Unmanned aerial vehicle surveying and mapping device and surveying and mapping method based on BIM

Abstract

The invention discloses a BIM-based unmanned aerial vehicle surveying and mapping device and surveying and mapping method, and relates to the technical field of surveying and mapping, the BIM-based unmanned aerial vehicle surveying and mapping device comprises an unmanned aerial vehicle body and a surveying and mapping mechanism detachably mounted at the center position of the bottom of the unmanned aerial vehicle body, and is characterized in that the surveying and mapping mechanism comprises a protective shell; the multi-degree-of-freedom surveying and mapping module and the intelligent risk control unit are integrated in the protective shell; the overall appearance of the protective shell is in a streamline boat shape, a high-light-transmittance protective cover is arranged at the bottom of the protective shell, a base cylinder is rotationally mounted in the center of the top of the protective shell through a columnar mounting hole, and the top end of the base cylinder is fixedly connected with the unmanned aerial vehicle body through a connecting plate. The multi-degree-of-freedom surveying and mapping module comprises a multi-degree-of-freedom adjusting holder arranged in the base cylinder and a high-definition camera carried on the holder. Through optimization design, the stability and wind resistance of the unmanned aerial vehicle under the complex airflow condition are remarkably improved, high-precision collection of surveying and mapping data is ensured, meanwhile, the maintenance cost and energy consumption are reduced, and the unmanned aerial vehicle has wide application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to a BIM-based UAV surveying and mapping device and method. Background Art

[0002] As an important data source for BIM (Building Information Modeling), drone surveying and mapping technology has played a key role in project planning and construction management in recent years.

[0003] Patent publication number CN113697122B discloses a BIM-based drone mapping device and method. By employing multiple cylinders and an adjustable mapping mechanism, the device can map terrain in different directions, improving the comprehensiveness of the survey. However, the multiple cylinders increase wind resistance, making it susceptible to interference in sudden crosswinds, causing the drone to lose balance and hindering the surveying process.

[0004] A search revealed patent publication number CN118683764B, which proposes a drone-based geodetic data mapping device. By incorporating a balancing mechanism and hydraulic system, the device automatically adjusts the position of the counterweight when the drone is exposed to crosswinds. A hydraulic retractable tube and windshield folding fan increase the wind-exposed surface area of the sunken surface, thereby enhancing the drone's wind resistance. However, the device's hydraulic system is complex and has high maintenance costs. Furthermore, in practical applications, the hydraulic system's response speed and stability still need to be improved.

[0005] In summary, there is an urgent need for a UAV mapping device that can remain stable under complex airflow conditions, has strong wind resistance and fast response speed. Summary of the Invention

[0006] The purpose of the present invention is to provide a BIM-based UAV surveying and mapping device and surveying and mapping method to solve the problems raised in the above background technology.

[0007] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0008] The present invention provides a BIM-based drone mapping device, comprising a drone body and a mapping mechanism detachably mounted at the center of the bottom of the drone body. The mapping mechanism comprises a protective shell, and a multi-degree-of-freedom mapping module and an intelligent wind control unit integrated within the protective shell.

[0009] The overall shape of the protective shell is streamlined and boat-shaped, and a high-transmittance protective cover is provided at the bottom. A base tube is rotatably mounted on the top center of the protective shell through a cylindrical mounting hole. The top of the base tube is fixedly connected to the drone body through a connecting plate. The multi-degree-of-freedom mapping module includes a multi-degree-of-freedom adjustable gimbal arranged in the base tube and a high-definition camera mounted on the gimbal. The camera is located below the base tube.

[0010] The intelligent wind control unit includes a wind direction adaptive module, a dynamic balancing module and an aerodynamic compensation module; the wind direction adaptive module is used to drive the protective shell to rotate around the base tube so that its length direction is parallel to the wind direction; the dynamic balancing module includes a counterweight module slidably arranged in the protective shell, and the dynamic balancing module can drive the counterweight module to move when the drone tilts to change the center of gravity to form an anti-tilt moment; the aerodynamic compensation module includes auxiliary wings that can slide out or slide into the protective shell, and the aerodynamic compensation module can drive the auxiliary wings to slide out when the drone tilts to generate an anti-tilt compensation moment with the help of wind force.

[0011] Furthermore, the wind direction adaptive module includes a multi-spectrum wind direction sensor fixedly mounted on the top of the drone body, an angle sensor mounted between the base tube and the protective shell, and a first servo drive mechanism; the first servo drive mechanism drives the protective shell to rotate around the base tube based on data from the multi-spectrum wind direction sensor until its length direction is parallel to the wind direction.

