Distance measuring equipment for geographic information survey

Abstract

The invention discloses distance measurement equipment for geographic information exploration, and relates to the technical field of unmanned aerial vehicle distance measurement, the distance measurement equipment comprises a surveying and mapping unmanned aerial vehicle and a multi-mode distance measurement module, the multi-mode distance measurement module is arranged below a shell in the surveying and mapping unmanned aerial vehicle, and a first optical anti-shake part is connected between the shell and the multi-mode distance measurement module; according to the invention, through the first optical anti-vibration part and the second optical anti-vibration part, the vibration force generated by the vertical vibration of the multi-mode distance measuring module and the second laser distance measuring sensor can be effectively absorbed, and the measurement accuracy of the multi-mode distance measuring module and the second laser distance measuring sensor is improved; and secondly, the upper ends of the first optical anti-shake part and the second optical anti-shake part are rotationally arranged below the shell, so that the direct transmission of the shake of the fuselage of the surveying and mapping unmanned aerial vehicle to the multi-mode distance measuring module or the second laser distance measuring sensor is reduced, and the measurement reliability of the multi-mode distance measuring module or the second laser distance measuring sensor is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV ranging, and particularly relates to a distance measuring device for geoinformation surveying. Background Art

[0002] In the field of geoinformation surveying, mapping UAVs are widely used in the mineral exploration field due to their flexibility, convenience, and ability to cover large areas. Currently, mapping UAVs usually use the global positioning system, laser telemetry sensors, ultrasonic ranging sensors, or binocular vision ranging sensors for ranging. Among them, laser telemetry sensors have the advantage of high accuracy in ranging, but have high requirements for the weather and other environments. The straight-line propagation characteristics of laser beams make them highly accurate in ranging but vulnerable to weather conditions such as haze, rain, and snow. Binocular vision ranging sensors calculate the distance of an object using the parallax information between two images obtained by cameras, without the need for additional ranging devices, and are suitable for ranging in close-range and complex environments, and are of great significance in tasks such as UAV navigation, obstacle avoidance, and target tracking. By obtaining the depth information of the ground, the UAV's path can be more accurately planned and target detection and tracking can be carried out.

[0003] However, the air often contains a large amount of impurities such as dust, which are easily attached to the optical lenses of laser telemetry sensors and binocular vision ranging sensors. This will affect the ranging effects of the laser telemetry sensors and binocular vision ranging sensors on the mapping UAV. Moreover, during the straight flight operation and ranging of the mapping UAVs using the above-mentioned laser telemetry sensors and binocular vision ranging sensors, vibration and shaking phenomena will inevitably occur. For example, when the mapping UAV is flying forward, the instability of the surrounding air flow will cause the fuselage to shake up and down, and corresponding jitters will also be caused when adjusting the flight attitude for up and down speed changes. And this continuous vibration and shaking will directly act on the ranging sensors installed under the UAV. Since the ranging sensors have extremely high requirements for their own stability, these jitters will make it difficult for the sensors to maintain a precise measurement state, thereby seriously affecting their measurement accuracy. In view of this, this paper proposes a distance measuring device for geoinformation surveying. Summary of the Invention

[0004] The main purpose of the present invention is to provide a distance measuring device for geoinformation surveying, which can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A distance measuring device for geographical information surveying, including a mapping drone. Below the outer shell in the mapping drone, a multi-modal ranging module is provided. The multi-modal ranging module is mainly composed of a waterproof shell, a first laser ranging sensor, and a binocular vision sensor. The first laser ranging sensor and the binocular vision sensor are parallel to each other and are respectively and hermetically installed on the upper and lower sides of the waterproof shell. An optical lens dustproof part is attached between the first laser ranging sensor and the binocular vision sensor in the waterproof shell. The optical lens dustproof part is mainly composed of a blowing power source and four air boxes. The four air boxes are respectively fixedly installed above the outer sides of the optical lenses on the first laser ranging sensor and the binocular vision sensor. Below the ends of the four air boxes, blowing ports are fixedly connected.

