Urban engineering surveying and mapping system and method based on unmanned aerial vehicle remote sensing

Abstract

The urban engineering surveying and mapping system comprises a supporting base, a remote sensing surveying and mapping device, an electric control system and a storage battery, the upper portions of a left supporting frame and a right supporting frame are hinged to each other along the front plane through a supporting shaft, the left portion of the supporting base is connected with a left sliding block in a left-right sliding mode, and the right portion of the supporting base is connected with a right sliding block in a left-right sliding mode; the supporting base is rotationally connected with a bidirectional lead screw extending in the left-right horizontal direction. The left supporting frame, the supporting seat and the right supporting frame form a triangular structure with an adjustable vertex angle, so that the position stability of the remote sensing surveying and mapping device is indirectly improved, shaking relative to the unmanned aerial vehicle is reduced, the posture of the remote sensing surveying and mapping device can be adjusted through the electric pan-tilt stabilizer, meanwhile, the posture of the remote sensing surveying and mapping device tends to be stable, and the remote sensing surveying and mapping device is more stable. And by manually rotating the hand wheel, the relative distance between the left sliding block and the right sliding block can be adjusted.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping systems, and particularly to an urban engineering surveying and mapping system and method based on unmanned aerial vehicle (UAV) remote sensing. Background Art

[0002] During the process of using UAV remote sensing for urban engineering surveying and mapping, due to the more complex spatial environment within the city, the air flow becomes more unstable. As a result, the UAV is more likely to shake during flight. The traditional remote sensing device directly fixed to the bottom of the UAV fuselage is difficult to maintain a stable attitude under frequent shaking, thus affecting the progress of the surveying and mapping work and even the accuracy of the surveying and mapping, highlighting the deficiencies of the existing technology. Summary of the Invention

[0003] The purpose of the present invention is to provide an urban engineering surveying and mapping system and method based on UAV remote sensing to solve the above technical problems.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: An urban engineering surveying and mapping system based on UAV remote sensing includes a support base, a remote sensing surveying and mapping device, an electric control system, and a storage battery. The upper parts of the left support frame and the right support frame are hinged to each other along the frontal plane through a support shaft. The left part of the support base is slidably connected to a left slider in the left-right direction, and the right part is slidably connected to a right slider in the left-right direction. The support base is rotatably connected to a bidirectional lead screw extending along the left-right horizontal direction. The left and right parts of the bidirectional lead screw are respectively threadedly connected to the left slider and the right slider, and a handwheel is coaxially fixed. The left slider is rotatably connected to a left support block along the frontal plane, and the right slider is rotatably connected to a right support block along the frontal plane. The left support block is slidably connected to the left support frame, and the right support block is slidably connected to the right support frame. The left support frame, the support base, and the right support frame form a triangular structure with adjustable apex angles. Fastening mechanisms are respectively installed at the bottoms of the left support frame and the right support frame. The left support frame and the right support frame are fastened to the landing gear of the UAV through the fastening mechanisms. An electric pan-tilt stabilizer is fixed to the bottom of the support base, and a remote sensing surveying and mapping device is installed on the electric pan-tilt stabilizer. The electric pan-tilt stabilizer, the remote sensing surveying and mapping device, the electric control system, and the storage battery are electrically connected. The remote sensing surveying and mapping device is internally provided with a data acquisition module, a feature extraction module, and an information processing module.

[0005] Based on the above technical solution, the fastening mechanism includes a telescopic member and a fastener. Telescopic members are respectively installed at the bottoms of the left support frame and the right support frame. The telescopic members can respectively reciprocate and telescopically move downward to the left along the left support frame where they are located and downward to the right along the right support frame where they are located. Fasteners are respectively installed at the bottoms of the two telescopic members. The fastener includes a clamping seat, a V-shaped groove, a first jack, a clamping fork, and a fastening nut. The bottoms of the two telescopic members are respectively hinged with clamping seats along the front plane. A V-shaped groove runs through the middle of the bottom end of the clamping seat in the front-back direction. A pair of first jacks penetrate through the front and back parts of the clamping seat respectively. The two first jacks in each pair of first jacks are arranged on the left and right sides of the V-shaped groove respectively. A clamping fork is inserted into each pair of first jacks. The clamping fork is in the shape of a right-angled bent "U". Threaded fasteners are respectively connected to the left and right parts of the clamping fork coaxially. The fastening nut can abut against the top end of the clamping seat.