[0012] Furthermore, a mounting cylinder extending toward the interior of the protective shell is provided at the edge of the columnar mounting hole, and the base cylinder is rotatably mounted in the mounting cylinder via a bearing;

[0013] The first servo drive mechanism includes an internal gear, a micro servo motor, a main gear and an auxiliary gear;

[0014] The internal gear is fixedly mounted on the inner wall of the mounting cylinder; the micro servo motor is fixedly mounted in the base cylinder, and the micro servo motor is fixedly assembled with the main gear, and the main gear extends from a notch opened on the base cylinder and engages with the internal gear; the auxiliary gear is rotatably mounted in the base cylinder on a side away from the main gear, and the auxiliary gear extends from another notch opened on the base cylinder and engages with the internal gear.

[0015] Furthermore, the dynamic balancing module further comprises a deflection guide rail for sliding of the counterweight module and a guide assembly for guiding the sliding of the counterweight module;

[0016] The deflection guide rail includes a deflection ring, a rotating shaft, a sliding bar and a second servo drive mechanism. The deflection ring is coaxially sleeved on the outside of the base tube, and a deflection gap is left between the deflection ring and the base tube; the deflection ring is rotatably connected to the inner wall of the protective shell through the rotating shaft on both sides of the width direction of the protective shell; the deflection ring is connected to the sliding bar on both sides of the length direction of the protective shell, and each sliding bar is slidably mounted with the counterweight module; the second servo drive mechanism is connected to the rotating shaft and is used to drive the rotating shaft to rotate when the drone tilts to keep the deflection ring level;

[0017] The guide assembly is fixed in the protective shell, and guides the two counterweight modules to slide when the deflection ring rotates relative to the protective shell.

[0018] Furthermore, the guide assembly includes a guide base frame symmetrically fixed at both ends of the protective shell; a guide groove is obliquely arranged on the guide base frame, and the counterweight module is fixedly connected to a guide column slidably arranged in the guide groove, and the guide grooves on a pair of base frames are symmetrically arranged and in an eight-shaped shape; when the drone is in a horizontal state, the counterweight module is in the middle position of the sliding bar.

[0019] Furthermore, both side walls at both ends of the protective shell are recessed inward to form a receiving groove; the aerodynamic compensation module includes an auxiliary wing, a deflection shaft and a linkage assembly, the auxiliary wing is adapted in the receiving groove, and one end of the auxiliary wing is rotatably connected to the side wall of the receiving groove through the deflection shaft; the linkage assembly connects the rotating shaft and the deflection shaft, and drives the auxiliary wing to slide out of the receiving groove when the rotating shaft rotates; a torsion spring is also provided on the deflection shaft, and the torsion spring can drive the auxiliary wing to return to the receiving groove.

[0020] Furthermore, the linkage assembly includes a crank, a central rocker and a connecting rope; the top end of the deflection shaft passes through the side wall of the storage slot and is fixedly connected to the crank, and a central rocker is vertically fixed on each rotating shaft. The central rocker is connected to the two cranks on the same side of the protective shell through the connecting rope to convert the rotational motion of the rotating shaft into the deflection of the corresponding auxiliary wing.

[0021] Furthermore, the auxiliary wing includes a rotating body fixedly connected to the deflection axis and an overlapping structure connected to the rotating body; the overlapping structure includes a first sheet and a second sheet connected to each other via a sliding pair, the first sheet being fixedly connected to the rotating body, and the second sheet being slidably connected to the rotating body and capable of sliding around the rotating axis relative to the rotating body and the second sheet;

[0022] A limiting sliding groove is provided on one side of the storage slot away from the rotating shaft, and the second piece is slidingly matched with the limiting sliding groove through a limiting block, so that a part of the second piece is retained in the storage slot when displayed.

[0023] The present invention also provides a surveying and mapping method of a BIM-based UAV surveying and mapping device, comprising the following steps:

[0024] S1: Plan the survey route and assemble the drone body and surveying mechanism;

[0025] S2: During flight, the wind direction adaptive module adjusts the protective shell to be parallel to the wind direction, and the high-definition camera collects mapping data and uploads it to the cloud;

[0026] S3: When the drone tilts, the dynamic balance module drives the counterweight module to move to adjust the center of gravity, while the aerodynamic compensation module deploys auxiliary wings to generate anti-tilt compensation torque;

[0027] S4: Generate a 3D model using BIM software based on cloud data to assist in site planning.

[0028] Compared with the existing technology, one or more of the above technical solutions have the following beneficial effects:

[0029] Optimized wind resistance: This invention significantly reduces wind resistance during flight and improves flight stability by employing a streamlined, boat-shaped protective shell and intelligent wind control unit. The shell's length can be adaptively adjusted based on wind direction, ensuring the drone maintains minimal wind resistance throughout flight, effectively reducing the impact of strong winds on the drone.