[0007] A first optical anti-shake part is connected between the outer shell and the multi-modal ranging module. The first optical anti-shake part is mainly composed of a first damper, two parallel first hinge rods, and parallel first connecting plates and first bottom plates. The first connecting plate is installed below the outer shell. The two ends of the first hinge rod are respectively hinged to the first connecting plate and the first bottom plate. The upper end of the first damper is hinged to the lower end of the first connecting plate, and its lower end is hinged to one side of the lower end of the first hinge rod. The first bottom plate is connected above the multi-modal ranging module.

[0008] Preferably, the blowing power source is mainly composed of an air inlet box, two return bend pipes, a cooling fan, and four air ducts. The first ends of the two return bend pipes are symmetrically connected to the two air outlets of the air inlet box respectively. The second ends of the two return bend pipes are combined and connected to the air inlet of the cooling fan. The air outlets of the cooling fan are respectively connected to the four air boxes through the four air ducts.

[0009] Preferably, a first hinge seat is hinged below the left side of the first bottom plate. A fixing plate is fixedly connected below the first hinge seat. The fixing plate is fixedly installed above the waterproof shell below. A second hinge seat is fixedly connected to its right side. An electric push cylinder is connected between the second hinge seat and the first hinge rod. The two ends of the electric push cylinder are respectively rotatably connected to the second hinge seat and one side surface of the first hinge rod.

[0010] Preferably, a second laser ranging sensor is provided below the outer shell. A second optical anti-shake part is connected between the second laser ranging sensor and the outer shell. The laser emitting end of the second laser ranging sensor is arranged vertically downward.

[0011] Preferably, the second optical image stabilization unit mainly consists of a second damper, two parallel second hinge rods, and parallel second connecting plates and a second bottom plate. A connecting frame is fixedly connected between the second bottom plate and the second laser range finder sensor. The two ends of the second hinge rod are respectively hinged to the second connecting plate and the second bottom plate. The two ends of the second damper are respectively hinged to the second connecting plate and one of the second hinge rods. The second connecting plate is installed below the housing.

[0012] Preferably, a second fixing block is fixedly connected above one side of the second connecting plate. One end of the second fixing block is rotatably connected to a second rotating cylinder through a bearing, and the second rotating cylinder is fixedly connected to the housing.

[0013] Preferably, a first fixing block is fixedly connected above the first connecting plate. One side of the first fixing block is rotatably connected to a first rotating cylinder through a bearing, and the outer wall of the first rotating cylinder is fixedly connected to the housing.

[0014] Preferably, an empty slot for shielding the multi-modal ranging module from the wind is provided below the housing.

[0015] Preferably, an arc-shaped structure for guiding the lateral air flow and the front and rear air flow directions is provided on the outer wall of the housing in the mapping UAV.

[0016] Preferably, an air filter is fixedly installed in the air inlet of the air inlet box.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Optimize the working environment of the multi-modal ranging module

[0019] 1.1. The optical lens dust-proof part drives the air blowing port to blow air on the outer end face of the optical lenses of the first laser range finder sensor and the binocular vision sensor through the air blowing power source, preventing dust accumulation, and can also prevent the lenses from fogging in special environments, maintaining a good vision and creating favorable conditions for accurate measurement.

[0020] 1.2. The air blowing power source composed of the air inlet box, the return elbow pipe and the air duct, its brass material can conduct heat and dissipate heat, and the air inlet box is attached to the outer walls of the first laser range finder sensor and the binocular vision sensor, which can absorb the heat generated by their work and dissipate heat through the air flow, ensuring the temperature stability of the first laser range finder sensor and the binocular vision sensor during long-term work. At the same time, the high temperature generated by the first laser range finder sensor and the binocular vision sensor can heat the air flow, so that the air blowing port blows out hot air, which is beneficial to defogging the optical lenses in low-temperature and humid environments and optimizing the working environment of the optical lenses.

[0021] 2. Improve the accuracy and reliability of measurement

[0022] 2.1. The first optical image stabilization unit and the second optical image stabilization unit can effectively absorb the shock force generated by the vertical shaking of the multimodal ranging module and the second laser ranging sensor through the design of the parallelogram structure and the first damper or the second damper, reduce the degree of vertical shaking of the multimodal ranging module and the second laser ranging sensor, and thus improve the stability of the multimodal ranging module and the second laser ranging sensor, thereby improving the measurement accuracy of the multimodal ranging module and the second laser ranging sensor.