[0006] Based on the above technical solution, a plurality of support arms are fixed to the bottom of the telescopic member. After the clamping fork passes through the first jack, it can be inserted through the support arm. The fastening nut can abut against the top end of the support arm.

[0007] Based on the above technical solution, a pair of second jacks penetrate through the front and back parts of the clamping seat respectively. After each clamping fork is disengaged from the insertion with each pair of first jacks, it can also be inserted into each pair of second jacks. Each pair of second jacks is located at the vertex angle position of the V-shaped groove and is arranged in a front-back corresponding manner. The top ends of the front and back parts of the clamping seat are both flat.

[0008] Based on the above technical solution, the telescopic member includes a telescopic frame, a screw rod, and a locking nut. Telescopic frames are respectively slidably connected to the bottoms of the left support frame and the right support frame. A screw rod is fixed in the middle of the telescopic frame. The two screw rods are respectively inserted into the left support frame and the right support frame through gaps in a penetrating manner. The extending direction of the screw rod is parallel to the sliding direction of the telescopic frame where it is located. Two locking nuts are respectively connected to the two screw rods coaxially. The two locking nuts on the same screw rod respectively clamp the upper and lower ends of the bottom of the left support frame or the upper and lower ends of the bottom of the right support frame where the screw rod is inserted.

[0009] Based on the above technical solution, a rubber sleeve is sleeved on the middle part of the clamping fork.

[0010] Compared with the prior art, the present invention has the following advantages: the present invention utilizes a triangular structure with adjustable vertex angles composed of a left support frame, a support seat and a right support frame, thereby indirectly improving the position stability of the remote sensing mapping device and reducing the shaking relative to the unmanned aerial vehicle. The electric gimbal stabilizer can make the posture of the remote sensing mapping device adjustable and at the same time make its posture tend to be stable, thereby facilitating the surveying and mapping work and improving the accuracy of surveying and mapping. By manually turning the hand wheel, the relative distance between the left slider and the right slider can be adjusted, thereby indirectly changing the height of the remote sensing mapping device relative to the landing gear. When the height is low, the center of gravity is lower, and the posture is more stable when flying with the unmanned aerial vehicle.

[0011] By setting fasteners and telescopic parts, the landing gear of UAVs with different spans and shapes can be clamped while ensuring the clamping effect, thereby ensuring the stability of the attitude of the left support frame, the right support frame and the support seat relative to the UAV, which indirectly improves the attitude stability of the remote sensing mapping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the axial side structure of the present invention.

[0013] Figure 2 It is a front view schematic diagram of the present invention.

[0014] Figure 3 It is a schematic diagram of the bottom structure of the present invention.

[0015] Figure 4 It is a schematic diagram of the cooperation between the clamping fork and the No. 2 socket of the present invention.