[0030] Dynamic Balancing and Aerodynamic Compensation: This invention incorporates a dynamic balancing module and an aerodynamic compensation module. When the drone tilts, the sliding of the counterweight module and the deployment of the auxiliary wings rapidly generate an anti-tilt moment, ensuring the drone's stability in complex airflow conditions. Compared to existing technologies, this invention offers faster balancing response and greater anti-tilt moment, effectively addressing sudden crosswind disturbances.

[0031] Modular Design: The protective housing, base cylinder, and intelligent wind control unit of this invention adopt a modular design, which facilitates quick assembly and disassembly and maintenance. Compared with the complex hydraulic systems in the prior art, this invention has a simpler structure, lower maintenance costs, and higher reliability in practical applications.

[0032] Improved data acquisition accuracy: Through the collaborative work of the multi-degree-of-freedom mapping module and the intelligent wind control unit, the present invention can maintain the stable flight of the UAV under complex airflow conditions, ensuring that the high-definition camera can be aimed at the target area in different flight postures, significantly improving the comprehensiveness and accuracy of data acquisition.

[0033] Energy-saving and high efficiency: The aerodynamic compensation module of the present invention generates anti-tilt torque with the help of wind power, without the need for additional energy input, which significantly reduces the energy consumption of the UAV and extends the flight time.

[0034] In summary, through optimized design, the present invention significantly improves the stability and wind resistance of UAVs under complex airflow conditions, ensures high-precision acquisition of surveying and mapping data, and reduces maintenance costs and energy consumption, thus having broad application prospects.

[0035] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a schematic structural diagram of the surveying and mapping mechanism of the present invention;

[0039] Figure 3 It is a schematic diagram of the top view of the surveying and mapping mechanism of the present invention;

[0040] Figure 4 yes Figure 3 AA structural diagram;

[0041] Figure 5 yes Figure 3 BB structural diagram;

[0042] Figure 6 This is a schematic diagram of the structure of the surveying and mapping agency after the protective shell is hidden;

[0043] Figure 7 This is a schematic structural diagram of the auxiliary wing of the present invention from a first viewing angle;

[0044] Figure 8 This is a schematic structural diagram of the auxiliary wing of the present invention from a second viewing angle;

[0045] Figure 9 It is a schematic cross-sectional view of the auxiliary wing of the present invention when it is in the receiving groove.

[0046] In the picture:

[0047] 1-UAV body; 2-Surveying and mapping mechanism; 21-Protective shell; 211-High-transmittance protective cover; 212-Columnar mounting hole; 213-Mounting tube; 214-Base tube; 215-Connecting plate; 22-Multi-DOF surveying and mapping module; 221-Multi-DOF adjustable gimbal; 222-HD camera; 23-Wind direction adaptive module; 231-Internal gear; 232-Micro servo motor; 233-Main gear; 234-Auxiliary gear; 24-Dynamic balancing module; 241-Counterweight module; 242-Deflection guide rail; 2421-Deflection Swivel; 2422-rotating axis; 2423-sliding bar; 2424-second servo drive mechanism; 2431-guide base; 2432-guide groove; 2433-guide column; 25-pneumatic compensation module; 251-auxiliary wing; 2511-rotating body; 2512-first sheet; 2513-second sheet; 2514-limiting slide; 2515-limiting block; 252-storage slot; 253-deflection axis; 254-linkage assembly; 2541-crank; 2542-center rocker; 2543-connecting rope. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0049] See also Figures 1-9 , the present invention provides a BIM-based UAV surveying and mapping device, comprising a UAV body 1, and a surveying and mapping mechanism 2 detachably mounted at the center position of the bottom of the UAV body 1;

[0050] like Figure 4 As shown, the surveying and mapping mechanism 2 includes a protective shell 21, and a multi-degree-of-freedom surveying and mapping module 22 and an intelligent wind control unit integrated in the protective shell 21; during the surveying and mapping process, the multi-degree-of-freedom surveying and mapping module 22 is in the protective shell 21, which can prevent the wind from directly acting on the multi-degree-of-freedom surveying and mapping module 22, causing the multi-degree-of-freedom surveying and mapping module 22 to shake, thereby ensuring the stability of data acquisition.

[0051] To reduce the wind resistance of the surveying and mapping mechanism 2 and improve the endurance and anti-tilt effect of the UAV. Figure 1-Figure 4As shown, the overall shape of the protective shell 21 is a streamlined boat shape, and a high-transmittance protective cover 211 is provided at the bottom thereof. A base cylinder 214 is rotatably mounted at the top center of the protective shell 21 through a columnar mounting hole 212. The top of the base cylinder 214 is fixedly connected to the drone body 1 through a connecting plate 215. The multi-degree-of-freedom mapping module 22 includes a multi-degree-of-freedom adjustable gimbal 221 provided in the base cylinder 214 and a high-definition camera 222 mounted on the gimbal. The camera is located below the base cylinder 214.