[0023] 2.2. The upper ends of the first optical image stabilization unit and the second optical image stabilization unit are rotatably arranged below the outer shell. The design that the gravity of the multimodal ranging module or the second laser ranging sensor is greater than the rotational resistance is utilized to reduce the direct transmission of the body shaking of the surveying and mapping UAV to the multimodal ranging module or the second laser ranging sensor, and can effectively prevent the multimodal ranging module or the second laser ranging sensor from shaking with the left and right shaking of the body of the surveying and mapping UAV, thereby enhancing the reliability of the measurement of the multimodal ranging module or the second laser ranging sensor.

[0024] 2.3. The binocular vision sensor in the multimodal ranging module can obtain rich image information at close range to assist in determining the specific position and posture of the target. The first laser ranging sensor has high measurement accuracy and can also accurately measure at long distances. The combination of the two covers a wider measurement range and improves the overall measurement accuracy. In addition, the first laser ranging sensor is insensitive to ambient lighting conditions and can work stably in various environments. It cooperates with the binocular vision sensor that is easily affected by environmental factors to make up for its shortcomings in harsh environments and enhance the reliability of the overall measurement.

[0025] 2.4. The empty slot under the shell and the arc structure on the outer wall can reduce the impact of crosswind on the multi-modal ranging module and the second laser ranging sensor, and improve the measurement accuracy. The empty slot blocks the direct impact of crosswind, and the arc structure guides the airflow to reduce interference with the fuselage of the surveying and mapping UAV, thereby improving the flight stability and safety of the surveying and mapping UAV, thereby enhancing the reliability of the measurement of the multi-modal ranging module and the second laser ranging sensor.

[0026] 3. Improve equipment applicability

[0027] 3.1. The design of the multi-modal ranging module, the first optical image stabilization unit and the second optical image stabilization unit, as well as the setting of the windshield slot and the arc structure, enable the device to perform measurements under different environmental conditions, such as lighting changes, bad weather, crosswinds, etc., thereby improving the applicability of the device.

[0028] 3.2. The distance between the right side of the first base plate and the right side of the first laser ranging sensor is adjusted by an electric push cylinder to achieve the purpose of adjusting the ranging angle of the multi-modal ranging module, thereby increasing the flexibility and applicability of the equipment in different measurement scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the schematic diagram of the overall structure of the present invention Figure 1 ;

[0030] Figure 2 is the schematic diagram of the overall structure of the present invention Figure 2 ;

[0031] Figure 3 is the schematic diagram of the structure of the first optical image stabilization unit in the present invention Figure 1 ;

[0032] Figure 4 is the schematic diagram of the structure of the first optical image stabilization unit in the present invention Figure 2 ;

[0033] Figure 5 is the schematic diagram of the structure of the second optical image stabilization unit in the present invention;

[0034] Figure 6 is the exploded view of the multi-modal ranging module and the optical lens dust-proof part in the present invention;

[0035] Figure 7 is the schematic diagram of the structure of the multi-modal ranging module and the optical lens dust-proof part in the present invention.

[0036] In the figure: 1. housing; 101. empty slot; 2. multi-modal ranging module; 201. waterproof housing; 202. binocular vision sensor; 203. first laser ranging sensor; 3. optical lens dust-proof part; 301. air inlet box; 302. air filter; 303. return elbow; 304. cooling fan; 305. air duct; 306. air box; 307. air blowing port; 4. first optical image stabilization unit; 401. first rotating cylinder; 402. first fixing block; 403. first hinge rod; 404. first damper; 405. first connecting plate; 406. first bottom plate; 407. electric push cylinder; 408. first hinge seat; 409. fixing plate; 410. second hinge seat; 5. second laser ranging sensor; 6. second optical image stabilization unit; 601. second rotating cylinder; 602. second fixing block; 603. second hinge rod; 604. second damper; 605. second connecting plate; 606. second bottom plate; 607. connecting frame. Specific embodiments

[0037] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0038] Such as Figures 1-7As shown in the figure, a distance measurement device for geographic information survey includes a mapping drone. Below the outer shell 1 of the mapping drone, a multi-modal ranging module 2 is provided. The multi-modal ranging module 2 is arranged at the front of the mapping drone and is used to measure the distance between the mapping drone and the target in front. The multi-modal ranging module 2 is mainly composed of a waterproof shell 201, a first laser ranging sensor 203 and a binocular vision sensor 202. The first laser ranging sensor 203 and the binocular vision sensor 202 are parallel to each other and are respectively sealed and installed on the upper and lower sides of the waterproof shell 201.

