Topographic surveying device for mudflat vegetation flourishing area

Abstract

The utility model discloses a topographic survey device for a mudflat vegetation flourishing area, relates to the technical field of topographic distribution and change monitoring, and aims at measuring data by adopting a remote control mode through an antenna and a remote controller in consideration of a mode of freely advancing in the vegetation flourishing area. Under the condition that much mud flat silt exists and the bearing capacity is poor, variable advancing wheels are designed, and the two modes can adapt to different terrain environments to provide advancing power. A motor and a blade are designed in the front to break reeds and are connected with a storage battery and a switch, so that the whole device can break reeds to advance. The baffle is arranged to separate broken reeds, RTK positioning is arranged on the baffle, terrain data, namely the elevation of the mud flat where the device is located, can be obtained by combining data collected by the laser range finder, a traditional manual collection mode is replaced, manpower resource consumption is reduced, and meanwhile the problem of elevation errors caused by manual collection sinking is solved.

Description

Technical Field

[0001] The invention relates to the technical field of terrain distribution and change monitoring, and in particular to a terrain measurement device for tidal flat areas with lush vegetation. Background Art

[0002] With the continuous advancement of shoreline management projects, the surveying and mapping of water coastlines has gradually deepened, and the surveying and mapping needs of coastline management projects, coastline development and protection projects have continued to increase. The tidal flat topography and landform structure are complex, the types of ground objects are rich, and the water area is changeable, making manual surveying and mapping extremely difficult. At the same time, the water bodies of the water coastline are widely distributed and the vegetation is lush, which brings great difficulties to the surveying and mapping work. Now, like airborne photogrammetry, modern airborne laser radar (Li-DAR) measurement can remotely measure the tidal flats. There are two types of airborne LiDAR measurement technology: one is an airborne laser scanning system integrated with GNSS positioning, inertial navigation (INS), and a single wavelength infrared laser (SLR) between 800 and 1064nm. It is mainly used for dry beach topography measurement in tidal flat topography measurement, and can directly obtain the three-dimensional information of the target point; the other is the airborne LiDAR bathymetry system (Airborne LiDAR Bathymetry, ALB). ALB bathymetry is an active telemetry technology. The laser simultaneously outputs 1064nm and 532nm dual-wavelength lasers. The 1064nm laser forms echoes on the surface and the sea surface, and the 532nm blue-green laser penetrates the seawater to form echoes on the seabed. The time difference between the reflected laser on the sea surface and the seabed reaching the receiver is used to perform system calibration, attitude correction, refraction correction, and tide level correction to calculate the three-dimensional coordinates of the seabed topography.

[0003] However, it is obvious that this technology works better when measuring exposed mudflats, as shown above. Figure 2 There is no way to measure the topography of densely vegetated tidal flats. Traditional topographic surveying technology can only be used. When the intertidal zone dries up due to low tide, the tidal flat topography can be measured with the help of total station or RTK surveying technology. Although total station or RTK topographic surveying technology is mature, the safety, efficiency and accuracy of this type of method are difficult to guarantee due to the large amount of silt on the tidal flat and poor carrying capacity. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a topographic measurement device for tidal flats with lush vegetation in order to address the problems existing in the prior art.

[0005] The technical solutions are as follows:

[0006] A topographic measurement device for tidal flats with dense vegetation, comprising:

[0007] A base, wherein the base is L-shaped and has a pair of forward wheels at the front and rear, a camera, an antenna and an RTK are arranged on the top of the base, the camera is used to capture on-site images, the antenna is used to achieve remote communication, the RTK is used to collect the first elevation, and a laser rangefinder is arranged at the bottom of the base, and the laser rangefinder is used to measure the second elevation;

[0008] A first baffle, a second baffle and a cutter disc, wherein the first baffle is arranged at the front side of the base, the cutter disc is arranged below the first baffle, the first baffle cooperates with the cutter disc to interrupt plants to avoid affecting terrain measurement, and the second baffle is arranged behind the first baffle and in front of the camera, antenna and RTK to block the uninterrupted plants;

[0009] A battery, a switch and a first motor, wherein the battery is used to supply power to the entire topographic surveying device, and the first motor drives the cutter head to operate through the switch and the battery;

[0010] A data processor is used to calculate the mud surface elevation according to the first elevation and the second elevation.

[0011] Furthermore, a second motor is provided on the base, and the second motor drives the forward wheel through a chain transmission structure.

[0012] Furthermore, the chain transmission structure includes a driving sprocket, a chain, and a driven sprocket. The second motor drives the driving sprocket, the driving sprocket drives the chain, the chain drives the driven sprocket, and the sprocket drives the forward wheel.