[0052] By designing the protective shell 21 into a streamlined boat shape and installing the multi-degree-of-freedom adjustable gimbal 221 in the base tube 214 at the center of the protective shell 21, on the one hand, the wind resistance of the surveying and mapping mechanism 2 is reduced and the flight efficiency and endurance of the UAV are improved. On the other hand, the intelligent wind control unit can be installed in the extra space at both ends of the protective shell 21 to enhance the stability and wind resistance of the UAV without increasing the overall wind resistance, thereby improving the surveying and mapping quality.

[0053] The multi-degree-of-freedom adjustable gimbal 221 uses a motor to adjust the pitch and yaw of the high-definition camera 222, ensuring that the high-definition camera 222 can be aligned with the target area in different flight postures, thereby improving the comprehensiveness and accuracy of data collection. The multi-degree-of-freedom adjustable gimbal 221 is a prior art and will not be elaborated on here.

[0054] The intelligent wind control unit includes a wind direction adaptive module, a dynamic balancing module 24, and an aerodynamic compensation module 25. The wind direction adaptive module is used to drive the protective shell 21 to rotate around the base tube 214 so that its length direction is parallel to the wind direction, thereby minimizing wind resistance during flight and improving flight stability and wind resistance.

[0055] like Figure 4 As shown, the dynamic balancing module 24 includes a counterweight module 241 slidably arranged in the protective shell 21, and the dynamic balancing module 24 can drive the counterweight module 241 to move when the drone tilts to change the center of gravity to form an anti-tilt moment; to ensure the stability of the drone under complex airflow conditions, thereby improving the surveying and mapping quality.

[0056] Combine Figure 2 、 Figure 4 and Figure 6 As shown, the aerodynamic compensation module 25 includes auxiliary fins 251 that can slide out or slide into the protective shell 21, and the aerodynamic compensation module 25 can drive the auxiliary fins 251 to slide out when the drone tilts to generate an anti-tilt moment with the help of wind force, further ensuring the stability of the drone under complex airflow conditions and improving the surveying and mapping quality.

[0057] It's worth noting that during flight, the wind direction adaptive module keeps the protective housing 21's length parallel to the wind direction. Therefore, regardless of the drone's tilt, the dynamic balancing module 24 and aerodynamic compensation module 25 integrated within the protective housing 21 consistently generate an anti-tilt moment. This design, when assembled with the surveying and mapping mechanism 2 and the drone, reduces the drone's load while ensuring its stability in complex airflow conditions and improving surveying and mapping quality.

[0058] In this embodiment, the wind direction adaptation module includes a multi-spectral wind direction sensor (not shown) fixedly mounted on the top of the drone body 1, an angle sensor (not shown) mounted between the base tube 214 and the protective shell 21, and a first servo drive mechanism. The first servo drive mechanism, based on data from the multi-spectral wind direction sensor, drives the protective shell 21 to rotate around the base tube 214 until its length is parallel to the wind direction. During the surveying process, the multi-spectral wind direction sensor detects wind direction in real time, and the angle sensor identifies the current angle of the protective shell 21. Based on the desired rotation angle, the first servo drive mechanism drives the protective shell 21 to rotate around the base tube 214 to achieve the specified angle of deflection.

[0059] like Figure 4 As shown, in this embodiment, a mounting cylinder 213 extending toward the interior of the protective shell 21 is provided at the edge of the columnar mounting hole 212, and the base cylinder 214 is rotatably mounted in the mounting cylinder 213 via a bearing; the first servo drive mechanism includes an internal gear 231, a micro servo motor 232, a main gear 233, and an auxiliary gear 234;

[0060] The internal gear 231 is fixedly mounted on the inner wall of the mounting cylinder 213; the micro servo motor 232 is fixedly mounted in the base cylinder 214, and the micro servo motor 232 is fixedly assembled with the main gear 233, and the main gear 233 extends from the notch opened on the base cylinder 214 and engages with the internal gear 231; the auxiliary gear 234 is rotatably mounted in the base cylinder 214 on the side away from the main gear 233, and the auxiliary gear 234 extends from another notch opened on the base cylinder 214 and engages with the internal gear 231.

[0061] During operation, the micro servo motor 232 drives the main gear 233 to rotate, driving the internal gear 231 to rotate, and then driving the protective shell 21 to complete the specified angle deflection. During this process, the auxiliary gear 234 works in conjunction with the main gear 233 (i.e., passive rotation) to enhance transmission stability.