[0039] Reference Figures 6-7 , an optical lens dust-proof part 3 is arranged between the first laser ranging sensor 203 and the binocular vision sensor 202 in the waterproof shell 201. The optical lens dust-proof part 3 is mainly composed of a blowing power source and four air boxes 306. The four air boxes 306 are respectively fixedly installed above the outer sides of the optical lenses on the first laser ranging sensor 203 and the binocular vision sensor 202. Below the ends of the four air boxes 306, blowing ports 307 are fixedly connected. The four blowing ports 307 are mainly used to blow air against the outer end faces of the four optical lenses on the first laser ranging sensor 203 and the binocular vision sensor 202. In the actual geographic information survey environment, the air often contains a large amount of dust and other impurities. These impurities are easily attached to the optical lenses, affecting the measurement accuracy. By continuously blowing air through the blowing ports 307, it can effectively prevent dust from accumulating on the optical lenses and keep the outer end faces of the four optical lenses on the first laser ranging sensor 203 and the binocular vision sensor 202 clean. In addition, under some special environmental conditions, such as when the temperature changes greatly, the optical lenses are prone to fogging. And the operation of blowing air against the outer sides of the optical lenses can destroy the conditions for water vapor condensation, thereby preventing the optical lenses from fogging, ensuring that the sensors always maintain a good field of view and creating favorable conditions for accurate distance measurement;

[0040] The blowing power source is mainly composed of an air inlet box 301, two return bend pipes 303, a cooling fan 304 and four air ducts 305. The air inlet of the air inlet box 301, the laser emitting end of the first laser ranging sensor 203 and the ranging end of the binocular vision sensor 202 are all arranged at the front end of the mapping drone, that is, the air inlet of the air inlet box 301 is in the upwind state, which is convenient for air intake. An air filter net 302 is fixedly installed in the air inlet of the air inlet box 301. The air filter net 302 is used to filter the dust in the air. The first ends of the two return bend pipes 303 are symmetrically connected to the two air outlets of the air inlet box 301 respectively. The second ends of the two return bend pipes 303 are combined and connected to the air inlet of the cooling fan 304. The air outlets of the cooling fan 304 are respectively connected to the four air boxes 306 through the four air ducts 305.

[0041] It should be added that the air inlet box 301, the two return bends 303, and the four air ducts 305 are all made of brass with high thermal conductivity and are used to act as the heat-conducting and heat-dissipating fins in the prior art. Moreover, the outer walls of the air inlet box 301 are respectively in close contact with the outer walls of the first laser range finder 203 and the binocular vision sensor 202, facilitating the air inlet box 301 to absorb the high heat generated by the operation of the first laser range finder 203 and the binocular vision sensor 202. The airflow passing through the air inlet box 301, the two return bends 303, and the four air ducts 305 dissipates heat from the first laser range finder 203 and the binocular vision sensor 202, ensuring the temperature stability of the first laser range finder 203 and the binocular vision sensor 202 during long-term operation. It can also be said that the high temperature generated by the operation of the first laser range finder 203 and the binocular vision sensor 202 can heat the air passing through the air inlet box 301, the two return bends 303, and the four air ducts 305, that is, the four air blowing ports 307 on the four air boxes 306 can blow out hot air. In some low-temperature and humid environments, the hot air is more conducive to removing fog from the outer end faces of the four optical lenses on the first laser range finder 203 and the binocular vision sensor 202, further optimizing the working environment of the optical lenses and improving the reliability and stability of the entire distance measurement device.

