Unmanned aerial vehicle laser radar-based earthwork visual accurate measurement and calculation device

Abstract

The invention provides an unmanned aerial vehicle laser radar-based earthwork visualization accurate measurement and calculation device, and relates to the technical field of surveying and mapping engineering, and the device comprises a mobile base, a storage box arranged on the top end working surface of the mobile base, an unmanned aerial vehicle body capable of being parked on the storage box, and an external control device; the movable base has preset bearing capacity and can support the weight of each component on the movable base; the storage box is provided with a preset containing space, electric lifting rods are arranged at the four corners in the storage box, the telescopic ends of the electric lifting rods are connected with the parking platform, and the parking platform can make contact with the unmanned aerial vehicle body. A laser radar measuring mechanism is arranged on one side of the unmanned aerial vehicle body and used for scanning and measuring topographic data of a construction area. Through the arrangement of the laser radar measurement mechanism, the stability of the laser radar transmitter in the measurement process is ensured, so that the laser radar can efficiently and accurately scan and measure topographic data of a construction area.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping engineering technology, and in particular to a device for visual and precise earthwork measurement based on UAV lidar. Background Technology

[0002] In the field of modern engineering construction, whether it is a large-scale building project, road construction project, or mining operation, the accurate calculation of earthwork volume plays a vital role in project planning, cost control, and construction progress management.

[0003] In traditional earthwork measurement, manual measurement is used, requiring surveyors to measure each point on the construction site. For large construction areas, this requires a significant investment of manpower and time. Furthermore, manual measurement is prone to errors, resulting in poor accuracy in earthwork volume calculations and impacting project budgets and construction schedules. In addition, the data processing methods of traditional earthwork measurement equipment are inadequate for handling large amounts of complex measurement data. Their ability to process noisy point clouds and abnormal data is insufficient, leading to discrepancies between the constructed terrain model and the actual terrain. This, in turn, affects the accuracy of the earthwork measurement model, resulting in earthwork volume calculations that do not match the actual situation.

[0004] Therefore, there is an urgent need for a precise earthwork visualization and measurement device with high data processing efficiency and accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a visual and accurate earthwork measurement device based on UAV lidar, which solves the technical problems of low data processing efficiency and inaccuracy in earthwork measurement in the prior art.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0007] A precise earthwork visualization and measurement device based on UAV lidar includes: a mobile base, a storage box located on the working surface at the top of the mobile base, a UAV body that can be parked on the storage box, and an external control device; the mobile base has a preset load-bearing capacity to support the weight of its various components; the storage box has a preset storage space and electric lifting rods are provided at its four corners, the telescopic ends of which are connected to a parking platform, which can contact the UAV body; a lidar measurement mechanism is provided on one side of the UAV body, which is used to scan and measure the terrain data of the construction area; the external control device is used to control the working status of each component and present the measurement data to the workers.

[0008] Furthermore, the drone body has a landing gear on its bottom working surface and rotors around it. The rotors are equipped with protective rings to prevent bird collisions.

[0009] Furthermore, the lidar measurement mechanism includes: a fixed base and a clamping block that is interference-fitted with the fixed base; the clamping block is connected to the UAV body via a connecting rod; a lidar transmitter is provided on one working surface of the fixed base, and the lidar transmitter is electrically connected to the external control device.

[0010] Furthermore, the movable base includes: a base and a top cover that interlock; a power supply module is provided inside the base; two drive components are provided inside the base, and the output end of each drive component is connected to the drive wheel; servo motors are symmetrically arranged on both sides inside the base, and the output end of each servo motor is connected to the driven wheel through a transmission mechanism.

[0011] Furthermore, the storage box is equipped with a drawer, which is slidably connected to the storage box; one side of the storage box is hinged to the lid, and the lid and the storage box are equipped with interlocking latches, and the inner wall of the lid is connected to the protective plate through a pivot.

[0012] Furthermore, the inner wall of the receiving space is symmetrically provided with limiting plates, which are used to limit the displacement stroke of the stopping platform; the stopping platform is electrically connected to the external control equipment.