[0062] like Figure 4 As shown, in this embodiment, the dynamic balancing module 24 further includes a deflection guide rail 242 for sliding of the counterweight module 241 and a guide assembly for guiding the sliding of the counterweight module 241;

[0063] like Figure 6As shown, the deflection guide rail 242 includes a deflection ring 2421, a rotating shaft 2422, a sliding bar 2423 and a second servo drive mechanism 2424. The deflection ring 2421 is coaxially sleeved on the outside of the base cylinder 214, and a deflection gap is left between the deflection ring 2421 and the base cylinder 214; the deflection ring 2421 is rotatably connected to the inner wall of the protective shell 21 through the rotating shaft 2422 on both sides of the protective shell 21 in the width direction; the deflection ring 2421 is connected to the sliding bar 2423 on both sides of the protective shell 21 in the length direction, and each sliding bar 2423 is slidably mounted with the counterweight module 241; the second servo drive mechanism 2424 is transmission-connected to the rotating shaft 2422, and is used to drive the rotating shaft 2422 to rotate when the drone tilts to keep the deflection ring 2421 level;

[0064] The guide assembly is fixed in the protective shell 21 and guides the two counterweight modules 241 to slide when the deflection ring 2421 rotates relative to the protective shell 21 .

[0065] When the UAV tilts due to wind force, the second servo drive mechanism 2424 can adaptively rotate by driving the rotating shaft 2422, thereby keeping the deflection guide rail 242 horizontal. During this process, the deflection guide rail 242 (sliding bar 2423) is displaced relative to the guide assembly. Through the displacement between the two, the guide assembly can guide the two counterweight modules 241 to move toward each other, so that the center of gravity of the UAV is offset to form an anti-tilt moment, thereby improving the UAV's wind resistance and facilitating the rapid reset of the UAV. It should be added here that due to the shape design of the protective shell 21, that is, the deflection design of the protective shell 21 (the length direction of the protective shell 21 is parallel to the wind direction), the overall long axis structure of the protective shell 21 can extend the sliding distance of the counterweight module 241 without increasing the wind resistance, thereby increasing the anti-tilt moment.

[0066] In the above process, the tilt recognition of the drone can be achieved with the help of sensors in existing technology, such as solid pendulum tilt sensors, liquid pendulum tilt sensors and gas pendulum tilt sensors. The specific principles will not be elaborated here.

[0067] It is worth mentioning that, based on the design of the dynamic balancing module 24, the present invention has the following advantages over the prior art which uses the movement of the counterweight module 241 to adjust the center of gravity of the drone:

[0068] In the prior art, the guide rail tilts synchronously with the tilt of the drone, resulting in a smaller angle between the sliding path of the counterweight module 241 and the tilt direction, a shorter lever arm, and a limited anti-tilt moment. Furthermore, the tilted guide rail causes the counterweight module 241 to be affected by the gravity component when sliding, resulting in uneven friction distribution, which can easily lead to problems such as jamming or response delays.

[0069] The present invention drives the deflection guide rail 242 to remain horizontal through the second servo drive mechanism 2424, and the sliding direction of the counterweight module 241 is always perpendicular to the tilt direction of the drone, so the lever arm is maximized. Combined with the streamlined boat-shaped long axis structure of the protective shell 21, the sliding distance of the counterweight module 241 is extended, which can increase the anti-tilt moment; and the horizontal deflection guide rail 242 makes the sliding of the counterweight module 241 only affected by the horizontal driving force, so the friction force is evenly distributed, the sliding resistance is reduced, and the response speed is improved.

[0070] Combine Figure 4 and Figure 6 As shown, in this embodiment, the guide assembly includes guide bases 2431 symmetrically fixed at both ends of the interior of the protective shell 21; guide grooves 2432 are obliquely provided on the guide bases 2431, and the counterweight module 241 is fixedly connected to a guide post 2433 that slides within the guide grooves 2432. The guide grooves 2432 on the pair of bases are symmetrically arranged in a figure-eight shape; when the drone is in a horizontal state, the counterweight module 241 is located in the middle of the sliding bar 2423. The figure-eight guide grooves 2432 formed by the two guide bases 2431 optimize the sliding path of the counterweight, enabling the counterweight module 241 to quickly move to the unbalanced side, forming an anti-tilt moment, and quickly return to a balanced position after the drone is reset.

[0071] Combine Figure 2 、 Figure 5 、 Figure 6 As shown, in this embodiment, both side walls at both ends of the protective shell 21 are recessed inward to form a receiving groove 252; the aerodynamic compensation module 25 includes an auxiliary wing 251, a deflection shaft 253 and a linkage assembly 254, the auxiliary wing 251 is adapted in the receiving groove 252, and one end of the auxiliary wing 251 is rotatably connected to the side wall of the receiving groove 252 through the deflection shaft 253; the linkage assembly 254 connects the rotating shaft 2422 and the deflection shaft 253, and drives the auxiliary wing 251 to slide out of the receiving groove 252 when the rotating shaft 2422 rotates; a torsion spring (not shown) is also provided on the deflection shaft 253, and the torsion spring can drive the auxiliary wing 251 to return to the receiving groove 252.