[0016] In the figure: 1. Left support frame, 2. Right support frame, 3. Left slider, 4. Right slider, 5. Bidirectional screw, 6. Handwheel, 7. Left support block, 8. Right support block, 10. Electric pan-tilt stabilizer, 11. Remote sensing plotter, 12. Support seat, 13. Support shaft, 18. Clamping seat, 19. V-groove, 20. No. 1 socket, 21. Clamping fork, 22. Fastening nut, 23. Support arm, 24. No. 2 socket, 25. Telescopic frame, 26. Screw, 27. Locking nut, 28. Rubber sleeve. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-4As shown in the figure, an urban engineering surveying and mapping system based on UAV remote sensing includes a support base 12, a remote sensing surveying and mapping device 11, an electric control system, and a storage battery. The upper parts of the left support frame 1 and the right support frame 2 are hinged to each other along the frontal plane through a support shaft 13. The left part of the support base 12 is slidably connected to a left slider 3 in the left-right direction, and the right part is slidably connected to a right slider 4 in the left-right direction. The support base 12 is rotatably connected to a bidirectional lead screw 5 extending along the left-right horizontal direction. The left and right parts of the bidirectional lead screw 5 are respectively threadedly connected to the left slider 3 and the right slider 4, and a hand wheel 6 is coaxially fixed. The left slider 3 is rotatably connected to a left support block 7 along the frontal plane, and the right slider 4 is rotatably connected to a right support block 8 along the frontal plane. The left support block 7 is slidably connected to the left support frame 1, and the right support block 8 is slidably connected to the right support frame 2. The left support frame 1, the support base 12, and the right support frame 2 form a triangular structure with adjustable apex angles. The bottom parts of the left support frame 1 and the right support frame 2 are respectively provided with fastening mechanisms. The left support frame 1 and the right support frame 2 are fastened to the landing gear of the UAV through the fastening mechanisms. The bottom of the support base 12 is fixed with an electric pan-tilt stabilizer 10. The electric pan-tilt stabilizer 10 is equipped with a remote sensing surveying and mapping device 11. The electric pan-tilt stabilizer 10, the remote sensing surveying and mapping device 11, the electric control system, and the storage battery are electrically connected. The remote sensing surveying and mapping device 11 is internally provided with a data acquisition module, a feature extraction module, and an information processing module.

[0019] The fastening mechanism includes a telescopic member and a fastener. The bottom parts of the left support frame 1 and the right support frame 2 are respectively provided with telescopic members. The telescopic members can respectively reciprocally extend and retract downward to the left along the left support frame 1 where they are located and downward to the right along the right support frame 2 where they are located. The bottom parts of the two telescopic members are respectively provided with fasteners. The fastener includes a clamping seat 18, a V-shaped groove 19, a first jack 20, a clamping fork 21, and a fastening nut 22. The bottom parts of the two telescopic members are respectively hinged to a clamping seat 18 along the frontal plane. The middle part of the bottom end of the clamping seat 18 penetrates through the V-shaped groove 19 along the front-rear direction. A pair of first jacks 20 are respectively penetrated through the front and rear parts of the clamping seat 18. The two first jacks 20 in each pair of first jacks 20 are arranged on the left and right sides of the V-shaped groove 19. Each pair of first jacks 20 are respectively inserted with a clamping fork 21. The clamping fork 21 is in a right-angled bent "U" shape. The left and right parts of the clamping fork 21 are respectively coaxially threadedly connected with a fastening nut 22. The fastening nut 22 can abut against the top end of the clamping seat 18.

[0020] Furthermore, by setting the telescopic member, the distance between the fastening member and the bottoms of the left support frame 1 and the right support frame 2 can be adjusted, so as to adapt to the undercarriages of unmanned aerial vehicles with different spans (i.e., the left-right spacing of the undercarriage of the unmanned aerial vehicle). By setting the V-shaped groove 19, a good clamping effect can be achieved between the clamping seat 18 and the undercarriage of the unmanned aerial vehicle with a round rod-shaped longitudinal section. Specifically, by using the clamping fork 21 and the V-shaped groove 19 to contact the undercarriage simultaneously, three-point contact can be formed on the outer circumferential surface of the rod-shaped undercarriage. Subsequently, manually tighten the fastening nut 22 and make it abut against the clamping seat 18, and the clamping work with the undercarriage can be completed.

[0021] A plurality of support arms 23 are fixed to the bottom of the telescopic member. After passing through the first jack 20, the clamping fork 21 can be inserted through the support arms 23, and the fastening nut 22 can abut against the top of the support arms 23.

[0022] Furthermore, when the clamping fork 21 clamps the undercarriage, the clamping fork 21 is inserted into the support arms 23 at the same time, which can limit the angle of the clamping seat 18 relative to the telescopic member, so that the clamping effect with the undercarriage is more stable, indirectly ensuring the attitude stability of the left support frame 1, the right support frame 2 and the support seat 12 relative to the unmanned aerial vehicle.

[0023] A pair of second jacks 24 are respectively penetrated through the front and rear parts of the clamping seat 18. After the clamping forks 21 are disengaged from the first jacks 20, they can be inserted into the second jacks 24. Each pair of the second jacks 24 is located at the apex angle position of the V-shaped groove 19 and is arranged in a front-back corresponding manner. The tops of the front and rear parts of the clamping seat 18 are both flat.