[0042] It should be introduced that the binocular vision sensor 202 usually has better measurement results at close range and can obtain rich image information. However, when measuring at a long distance, the accuracy and reliability may decrease. The first laser range finder 203 has high measurement accuracy and can accurately measure at a relatively long distance. The combination of the two can cover a wider measurement range. In addition, the binocular vision sensor 202 is vulnerable to environmental factors such as light, weather, object color, and texture. For example, in low light or when the target object has a similar color to the background, the visual ranging of the binocular vision sensor 202 may have errors or it may be difficult to accurately identify the target. The first laser range finder 203 is insensitive to environmental light conditions and can work stably in various environments. Cooperating with the binocular vision sensor 202 can make up for its deficiencies in harsh environments. Secondly, the first laser range finder 203 can provide accurate distance data. However, for some complex scenes, such as objects with irregular shapes or multiple objects closely arranged, it may not be able to comprehensively describe the shape and position information of the objects. The binocular vision sensor 202 can provide information such as the shape and contour of the objects through image recognition and analysis, assisting in judging the specific position and posture of the target, thereby improving the overall measurement accuracy.

[0043] Reference Figure 2, during the flight of the surveying and mapping UAV, vibrations and shakes will inevitably occur, which will affect the measurement accuracy of the multi-modal ranging module 2 below the surveying and mapping UAV. To solve this problem, a first optical image stabilization unit 4 is connected between the housing 1 and the multi-modal ranging module 2. The first optical image stabilization unit 4 can effectively reduce the vibrations caused by the shaking of the fuselage, thereby improving the accuracy and reliability of the measurement.

[0044] Reference Figures 3-4 , the first optical image stabilization unit 4 is mainly composed of a first damper 404, two mutually parallel first hinge rods 403, and mutually parallel first connecting plates 405 and first bottom plates 406. The first bottom plate 406 is connected above the multi-modal ranging module 2, the first connecting plate 405 is installed below the housing 1, and both ends of the first hinge rod 403 are respectively hinged to the first connecting plate 405 and the first bottom plate 406. The two mutually parallel first hinge rods 403 and the mutually parallel first connecting plates 405 and first bottom plates 406 form a deformable parallelogram structure. This parallelogram structure has good stability and flexibility and can absorb the shock force generated by the up-and-down jitter of the multi-modal ranging module 2 to a certain extent. The first damper 404 specifically uses a spring damper shock absorber, the upper end of which is hinged to the lower end of the first connecting plate 405, and the lower end of which is hinged to one side of the lower end of the first hinge rod 403. The first damper 404 is used to provide the resistance of motion and dissipate the motion energy to achieve the purpose of shock absorption and energy dissipation, and reduce the degree of jitter of the multi-modal ranging module 2 below;

[0045] A first fixing block 402 is fixedly connected above the first connecting plate 405. One side of the first fixing block 402 is rotatably connected to a first rotating cylinder 401 through a bearing. The first rotating cylinder 401 and the first connecting plate 405 are parallel to each other, and the central axis directions of the first rotating cylinder 401 and the following second rotating cylinder 601 are the same as the front-back direction of the surveying and mapping UAV. The outer wall of the first rotating cylinder 401 is fixedly connected to the housing 1, that is, the upper end of the first optical image stabilization unit 4 is rotatably arranged below the housing 1, and the gravity of the multi-modal ranging module 2 is greater than the rotational resistance between the first fixing block 402 and the first rotating cylinder 401, which is used to reduce the direct transmission of the shaking of the fuselage of the surveying and mapping UAV to the multi-modal ranging module 2, and further improve the accuracy and reliability of the measurement.

[0046] Furthermore, the top end of the above-mentioned first optical image stabilization unit 4 is rotatably installed below the housing 1. While reducing the direct transmission of the body shaking of the surveying and mapping UAV to the multi-modal ranging module 2, when the surveying and mapping UAV turns left or right during flight, a speed difference will occur between the body of the surveying and mapping UAV and the multi-modal ranging module 2 and the second laser ranging sensor 5 below, resulting in tilting. Therefore, when using the surveying and mapping UAV to conduct geospatial information survey and measure distances, when the surveying and mapping UAV turns left or right, it is necessary to decelerate and turn to reduce the speed difference between the body of the surveying and mapping UAV and the multi-modal ranging module 2 and the second laser ranging sensor 5 below, so as to reduce the tilting angle of the multi-modal ranging module 2 and the second laser ranging sensor 5, thereby reducing the measurement error.