[0072] When the drone tilts to the left, the second servo drive mechanism 2424 drives the rotating shaft 2422 to rotate clockwise, driving the deflection ring 2421 to rotate to the right to maintain horizontality; when tilting to the right, the rotating shaft 2422 rotates counterclockwise, and the deflection ring 2421 rotates to the left; the rotating shaft 2422 transmits the rotational motion to the corresponding deflection shaft 253 through the linkage assembly 254: driving the auxiliary wing 251 to deflect outward around the deflection shaft 253, so that it slides out of the storage slot 252, so as to form an anti-tilt supplementary torque with the help of wind force.

[0073] When the drone regains balance, the rotating shaft 2422 of the dynamic balancing module 24 rotates in the opposite direction, and the torsion spring automatically resets: the elastic potential energy accumulated in the torsion spring on the deflection shaft 253 is released, driving the auxiliary wing 251 to rotate around the axis, and the auxiliary wing 251 is completely reset to the storage groove 252, restoring the streamlined shape of the protective shell 21.

[0074] like Figure 6 As shown, in this embodiment, the linkage assembly 254 includes a crank 2541, a central rocker 2542 and a connecting rope 2543; the top end of the deflection shaft 253 passes through the side wall of the storage groove 252 and is fixedly connected to the crank 2541, and a central rocker 2542 is vertically fixed on each rotating shaft 2422. The central rocker 2542 is connected to the two cranks 2541 on the same side of the protective shell 21 through the connecting rope 2543 to convert the rotational motion of the rotating shaft 2422 into the deflection of the corresponding auxiliary wing 251.

[0075] When the linkage assembly 254 is in operation, when the rotating shaft 2422 of the dynamic balancing module 24 rotates (for example, clockwise when tilting to the left), the rotation of the rotating shaft 2422 drives the central swing rod 2542 fixed vertically on its top to swing synchronously. The swing amplitude of the central swing rod 2542 is proportional to the rotation angle of the rotating shaft 2422.

[0076] When the two central rocker arms 2542 swing, the two connecting ropes 2543 on both sides thereof are tightened or relaxed: if the rotating shaft 2422 rotates clockwise, the central rocker arm 2542 swings to the right, the left connecting rope 2543 is tightened, and the right connecting rope 2543 is relaxed; conversely, if the rotating shaft 2422 rotates counterclockwise, the central rocker arm 2542 swings to the left, the right connecting rope 2543 is tightened, and the left connecting rope 2543 is relaxed; the tightened connecting rope 2543 pulls the crank 2541 on the corresponding side, driving the deflection shaft 253 to rotate around its axis.

[0077] For example: when the drone tilts to the left, the left connecting rope 2543 is tightened, the left crank 2541 is pulled, driving the left deflection shaft 253 to rotate, causing the left side auxiliary wing 251 to unfold outward; when the drone tilts to the right, the right connecting rope 2543 is tightened, the right crank 2541 is pulled, driving the right deflection shaft 253 to rotate, causing the right side auxiliary wing 251 to unfold outward.

[0078] Specifically, in actual use, by reasonably designing the lever ratio of the central rocker 2542 and the crank 2541, a small rotation angle of the rotating shaft 2422 can be amplified into a large deflection of the auxiliary wing 251, thereby improving its sensitivity.

[0079] like Figure 7-Figure 9As shown, in this embodiment, the auxiliary wing 251 includes a rotating body 2511 fixedly connected to the deflection shaft 253 and an overlapping structure connected to the rotating body 2511; the overlapping structure includes a first piece 2512 and a second piece 2513 connected to each other via a sliding pair, the first piece 2512 is fixedly connected to the rotating body 2511, and the second piece 2513 is slidably connected to the rotating body 2511 and can slide around the rotating shaft 2422 relative to the rotating body 2511 and the second piece 2513;

[0080] A limiting slot 2514 is provided on one side of the receiving slot 252 away from the rotating shaft 2422 , and the second piece 2513 is slidably adapted to the limiting slot 2514 in the receiving slot 252 via a limiting block 2515 , so that a portion of the second piece 2513 remains limited in the receiving slot 252 when displayed.

[0081] When the drone tilts, the linkage assembly 254 drives the deflection shaft 253 to rotate, driving the rotating body 2511 (fixedly connected to the deflection shaft 253) to rotate synchronously, and the overlapping structure slides out of the storage slot 252. During this process, the first piece 2512 and the second piece 2513 are first unfolded outward together. When the limit block 2515 at the end of the second piece 2513 slides to the end of the limit slot 2514, the first piece 2512 and the second piece 2513 are separated. When the second piece 2513 is unfolded, it forms a stepped overlapping structure with the first piece 2512, increasing the aerodynamic area to 1.5-1.8 times that of the original state, generating an anti-tilt moment with the help of wind force;

[0082] When the drone regains balance, the torsion spring on the deflection shaft 253 releases its elastic potential energy, driving the rotor 2511 to rotate in the opposite direction;

[0083] When the second piece 2513 retracts and the rotating body 2511 rotates, the second piece 2513 slides along the limiting sliding groove 2514. The curved path of the limiting sliding groove 2514 guides the second piece 2513 to gradually fit the first piece 2512 and finally completely return to the receiving groove 252.