[0024] Furthermore, by drilling a through hole corresponding to the second jack 24 on the unmanned aerial vehicle, then passing the clamping fork 21 through the through hole and the second jack 24 from bottom to top, and then tightening the fastening nut 22, the clamping effect can also be achieved, and the adaptability is stronger, and the shape requirements for the undercarriage of the unmanned aerial vehicle are lower (such as the undercarriage with a rectangular longitudinal section).

[0025] The telescopic member includes a telescopic frame 25, a screw rod 26, and a locking nut 27. The telescopic frames 25 are respectively slidably connected to the bottoms of the left support frame 1 and the right support frame 2. A screw rod 26 is fixed in the middle of the telescopic frame 25. The two screw rods 26 are respectively inserted through the left support frame 1 and the right support frame 2 with a clearance. The extending direction of the screw rod 26 is parallel to the sliding direction of the telescopic frame 25 where it is located. Two locking nuts 27 are respectively threadedly connected to the two screw rods 26. The two locking nuts 27 on the same screw rod 26 respectively clamp the upper and lower ends of the bottom of the left support frame 1 or the upper and lower ends of the bottom of the right support frame 2 where the screw rod 26 is inserted.

[0026] Furthermore, by rotating the locking nut 27 on the same screw rod 26, adjusting the position of the locking nut 27 on the screw rod 26, and making the locking nut 27 clamp the left support frame 1 and the right support frame 2, the position of the telescopic frame 25 relative to the left support frame 1 and the right support frame 2 can be controlled. Without changing the top angle of the triangular structure formed by the left support frame 1, the support seat 12 and the right support frame 2, it can also adapt to landing gears of different spans, so that the adaptation range is larger and the stability of the position of the support seat 12 is maintained, thereby indirectly improving the attitude stability of the remote sensing mapping device 11.

[0027] A rubber sleeve 28 is sleeved on the middle part of the clamping fork 21 .

[0028] By providing the rubber sleeve 28 , the friction force when the clamping fork 21 and the landing gear are clamped can be increased, thereby achieving a better clamping effect.

[0029] The present invention discloses a method for realizing a city engineering surveying and mapping system based on remote sensing of an unmanned aerial vehicle. The method performs data collection, feature extraction and data processing through a data collection module, a feature extraction module and an information processing module, that is, realizes surveying and mapping. In the process of data collection, the device is installed on the landing gear of the unmanned aerial vehicle by using a fastening mechanism, so that the left support frame 1, the support seat 12 and the right support frame 2 form a triangular structure with adjustable vertex angles, thereby indirectly improving the position stability of the remote sensing mapper 11 and reducing the shaking relative to the unmanned aerial vehicle. The electric gimbal stabilizer 10 can make the posture of the remote sensing mapper 11 adjustable and make its posture tend to be stable, thereby facilitating the surveying and mapping work and improving the accuracy of surveying and mapping. By manually rotating the hand wheel 6, the relative distance between the left slider 3 and the right slider 4 can be adjusted, thereby indirectly changing the height of the remote sensing mapper 11 relative to the landing gear. When the height is low, the center of gravity is lower, and the posture is more stable when flying with the unmanned aerial vehicle.