[0047] Reference Figure 3 , a first hinge seat 408 is hinged below the left side of the first bottom plate 406. A fixing plate 409 is fixedly connected below the first hinge seat 408. The fixing plate 409 is fixedly installed above the first laser ranging sensor 203. A second hinge seat 410 is fixedly connected to its right side. An electric push cylinder 407 is connected between the second hinge seat 410 and the first hinge rod 403. Both ends of the electric push cylinder 407 are rotatably connected to one side surface of the second hinge seat 410 and the first hinge rod 403 respectively. As can be seen from the above, the left side of the first bottom plate 406 is hinged above the left side of the first laser ranging sensor 203, and the distance between the right side of the first bottom plate 406 and the right side of the first laser ranging sensor 203 is adjusted by the length of the electric push cylinder 407, so as to achieve the purpose of adjusting the ranging angle of the multi-modal ranging module 2.

[0048] Reference Figure 2 , a second laser ranging sensor 5 is arranged below the housing 1. A second optical image stabilization unit 6 is connected between the second laser ranging sensor 5 and the housing 1. The laser emission end of the second laser ranging sensor 5 is arranged vertically downward, mainly used to measure the distance between the surveying and mapping UAV and the ground below. The shock absorption principle of the second optical image stabilization unit 6 is the same as that of the first optical image stabilization unit 4. The main difference is that the second optical image stabilization unit 6 cannot adjust the measurement angle of the second laser ranging sensor 5.

[0049] Reference Figure 5The second optical image stabilization unit 6 is mainly composed of a second damper 604, two second hinges 603 parallel to each other, a second connecting plate 605 parallel to each other, and a second bottom plate 606. A connecting frame 607 is fixedly connected between the second bottom plate 606 and the second laser ranging sensor 5. The two ends of the second hinge 603 are hinged to the second connecting plate 605 and the second bottom plate 606 respectively. The two ends of the second damper 604 are hinged to the second connecting plate 605 and a second hinge 603 respectively. The overall structure of the two second hinges 603 parallel to each other and the second connecting plate 605 and the second bottom plate 606 parallel to each other is a deformable parallelogram structure, which cooperates with the second damper 604 to provide resistance to movement and consume movement energy to achieve the purpose of vibration reduction and energy dissipation, thereby reducing the degree of shaking of the second laser ranging sensor 5 below. The second connecting plate 605 is installed below the housing 1;

[0050] A second fixed block 602 is fixedly connected to the upper side of the second connecting plate 605, and one end of the second fixed block 602 is rotatably connected to the second rotating cylinder 601 through a bearing. The second rotating cylinder 601 and the second connecting plate 605 are parallel to each other. The second rotating cylinder 601 is fixedly connected to the outer shell 1, that is, the upper end of the second optical image stabilization unit 6 is rotatably arranged below the outer shell 1, that is, the gravity of the second laser ranging sensor 5 is greater than the rotational resistance between the second fixed block 602 and the second rotating cylinder 601, which is used to reduce the direct transmission of the fuselage shaking of the surveying and mapping UAV to the second laser ranging sensor 5.

[0051] refer to Figures 1-2 As is known to all, when a surveying and mapping UAV is flying in the air, it will encounter crosswinds, which may cause the multimodal ranging module 2 and the second laser ranging sensor 5 under the shell 1 to shake. An empty slot 101 for shielding the multimodal ranging module 2 from wind is provided under the shell 1. The empty slot 101 is provided at the front and rear of the through opening. The multimodal ranging module 2 and the second laser ranging sensor 5 are arranged in the empty slot 101 under the shell 1. The empty slot 101 can block the direct impact of the crosswind to a certain extent, reduce the wind interference on the multimodal ranging module 2 and the second laser ranging sensor 5, and the two side walls of the empty slot 101 can block the blowing of the multimodal ranging module 2 and the second laser ranging sensor 5 by the crosswind.

[0052] On the outer wall of the outer shell 1 of the mapping UAV, an arc structure is provided to guide the lateral air flow and the front and rear air flow directions. In the front and rear directions of the fuselage, the middle parts of the two outer walls protrude outward in an arc shape, which is used to reduce the air resistance generated by the forward movement of the mapping UAV fuselage. In the up and down directions of the fuselage, the middle parts of the two outer walls also protrude outward in an arc shape, which can reduce the influence of crosswind on the outer shell 1. This arc structure can effectively guide the flow direction of the air flow, reduce the resistance and interference of the air flow on the mapping UAV fuselage, thereby improving the flight stability and safety of the mapping UAV, and thus can reduce the influence of the air flow on the multi-modal ranging module 2 and the second laser ranging sensor 5, and improve the accuracy and reliability of the measurement.