[0084] After restoration, the first sheet 2512 and the second sheet 2513 are tightly fitted together and flush with the outer wall of the protective shell 21 .

[0085] The present invention also provides a surveying and mapping method based on a BIM UAV surveying and mapping device, comprising the following steps:

[0086] S1: Route planning: Import the target site's geographic information data (such as topographic maps, building outlines, etc.) through BIM software, set the drone's flight altitude, speed, and heading overlap rate, and generate a three-dimensional gridded flight path;

[0087] Mechanism assembly: Align the connecting plate 215 at the bottom of the protective shell 21 with the quick-release interface at the bottom of the drone body 1 and secure it with the locking bolts, ensuring that the base tube 214 coincides with the central axis of the drone; check the power supply and communication lines of the gimbal and camera of the multi-degree-of-freedom mapping module 22 to ensure normal data transmission;

[0088] S2: During flight, the multi-spectrum wind direction sensor monitors the wind direction and speed in real time. If a crosswind of ≥5 m / s is detected, the micro servo motor 232 drives the main gear 233 and the auxiliary gear 234 to engage the internal gear 231, driving the protective shell 21 to rotate around the base tube 214 so that its length is parallel to the wind direction, reducing wind resistance. The angle sensor feeds back the real-time deflection angle of the protective shell 21, and the closed-loop control accuracy reaches ±1°;

[0089] The gimbal automatically adjusts the camera's pitch angle according to the preset heading; the image data is encrypted and transmitted to the cloud server in real time via the 5G module, and GPS coordinates, flight attitude, and environmental parameters (wind speed, air pressure) are simultaneously recorded;

[0090] S3: When the UAV tilts left or right (tilt angle ≥ 5°) due to strong wind (e.g., crosswind ≥ 8 m / s), the solid-state pendulum tilt sensor triggers an alarm signal; the second servo drive mechanism 2424 drives the rotating shaft 2422 to rotate, keeping the deflection ring 2421 horizontal; the two counterweight modules 241 slide along the guide groove 2432 (e.g., rightward when tilting left), generating an anti-tilt moment;

[0091] The rotating shaft 2422 pulls the connecting rope 2543 through the linkage assembly 254, driving the corresponding auxiliary wing 251 to slide out of the storage slot 252, generating a compensation torque;

[0092] S4: The cloud server performs dehazing, color correction, and multi-view matching on the uploaded image data to generate high-precision point cloud data (accuracy ±2cm). The point cloud data is overlaid with the design drawings through BIM software to automatically generate a 3D real-life model, annotating terrain elevation, building outlines, and pipeline distribution. The server also outputs standardized BIM files (IFC format) and seamlessly connects with the construction management platform to achieve data connectivity throughout the entire "design-construction-operation and maintenance" cycle.

[0093] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A BIM-based UAV surveying and mapping device, comprising a UAV body and a surveying and mapping mechanism detachably mounted at the center of the bottom of the UAV body, characterized in that: The surveying and mapping mechanism includes a protective shell, and a multi-degree-of-freedom surveying and mapping module and an intelligent wind control unit integrated in the protective shell; The overall shape of the protective shell is streamlined and boat-shaped, and a high-transmittance protective cover is provided at the bottom. A base tube is rotatably mounted on the top center of the protective shell through a cylindrical mounting hole. The top of the base tube is fixedly connected to the drone body through a connecting plate. The multi-degree-of-freedom mapping module includes a multi-degree-of-freedom adjustable gimbal arranged in the base tube and a high-definition camera mounted on the gimbal. The camera is located below the base tube. The intelligent wind control unit includes a wind direction adaptive module, a dynamic balancing module and an aerodynamic compensation module; the wind direction adaptive module is used to drive the protective shell to rotate around the base tube so that its length direction is parallel to the wind direction; the dynamic balancing module includes a counterweight module slidably arranged in the protective shell, and the dynamic balancing module can drive the counterweight module to move when the drone tilts to change the center of gravity to form an anti-tilt moment; the aerodynamic compensation module includes auxiliary wings that can slide out or slide into the protective shell, and the aerodynamic compensation module can drive the auxiliary wings to slide out when the drone tilts to generate an anti-tilt compensation moment with the help of wind force.

2. The BIM-based UAV surveying and mapping device according to claim 1, characterized in that: The wind direction adaptive module includes a multi-spectrum wind direction sensor fixedly mounted on the top of the drone body, an angle sensor mounted between the base tube and the protective shell, and a first servo drive mechanism; the first servo drive mechanism drives the protective shell to rotate around the base tube until its length direction is parallel to the wind direction based on data from the multi-spectrum wind direction sensor.