[0013] Furthermore, the external control device includes the following modules: a lidar data acquisition module, including a emitting unit for the lidar transmitter 1204 to emit lasers, a receiving unit for receiving the emitted signals, and a data collection unit; calculating the target distance based on the data information and forming three-dimensional point cloud data by combining the scanning angle; a positioning and navigation module for acquiring the real-time position information of the UAV; a data transmission module for transmitting the data information acquired by the receiving unit to the intelligent data processing module in real time, and simultaneously transmitting the instructions of the intelligent data processing module to the corresponding components; the intelligent data processing module for preprocessing the transmitted raw data, constructing a terrain model, and calculating the earthwork volume by combining it with the earthwork measurement model; and a visualization display module for visually displaying the processed terrain data and earthwork measurement results.

[0014] Furthermore, the positioning and navigation module includes: a positioning unit that supports the reception of satellite signals from multiple systems such as GPS, BeiDou, GLONASS, and Galileo, and has anti-interference capabilities; and a measurement unit that adopts an IMU-based measurement unit, integrating a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer, capable of acquiring the attitude angle, acceleration, and angular velocity information of the UAV in real time.

[0015] Furthermore, the laser radar transmitter has a transmission frequency of 15-20Hz; a horizontal scanning speed of 800-1200rpm; and a ranging range of 0.25-45m.

[0016] Furthermore, the preprocessing in the intelligent data processing module adopts an adaptive data cleaning algorithm to automatically identify and remove noisy point clouds and abnormal data; at the same time, it uses multi-source data fusion technology to unify the original data from different sources and coordinate systems.

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

[0018] (i) The present invention ensures the stability of the lidar transmitter during the measurement process by setting up the lidar measurement mechanism, so that the lidar can efficiently and accurately scan and measure the terrain data of the construction area; and the intelligent data processing module uses an adaptive data cleaning algorithm to automatically remove noisy point clouds and abnormal data, construct a terrain model, and calculate the earthwork volume by combining the earthwork calculation model, thereby improving the data processing efficiency and the accuracy of earthwork calculation.

[0019] (ii) The present invention, through the setting of the mobile base, can move the entire device to different construction areas, support the drone to take off and land in different locations in the measurement area, effectively reduce the power consumption of round-trip flight, extend the endurance time, and thus complete the measurement task of a larger area; in conjunction with the design of the storage box, it provides storage space for the drone body and its accessories, and improves the convenience of the device body.

[0020] (iii) By setting protective rings on the rotors around the UAV body, the present invention can effectively prevent bird collisions, reduce the risk of damage to the UAV caused by bird strikes during flight, ensure the flight safety of the UAV, and thus ensure the continuity and stability of data collection work. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of a visual and precise earthwork measurement device based on UAV lidar disclosed in this invention;

[0022] Figure 2 This is a schematic diagram showing the connection between the mobile base and the storage box of an earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention.

[0023] Figure 3 This is a schematic diagram of the internal structure of the storage box of the earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention.

[0024] Figure 4 This is a three-dimensional view of the UAV body of the earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention;

[0025] Figure 5 This is an enlarged schematic diagram of the UAV body (part A) of the earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention;

[0026] Figure 6 This is a schematic diagram of the internal structure of the mobile base of a UAV-based laser radar-based earthwork visualization and precision measurement device disclosed in this invention.

[0027] Figure 7 This is a schematic diagram of the second state of an earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention.

[0028] In the diagram: 1. UAV body; 101. Landing gear; 102. Rotor; 103. Protective ring; 2. Mobile base; 201. Base; 202. Top cover; 203. Drive component; 204. Drive wheel; 205. Servo motor; 206. Transmission mechanism; 207. Driven wheel; 208. Power supply module; 3. Storage box; 301. Storage space; 4. Box lid; 5. Landing platform; 6. Electric lifting rod; 7. Limiting plate; 8. Storage drawer; 9. Protective plate; 10. Lock; 11. Rotating shaft; 12. LiDAR measuring mechanism; 1201. Connecting rod; 1202. Clamping block; 1203. Fixed base; 1204. LiDAR transmitter. Detailed Implementation

[0029] To make the content of this invention easier to understand, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Identical components are represented by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0030] Example 1:

[0031] Figure 1 This is a three-dimensional view of a visual and precise earthwork measurement device based on UAV lidar disclosed in this invention; Figure 2 This is a schematic diagram showing the connection between the mobile base and the storage box of a UAV-based LiDAR-based earthwork visualization and precision measurement device disclosed in this invention; as shown. Figure 1-2As shown, this embodiment provides a precise earthwork visualization and measurement device based on UAV lidar, including: a mobile base 2, a storage box 3 located on the top working surface of the mobile base 2, a UAV body 1 that can be parked on the storage box 3, and external control equipment; the mobile base 2 has a preset load-bearing capacity to support the weight of each component on it; and it can move the entire device to different construction areas, supporting the UAV to take off and land in different locations within the measurement area, effectively reducing power consumption during round-trip flights, extending the flight time, and thus completing measurement tasks over a larger area; the storage box 3 has a preset storage space 301, and electric lifting rods 6 are provided at the four corners inside. The telescopic ends of the electric lifting rods 6 are connected to the parking platform 5, which can move the parking platform 5 to... The drone can move stably within the containment space 301. The landing platform 5 can contact the drone body 1, providing a safe and convenient take-off and landing platform for the drone body 1. Furthermore, the landing platform 5 is equipped with a positioning device, which allows operators to locate its position on the external control device. A lidar measurement mechanism 12 is provided on one side of the drone body 1. The lidar measurement mechanism 12 is used to scan and measure the terrain data of the construction area. Whether it is complex and varied mountainous terrain or a vast and flat plain, the lidar measurement mechanism 12 can quickly and accurately obtain detailed terrain information, providing a solid data foundation for subsequent earthwork calculations. The external control device is used to control the working status of each component and present the calculation data to the staff.

[0032] Specifically, the external control device includes the following modules:

[0033] The lidar data acquisition module includes a laser emission unit for the lidar transmitter 1204 to emit laser beams, a receiving unit for receiving the emitted signals, and a data collection unit. The emission unit controls the lidar transmitter 1204 to emit laser beams toward the target area. The receiving unit captures the laser signals reflected back from the target object, ensuring that each laser signal is accurately captured. The data collection unit collects and integrates the data information acquired by the receiving unit in an orderly manner, calculates the target distance based on the data information, and forms three-dimensional point cloud data by combining the scanning angle, providing raw data materials for subsequent earthwork measurement processes.

[0034] A positioning and navigation module is used to acquire the real-time location information of the UAV; the positioning and navigation module includes:

[0035] The positioning unit supports the reception of satellite signals from multiple systems, including GPS, BeiDou, GLONASS, and Galileo, and has anti-interference capabilities. This enables the UAV to obtain accurate positioning information regardless of the complex environment it is in. The support for multiple satellite signals from multiple systems, such as GPS, BeiDou, GLONASS, and Galileo, is existing technology and will not be elaborated on here.

[0036] The measurement unit adopts an IMU relational measurement unit, which integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. It can collect the attitude angle, acceleration, and angular velocity information of the UAV in real time. It can monitor the flight attitude and motion status of the UAV in the air in real time, and also provide accurate position and attitude references for the terrain data acquired by the lidar measurement mechanism 12, further improving the reliability and accuracy of the data.

[0037] The data transmission module is used to transmit the data information acquired by the receiving unit to the intelligent data processing module in real time, ensuring that the raw data can be processed and analyzed in a timely manner; at the same time, it transmits the instructions of the intelligent data processing module to the corresponding components, enabling close cooperation between the various parts of the entire device.

[0038] The intelligent data processing module preprocesses the transmitted raw data to construct a terrain model and calculates the earthwork volume by combining it with the earthwork measurement model. The preprocessing adopts an adaptive data cleaning algorithm to automatically identify and remove noisy point clouds and abnormal data. At the same time, through multi-source data fusion technology, the raw data from different sources and coordinate systems are unified. An accurate terrain model is constructed from the preprocessed data and combined with the earthwork measurement model, which then accurately completes the earthwork measurement calculation.

[0039] The visualization module displays the processed terrain data and earthwork calculation results in a visual format, allowing operators to quickly and accurately obtain the necessary data information simply by observing the visualization interface.

[0040] Figure 3 This is a schematic diagram of the internal structure of the storage box of a visualization and precision measurement device for earthwork based on UAV lidar disclosed in this invention; as shown. Figure 3As shown, the storage box 3 is equipped with a drawer 8, which is slidably connected to the storage box 3. The drawer 8 is used to store the accessories of the drone body 1. One side of the storage box 3 is hinged to the lid 4. The lid 4 and the storage box 3 are equipped with interlocking latches 10. When the latches 10 are locked, they can effectively prevent the lid 4 from being opened accidentally, ensuring the safety of the items inside the storage box 3 and ensuring the stability of the storage box 3 during movement. The inner wall of the receiving space 301 is symmetrically equipped with limiting plates 7. The limiting plates 7 are used to limit the displacement of the landing platform 5 to prevent damage caused by excessive rising or falling. The landing platform 5 is electrically connected to the external control device.