[0053] In this embodiment, the optical lens dust-proof part 3 drives the air blowing port 307 to blow air on the outer end face of the optical lenses of the first laser ranging sensor 203 and the binocular vision sensor 202 through the air blowing power source, preventing dust accumulation, and can also prevent the lenses from fogging in special environments, maintaining a good view and creating favorable conditions for accurate measurement.

[0054] The air blowing power source composed of the air inlet box 301, the return elbow 303 and the air guide pipe 305 is made of brass, which can conduct heat and dissipate heat. Moreover, the air inlet box 301 is attached to the outer walls of the first laser ranging sensor 203 and the binocular vision sensor 202, can absorb the heat generated by their work, and dissipate heat through the air flow, ensuring the temperature stability of the first laser ranging sensor 203 and the binocular vision sensor 202 during long-term operation. At the same time, the high temperature generated by the first laser ranging sensor 203 and the binocular vision sensor 202 can heat the air flow, so that hot air is blown out of the air blowing port, which is beneficial to defogging the optical lenses in a low-temperature and humid environment and optimizing the working environment of the optical lenses;

[0055] The distance measuring device for geographic information survey is provided with a multi-modal ranging module 2 under the outer shell 1 of the mapping UAV, which is composed of a first laser ranging sensor 203 and a binocular vision sensor 202. The binocular vision sensor 202 has good measurement effect at close range and can obtain rich image information, but the measurement accuracy and reliability are reduced at long range and it is easily affected by environmental factors such as light. The first laser ranging sensor 203 has high measurement accuracy, is not sensitive to environmental light, and can accurately measure at long range. The combination of the two has complementary advantages, covering a wider measurement range and improving the overall measurement accuracy;

[0056] In order to solve the problem of UAV flight jitter, a first optical image stabilization unit 4 and a second optical image stabilization unit 6 are provided. The first optical image stabilization unit 4 is composed of a first damper 404, two mutually parallel first hinge rods 403, a first connecting plate 405 and a first bottom plate 406. The parallelogram structure can absorb the shock force generated by the vertical jitter of the multimodal ranging module 2. The first damper 404 of the spring damping shock absorber provides motion resistance to consume motion energy, thereby reducing the jitter of the binocular vision sensor 202 and the first laser ranging sensor 203. The first fixed block 402 above the first connecting plate 405 is connected to the first rotating cylinder 401 through a bearing, and the upper end is rotatably arranged below the housing 1. The gravity of the multimodal ranging module 2 is greater than the rotation resistance, thereby reducing the direct transmission of the body shaking. Similarly, the structure of the second optical image stabilization unit 6 is similar to that of the first optical image stabilization unit 4, thereby reducing the jitter of the second laser ranging sensor 5.

[0057] In addition, the distance between the right side of the first base plate 406 and the right side of the first laser ranging sensor 203 is adjusted by the electric push cylinder 407, and the ranging angle of the multimodal ranging module 2 can be adjusted. A second laser ranging sensor 5 is arranged under the outer shell 1 for measuring the distance between the UAV and the ground below. Its laser emitting end is vertically facing downward, and the connected second optical image stabilization unit 6 cannot adjust the measuring angle. A windshield slot 101 and an arc structure are also provided under the outer shell 1. The slot 101 can prevent cross wind from directly impacting the multimodal ranging module 2 and the second laser ranging sensor 5. The arc structure guides the airflow, reduces interference to the UAV fuselage, improves flight stability and safety, and thus improves measurement accuracy and reliability.