3. The BIM-based UAV surveying and mapping device according to claim 2, characterized in that: The edge of the columnar mounting hole is provided with a mounting cylinder extending toward the interior of the protective shell, and the base cylinder is rotatably mounted in the mounting cylinder via a bearing; The first servo drive mechanism includes an internal gear, a micro servo motor, a main gear and an auxiliary gear; The internal gear is fixedly mounted on the inner wall of the mounting cylinder; the micro servo motor is fixedly mounted in the base cylinder, and the micro servo motor is fixedly assembled with the main gear, and the main gear extends from a notch opened on the base cylinder and engages with the internal gear; the auxiliary gear is rotatably mounted in the base cylinder on a side away from the main gear, and the auxiliary gear extends from another notch opened on the base cylinder and engages with the internal gear.

4. The BIM-based UAV surveying and mapping device according to claim 1, characterized in that: The dynamic balancing module further includes a deflection guide rail for sliding of the counterweight module and a guide assembly for guiding the sliding of the counterweight module; The deflection guide rail includes a deflection ring, a rotating shaft, a sliding bar and a second servo drive mechanism. The deflection ring is coaxially sleeved on the outside of the base tube, and a deflection gap is left between the deflection ring and the base tube; the deflection ring is rotatably connected to the inner wall of the protective shell through the rotating shaft on both sides of the width direction of the protective shell; the deflection ring is connected to the sliding bar on both sides of the length direction of the protective shell, and each sliding bar is slidably mounted with the counterweight module; the second servo drive mechanism is connected to the rotating shaft and is used to drive the rotating shaft to rotate when the drone tilts to keep the deflection ring level; The guide assembly is fixed in the protective shell, and guides the two counterweight modules to slide when the deflection ring rotates relative to the protective shell.

5. The BIM-based UAV surveying and mapping device according to claim 4, characterized in that: The guide assembly includes a guide base frame symmetrically fixed at both ends of the protective shell; a guide groove is obliquely arranged on the guide base frame, and a guide column slidably arranged in the guide groove is fixedly connected to the counterweight module. The guide grooves on a pair of base frames are symmetrically arranged and in an eight-shaped shape; when the drone is in a horizontal state, the counterweight module is located in the middle position of the sliding bar.

6. The BIM-based UAV surveying and mapping device according to claim 4, characterized in that: The two side walls at both ends of the protective shell are recessed inward to form a receiving groove; the aerodynamic compensation module includes an auxiliary wing, a deflection shaft and a linkage assembly, the auxiliary wing is adapted to be placed in the receiving groove, and one end of the auxiliary wing is rotatably connected to the side wall of the receiving groove through the deflection shaft; the linkage assembly connects the rotating shaft and the deflection shaft, and drives the auxiliary wing to slide out of the receiving groove when the rotating shaft rotates; a torsion spring is also provided on the deflection shaft, and the torsion spring can drive the auxiliary wing to return to the receiving groove.

7. The BIM-based UAV surveying and mapping device according to claim 6, characterized in that: The linkage assembly includes a crank, a central rocker and a connecting rope; the top end of the deflection shaft passes through the side wall of the storage slot and is fixedly connected to the crank, and a central rocker is vertically fixed on each rotating shaft. The central rocker is connected to the two cranks on the same side of the protective shell through the connecting rope to convert the rotational motion of the rotating shaft into the deflection of the corresponding auxiliary wing.

8. The BIM-based UAV surveying and mapping device according to claim 6, characterized in that: The auxiliary wing comprises a rotating body fixedly connected to the deflection axis and an overlapping structure connected to the rotating body; the overlapping structure comprises a first sheet and a second sheet connected to each other via a sliding pair, the first sheet being fixedly connected to the rotating body, the second sheet being slidably connected to the rotating body and capable of sliding relative to the rotating body and the second sheet around the rotating axis; A limiting sliding groove is provided on one side of the storage slot away from the rotating shaft, and the second piece is slidingly matched with the limiting sliding groove through a limiting block, so that a part of the second piece is retained in the storage slot when displayed.

9. A surveying method for a BIM-based UAV surveying device, characterized in that: The following steps are involved: S1: Plan the survey route and assemble the drone body and surveying mechanism; S2: During flight, the wind direction adaptive module adjusts the protective shell to be parallel to the wind direction, and the high-definition camera collects mapping data and uploads it to the cloud; S3: When the drone tilts, the dynamic balance module drives the counterweight module to move to adjust the center of gravity, while the aerodynamic compensation module deploys auxiliary wings to generate anti-tilt compensation torque; S4: Generate a 3D model using BIM software based on cloud data to assist in site planning.

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