[0013] Furthermore, the forward wheel is a telescopic structure. In normal mode, the forward wheel is in a retracted state, and grooves are evenly distributed on the sides; in difficult mode, the internal rotation of the forward wheel causes the outer portion to bulge, increasing the contact area and providing friction when the forward wheel rotates.

[0014] Furthermore, it also includes a remote controller, through which the user controls the working mode of the forward wheel, whether the blade is started, the camera angle, the motor power, and the direction.

[0015] Furthermore, the front end of the first baffle is warped upward.

[0016] Furthermore, the mud surface elevation H C Calculated by the following formula:

[0017] H C =H A -H AB -H BC

[0018] Among them, H A is the first elevation, i.e., the RTK elevation; H BCis the second elevation, i.e. the distance from the laser rangefinder to the mud surface; H AB is the distance between RTK and laser rangefinder.

[0019] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0020] It can be seen from the above embodiments that the present application adopts a method in which a topographic survey data collection machine in a densely vegetated area on a tidal flat can move freely in the densely vegetated area on the tidal flat, and adopts remote control to collect measurement data, thereby overcoming the technical problem that elevation cannot be measured in densely vegetated tidal flats. It can quickly carry out topographic surveys in densely vegetated tidal flats, greatly reduce manpower, and avoid the problem of elevation errors caused by manual collection sinking.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] Figure 1 It is a schematic structural diagram of a topographic measurement device for a tidal flat area with dense vegetation in a normal mode according to an exemplary embodiment.

[0024] Figure 2 The figure is a three-dimensional schematic diagram of a topographic measurement device for a tidal flat area with dense vegetation according to an exemplary embodiment.

[0025] Figure 3 The figure is a schematic diagram showing the operation of a topographic surveying device for a tidal flat area with dense vegetation according to an exemplary embodiment.

[0026] Figure 4 It is a schematic diagram of mud surface elevation calculation according to an exemplary embodiment.

[0027] Figure 5 The figure is a top view of a topographic surveying device for a tidal flat area with dense vegetation in a normal mode according to an exemplary embodiment.

[0028] Figure 6 is a schematic diagram of a controller according to an exemplary embodiment.

[0029] Figure 7 It is a schematic structural diagram of a topographic measurement device for a tidal flat with dense vegetation area in a difficult mode according to an exemplary embodiment.

[0030] Figure numerals: 1. first baffle; 2. second baffle; 3. first motor; 4. battery; 5. tool disc; 6. RTK; 7. camera; 8. antenna; 9. data processor; 10. switch; 11. forward wheel; 12. laser rangefinder; 13. base; 14. second motor; 15. chain; 16. driving sprocket; 17. driven sprocket. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0032] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0033] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0034] The present application provides a topographic measurement device for tidal flats with lush vegetation, such as Figure 1 and Figure 2 As shown, the device comprises:

[0035] A base, wherein the base is L-shaped and has a pair of forward wheels at the front and rear, a camera, an antenna and an RTK are arranged on the top of the base, the camera is used to capture on-site images, the antenna is used to achieve remote communication, the RTK is used to collect the first elevation, and a laser rangefinder is arranged at the bottom of the base, and the laser rangefinder is used to measure the second elevation;

[0036] A first baffle, a second baffle and a cutter disc, wherein the first baffle is arranged at the front side of the base, the cutter disc is arranged below the first baffle, the first baffle cooperates with the cutter disc to interrupt plants to avoid affecting terrain measurement, and the second baffle is arranged behind the first baffle and in front of the camera, antenna and RTK to block the uninterrupted plants;

[0037] A battery, a switch and a first motor, wherein the battery is used to supply power to the entire topographic surveying device, and the first motor drives the cutter head to operate through the switch and the battery;

[0038] A data processor is used to calculate the mud surface elevation according to the first elevation and the second elevation.

[0039] In a possible implementation, the base is a structure with hard foam inside and iron sheet outside, which is light and durable, and the iron sheet can slide on the cut reeds without being damaged. A driving structure is installed inside to ensure the whole device moves forward.

[0040] In a possible implementation, a second motor is provided on the base, and the second motor drives the forward wheel through a chain transmission structure. Specifically, the second motor drives the driving sprocket, the driving sprocket drives the chain, the chain drives the driven sprocket, and the sprocket drives the forward wheel to provide forward power.

[0041] In a possible implementation, the forward wheel is a telescopic structure: Figure 1 and Figure 5 As shown, in normal mode, the forward wheel is in a retracted state, presenting a nearly circular shape, and the grooves evenly distributed on the side can provide friction when the forward wheel rotates, thereby generating forward power; Figure 7 As shown, in the difficult mode, the internal rotation of the forward wheel causes the outer portion to bulge, greatly increasing the contact area. The forward wheel is not prone to slipping on mudflats or other environments where forward movement is difficult, providing friction when the forward wheel rotates, thereby generating forward power.

