the flight of the drone caused by obstacles around the drone; If there are no obstacles around the drone, F5 is the vibration frequency / Hz that is reduced when the drone is flying due to the open space around the drone; When V <V mid When: R4=R2.

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