[0030] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. An urban engineering surveying and mapping system based on unmanned aerial vehicle remote sensing, comprising a support base (12), a remote sensing surveying and mapping device (11), an electric control system, and a battery, characterized in that: The upper parts of the left support frame (1) and the right support frame (2) are hinged to each other along the front plane through a support shaft (13); the left part of the support seat (12) is slidably connected to the left slider (3) and the right part is slidably connected to the right slider (4); the support seat (12) is rotatably connected to a bidirectional screw rod (5) extending along the left and right horizontal directions; the left and right parts of the bidirectional screw rod (5) are respectively threadedly connected to the left slider (3) and the right slider (4), and a hand wheel (6) is coaxially fixed thereto; the left slider (3) is rotatably connected to a left support block (7) along the front plane; the right slider (4) is rotatably connected to a right support block (8) along the front plane; the left support block (7) is slidably connected to the left support frame (1); and the right support block (8) is rotatably connected to the right support frame (1). ) is slidably connected to the right support frame (2); the left support frame (1), the support seat (12) and the right support frame (2) form a triangular structure with an adjustable vertex angle; the bottoms of the left support frame (1) and the right support frame (2) are respectively provided with fastening mechanisms; the left support frame (1) and the right support frame (2) are fastened to the landing gear of the UAV via the fastening mechanisms; the bottom of the support seat (12) is fixed with an electric gimbal stabilizer (10); the electric gimbal stabilizer (10) is provided with a remote sensing mapping device (11); the electric gimbal stabilizer (10), the remote sensing mapping device (11), the electric control system and the battery are electrically connected; the remote sensing mapping device (11) has a built-in data acquisition module, a feature extraction module and an information processing module.

2. The urban engineering surveying and mapping system based on UAV remote sensing according to claim 1 is characterized by: The fastening mechanism comprises a telescopic member and a fastener. The bottom of the left support frame (1) and the bottom of the right support frame (2) are respectively provided with telescopic members. The telescopic members can reciprocate and retract toward the lower left along the left support frame (1) where they are located, and reciprocate and retract toward the lower right along the right support frame (2) where they are located. The bottoms of the two telescopic members are respectively provided with fasteners. The fasteners comprise a clamping seat (18), a V-shaped groove (19), a No. 1 socket (20), a clamping fork (21), and a fastening nut (22). The bottoms of the two telescopic members are respectively hinged with a clamping seat (18) along a front plane. A V-shaped groove (19) is penetrated in the middle of the bottom end of the clamping seat (18) along the front-to-back direction, and a pair of No. 1 sockets (20) are penetrated in the front and rear parts of the clamping seat (18), and two No. 1 sockets (20) in each pair of the No. 1 sockets (20) are arranged on the left and right sides of the V-shaped groove (19), and each pair of the No. 1 sockets (20) is respectively connected with a clamping fork (21), and the clamping fork (21) is in a "U" shape bent at a right angle, and the left and right parts of the clamping fork (21) are respectively coaxially threadedly connected with a fastening nut (22), and the fastening nut (22) can be against the top of the clamping seat (18).

3. The urban engineering surveying and mapping system based on UAV remote sensing according to claim 2 is characterized by: A plurality of support arms (23) are fixed to the bottom of the telescopic member; the clamping fork (21) can penetrate and plug into the support arm (23) after passing through the No. 1 insertion hole (20); and the fastening nut (22) can abut against the top of the support arm (23).

4. The urban engineering surveying and mapping system based on UAV remote sensing according to claim 3 is characterized by: A pair of No. 2 sockets (24) are respectively passed through the front and rear parts of the clamping seat (18); each clamping fork (21) can be plugged into each pair of No. 2 sockets (24) after being disconnected from each pair of No. 1 sockets (20); each pair of No. 2 sockets (24) is located at the top angle of the V-shaped groove (19) and is arranged in front and back correspondence; the top ends of the front and rear parts of the clamping seat (18) are both flat.

5. An urban engineering surveying and mapping system based on UAV remote sensing according to any one of claims 2 to 4, characterized in that: The telescopic member comprises a telescopic frame (25), a screw rod (26), and a locking nut (27); the bottoms of the left support frame (1) and the right support frame (2) are respectively slidably connected with the telescopic frame (25); a screw rod (26) is fixed in the middle of the telescopic frame (25); the two screw rods (26) are respectively inserted into the gap between the left support frame (1) and the right support frame (2); the extension direction of the screw rod (26) is parallel to the sliding direction of the telescopic frame (25); the two screw rods (26) are respectively coaxially threadedly connected with two locking nuts (27); the two locking nuts (27) on the same screw rod (26) respectively clamp the upper and lower ends of the bottom of the left support frame (1) or the upper and lower ends of the bottom of the right support frame (2) where the screw rod (26) is inserted.

6. The urban engineering surveying and mapping system based on UAV remote sensing according to claim 5 is characterized by: A rubber sleeve (28) is sleeved on the middle part of the clamping fork (21).

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