[0058] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A distance measuring device for geoinformation surveying, comprising a mapping drone, characterized in that: A multi-modal ranging module (2) is provided below the housing (1) in the surveying and mapping UAV. The multi-modal ranging module (2) is mainly composed of a waterproof housing (201), a first laser ranging sensor (203) and a binocular vision sensor (202). The first laser ranging sensor (203) and the binocular vision sensor (202) are parallel to each other and are respectively and hermetically installed on the upper and lower sides of the waterproof housing (201). An optical lens dust-proof part (3) is disposed in a fitting manner between the first laser ranging sensor (203) and the binocular vision sensor (202) in the waterproof housing (201). The optical lens dust-proof part (3) is mainly composed of a blowing power source and four air boxes (306). The four air boxes (306) are respectively fixedly installed above the outer sides of the optical lenses on the first laser ranging sensor (203) and the binocular vision sensor (202). A blowing port (307) is fixedly communicated below the end of each of the four air boxes (306). A first optical anti-shake part (4) is connected between the housing (1) and the multi-modal ranging module (2). The first optical anti-shake part (4) is mainly composed of a first damper (404), two parallel first hinge rods (403), and parallel first connecting plates (405) and first bottom plates (406). The first connecting plate (405) is installed below the housing (1). The two ends of the first hinge rod (403) are respectively hinged to the first connecting plate (405) and the first bottom plate (406). The upper end of the first damper (404) is hinged to the lower end of the first connecting plate (405), and its lower end is hinged to one side of the lower end of the first hinge rod (403). The first bottom plate (406) is connected above the multi-modal ranging module (2).

2. The distance measurement device for geographical information survey according to claim 1, wherein: The blowing power source is mainly composed of an air inlet box (301), two return bend pipes (303), a cooling fan (304) and four air guide pipes (305). The first ends of the two return bend pipes (303) are symmetrically communicated with the two air outlets of the air inlet box (301) respectively. The second ends of the two return bend pipes (303) are combined and communicated with the air inlet of the cooling fan (304). The air outlets of the cooling fan (304) are respectively communicated with the four air boxes (306) through the four air guide pipes (305).

3. The distance measuring device for geographical information survey according to claim 2, characterized in that: A first hinge seat (408) is hinged below the left side of the first bottom plate (406). A fixing plate (409) is fixedly connected below the first hinge seat (408). The fixing plate (409) is fixedly installed above the waterproof housing (201) below. A second hinge seat (410) is fixedly connected to its right side. An electric push cylinder (407) is connected between the second hinge seat (410) and the first hinge rod (403). The two ends of the electric push cylinder (407) are respectively rotatably connected to the second hinge seat (410) and a side surface of the first hinge rod (403).

4. The distance measuring device for geographical information survey according to claim 1, characterized in that: A second laser distance sensor (5) is provided below the housing (1). A second optical anti-shake unit (6) is connected between the second laser distance sensor (5) and the housing (1). The laser emission end of the second laser distance sensor (5) is arranged vertically downward.

5. The distance measuring device for geographical information survey according to claim 4, characterized in that: The second optical anti-shake unit (6) mainly consists of a second damper (604), two mutually parallel second hinge rods (603), and mutually parallel second connecting plates (605) and a second bottom plate (606). A connecting frame (607) is fixedly connected between the second bottom plate (606) and the second laser distance sensor (5). The two ends of the second hinge rod (603) are respectively hinged to the second connecting plate (605) and the second bottom plate (606). The two ends of the second damper (604) are respectively hinged to the second connecting plate (605) and a second hinge rod (603). The second connecting plate (605) is installed below the housing (1).

6. The distance measuring device for geographical information survey according to claim 5, wherein: A second fixing block (602) is fixedly connected above one side of the second connecting plate (605). One end of the second fixing block (602) is rotatably connected to a second rotating cylinder (601) through a bearing. The second rotating cylinder (601) is fixedly connected to the housing (1).

7. The distance measurement device for geographical information survey according to claim 1, characterized in that: A first fixing block (402) is fixedly connected above the first connecting plate (405). One side of the first fixing block (402) is rotatably connected to a first rotating cylinder (401) through a bearing. The outer wall of the first rotating cylinder (401) is fixedly connected to the housing (1).

8. The distance measuring device for geographical information survey according to claim 1, characterized in that: An empty slot (101) for shielding the multi-modal ranging module (2) from wind is provided below the housing (1).

9. The distance measurement device for geographic information survey according to claim 1, wherein: An arc-shaped structure for guiding the lateral air flow and the front-back air flow direction is provided on the outer wall of the housing (1) in the surveying and mapping unmanned aerial vehicle.

10. The distance measuring device for geographic information survey according to claim 2, characterized in that: An air filter screen (302) is fixedly installed in the air inlet of the air inlet box (301).

Images