[0041] Figure 4 This is a 3D view of the UAV body of the earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention; as shown. Figure 4 As shown, the drone body 1 has a landing gear 101 on its bottom working surface and rotors 102 around it. The rotors 102 are equipped with protective rings 103. The protective rings 103 are made of elastic material, which can buffer the impact force when encountering bird collisions and disperse the collision force to prevent birds from directly hitting the rotors and causing damage.

[0042] Figure 5 This is an enlarged schematic diagram of the UAV body (part A) of the earthwork visualization and precision measurement device based on UAV lidar disclosed in this invention; as shown. Figure 5 As shown, the lidar measurement mechanism 12 includes: a fixed base 1203 and a clamping block 1202 that is interference-fitted with the fixed base 1203; the clamping block 1202 is connected to the UAV body 1 via a connecting rod 1201, the connecting rod 1201 having a preset load-bearing capacity, so that the lidar transmitter 1204 can be tightly connected to the UAV body 1; the lidar transmitter 1204 is provided on one working surface of the fixed base 1203, the lidar transmitter 1204 is existing equipment, and will not be described in detail here; The lidar transmitter 1204 is electrically connected to the external control device; the lidar transmitter 1204 has a transmission frequency of 15-20Hz; a horizontal scanning speed of 800-1200rpm; and a ranging range of 0.25-45m. The high-speed scanning of the lidar transmitter 1204 ensures that terrain information of a large area can be quickly acquired during the flight of the UAV 1, improving measurement efficiency; and the ranging range of 0.25-45m can meet the terrain measurement needs of various types of construction areas.

[0043] Figure 6 This is a schematic diagram of the internal structure of the mobile base of a UAV-based LiDAR-based earthwork visualization and precision measurement device disclosed in this invention; as shown below. Figure 6 As shown, the movable base 2 includes: a base 201 and a top cover 202 that engage with each other; a power supply module 208 is provided inside the base 201; two drive components 203 are provided inside the base 201, each drive component 203 being a drive motor, and its output end is connected to the drive wheel 204; servo motors 205 are symmetrically arranged on both sides inside the base 201, and the output end of the servo motor 205 is connected to the driven wheel 207 through a transmission mechanism 206. The transmission mechanism 206 ensures that the driven wheels 207 on both sides are at the same rotation angle, achieving precise speed and steering adjustment; in use, the operator starts the drive component 203 through an external control device, and the drive component 203 drives the drive wheel 204 to move. When turning is required, the operator starts the servo motor 205, and the servo motor 205 drives the two driven wheels 207 to turn through the transmission mechanism 206.

[0044] Working principle: When calculations are required, the operator starts the UAV body 1 through the external control device to scan and measure the terrain of the construction area. Specifically, the operator starts the lidar transmitter 1204 through the external control device. The lidar transmitter 1204 performs a comprehensive scan and measurement of the terrain of the construction area and transmits the data to the data transmission module in real time. The data transmission module preprocesses the initial data. Then, the intelligent data processing module constructs a terrain model from the preprocessed data and calculates the earthwork volume by combining it with the earthwork calculation model.

[0045] Example 2:

[0046] Figure 7 This is a schematic diagram of the second state of a visual and precise earthwork measurement device based on UAV lidar disclosed in this invention; as shown below. Figure 7 As shown; the rest of the components are the same as in Embodiment 1, except that; the inner wall of the box cover 4 is connected to the protective plate 9 through the pivot 11. When the drone body 1 is parked on the parking platform 5, the protective plate 9 can protect the drone body 1, so that the drone body 1 can effectively resist possible collisions and impacts from the outside world, and can also buffer the force when in contact, so as to avoid hard damage to the drone body 1.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for visual and precise earthwork measurement based on UAV lidar, characterized in that: include: Mobile base (2), storage box (3) located on the top working surface of the mobile base (2), drone body (1) that can be parked on the storage box (3) and external control equipment; The movable base (2) has a preset load-bearing capacity, which can support the weight of each component on it; The storage box (3) has a preset storage space (301) and an electric lifting rod (6) is provided at the four corners inside. The telescopic end of the electric lifting rod (6) is connected to the parking platform (5). The parking platform (5) can contact the drone body (1). The UAV body (1) is equipped with a lidar measurement mechanism (12) on one side, which is used to scan and measure the terrain data of the construction area; The external control device is used to control the working status of each component and present the measured data to the staff.

2. The earthwork visualization and precise measurement device based on UAV lidar according to claim 1, characterized in that: The unmanned aerial vehicle (UAV) body (1) has a landing gear (101) on its bottom working surface and rotors (102) around it. The rotors (102) are equipped with protective rings (103) to prevent birds from colliding with them.

3. The earthwork visualization and precise measurement device based on UAV lidar according to claim 1 or 2, characterized in that: The lidar measurement mechanism (12) includes: a fixed base (1203) and a clamping block (1202) that is interference-fitted with the fixed base (1203); the clamping block (1202) is connected to the UAV body (1) via a connecting rod (1201); a lidar transmitter (1204) is provided on one working surface of the fixed base (1203), and the lidar transmitter (1204) is electrically connected to the external control device.

4. The earthwork visualization and precise measurement device based on UAV lidar according to claim 3, characterized in that: The movable base (2) includes: a base (201) and a top cover (202) that are interlocked; a power supply module (208) is provided inside the base (201); a drive component (203) is provided inside the base (201), there are two drive components (203), and the output end is connected to the drive wheel (204); servo motors (205) are symmetrically arranged on both sides inside the base (201), and the output end of the servo motor (205) is connected to the driven wheel (207) through a transmission mechanism (206).

5. The earthwork visualization and precise measurement device based on UAV lidar according to claim 1, characterized in that: The storage box (3) is provided with a drawer (8), which is slidably connected to the storage box (3); one side of the storage box (3) is hinged to the lid (4), and the lid (4) and the storage box (3) are provided with latches (10) that can lock each other, and the inner wall of the lid (4) is connected to the protective plate (9) through a pivot (11).

6. The earthwork visualization and precise measurement device based on UAV lidar according to claim 5, characterized in that: The inner wall of the receiving space (301) is symmetrically provided with limiting plates (7), which are used to limit the displacement stroke of the stopping platform (5); the stopping platform (5) is electrically connected to the external control device.

7. The earthwork visualization and precise measurement device based on UAV lidar according to claim 1, characterized in that: The external control device includes the following modules: The lidar data acquisition module includes a lidar transmitter (1204) for emitting lasers, a receiving unit for receiving the emitted signals, and a data collection unit; it calculates the target distance based on the data information and forms three-dimensional point cloud data by combining the scanning angle. The positioning and navigation module is used to obtain the real-time location information of the drone; The data transmission module is used to transmit the data information acquired by the receiving unit to the intelligent data processing module in real time, and at the same time, transmit the instructions of the intelligent data processing module to the corresponding components. The intelligent data processing module preprocesses the transmitted raw data, constructs a terrain model, and calculates the earthwork volume by combining it with the earthwork measurement model. The visualization module displays the processed terrain data and earthwork calculation results in a visual format.

8. The earthwork visualization and precise measurement device based on UAV lidar according to claim 7, characterized in that: The positioning and navigation module includes: The positioning unit supports the reception of satellite signals from multiple systems, including GPS, BeiDou, GLONASS, and Galileo, and has anti-interference capabilities. The measurement unit adopts an IMU-based measurement unit, which integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer, and can collect the attitude angle, acceleration, and angular velocity information of the UAV in real time.

9. The earthwork visualization and precision measurement device based on UAV lidar according to claim 7 or 8, characterized in that: The laser radar transmitter (1204) has a transmission frequency of 15-20Hz, a horizontal scanning speed of 800-1200rpm, and a ranging range of 0.25-45m.

10. The earthwork visualization and precise measurement device based on UAV lidar according to claim 1, characterized in that: The preprocessing in the intelligent data processing module adopts an adaptive data cleaning algorithm to automatically identify and remove noisy point clouds and abnormal data; at the same time, it uses multi-source data fusion technology to unify the original data from different sources and coordinate systems.

Images