[0042] In a specific implementation, the device may also include: Figure 6 The remote controller shown allows the user to communicate remotely with the device through an antenna and observe the on-site situation through the on-site images taken by the camera, so as to control the forward wheel working mode, whether the cutter disc is started, the camera angle, motor power, direction, etc. through the remote controller according to actual needs.

[0043] In a possible implementation, the front end of the first baffle is tilted upward. When the entire device moves forward in the reeds, the front end of the first baffle can be tilted upward to better block more reeds. The middle of the first baffle can separate the blocked reeds to both sides, making it easier for the knife disc to cut down the reeds. The knife disc is a disc with a circle of toothed blades on the outer edge, and the height can be adjusted up and down to adapt to different vegetation conditions. The second baffle is a supplement to the first baffle, and can block excess reeds when the reeds are too high.

[0044] In the specific implementation, Figure 3 , turn on the switch, the camera above can transmit data to the remote controller to observe the situation ahead, which can be controlled by the remote controller according to the situation ahead. The remote controller starts the motor to rotate the blade, presses the forward button of the remote controller, and the forward wheel is driven forward. The first baffle separates the reeds on both sides first, and the blade cuts the reeds in the middle position. The reeds fall to both sides, and the entire device can cut the reeds and move forward. In the process of moving forward, the reeds fall to the sides because of the separation of the first baffle. After being cut, the reeds fall to both sides, and the device moves forward as a whole. After reaching the specified position, RTK data can be collected. It can be seen that the mudflats in different areas have different hardnesses, and the overall device will sink to different degrees. The height of the entire device relative to the mudflat surface is actually changing. Therefore, the actual elevation calculation of the mudflat surface should be as follows Figure 4 .

[0045] like Figure 4 , we can know that the elevation collected by RTK is the elevation of point A H A , the actual required mud surface point C elevation H C , the overall device sinks to different degrees on the mud surface due to different on-site conditions. It can be seen that H AC It is not a fixed value. The distance from the RTK position of point A to the laser rangefinder of point B does not change to a fixed value. Therefore, H AB is a fixed value. Point B is the position of the laser rangefinder, H BC It is the distance from point B to the mud surface measured by the laser rangefinder.

[0046] look Figure 3 It can be seen that H AC =H AB +H BC

[0047] Therefore, the actual elevation of the mud surface is H C =H A -H AC =H A -H AB -H BC

[0048] It can be seen from the above embodiments that, considering the mode of being able to move freely in areas with dense vegetation, data is measured by remote control through antennas and remote controllers; considering that there is a lot of silt on the tidal flats and the carrying capacity is poor, the forward wheels are designed to be changed, and the two modes can adapt to different terrain environments to provide forward power. The front position is designed with a motor and a blade to break the reeds, and the battery and switch are connected, so that the whole can break the reeds and move forward. A baffle is set to separate the broken reeds, and RTK positioning is set on the baffle. The terrain data, that is, the elevation of the tidal flat where the device is located, can be obtained by combining the data collected by the laser rangefinder. This replaces the traditional manual collection method, reduces the consumption of human resources, and avoids the problem of elevation error caused by manual collection and sinking.

[0049] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0050] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A topographic survey device for lush tidal flat vegetation areas, characterized in that: include: A base, wherein the base is L-shaped and has a pair of forward wheels at the front and rear, a camera, an antenna and an RTK are arranged on the top of the base, the camera is used to capture on-site images, the antenna is used to achieve remote communication, the RTK is used to collect the first elevation, and a laser rangefinder is arranged at the bottom of the base, and the laser rangefinder is used to measure the second elevation; A first baffle, a second baffle and a cutter disc, wherein the first baffle is arranged at the front side of the base, the cutter disc is arranged below the first baffle, the first baffle cooperates with the cutter disc to interrupt plants to avoid affecting terrain measurement, and the second baffle is arranged behind the first baffle and in front of the camera, antenna and RTK to block the uninterrupted plants; A battery, a switch and a first motor, wherein the battery is used to supply power to the entire topographic surveying device, and the first motor drives the cutter head to operate through the switch and the battery; A data processor is used to calculate the mud surface elevation according to the first elevation and the second elevation.

2. The device according to claim 1, characterized in that A second motor is arranged on the base, and the second motor drives the forward wheel through a chain transmission structure.

3. The device according to claim 2, characterized in that The chain transmission structure comprises a driving sprocket, a chain and a driven sprocket. The second motor drives the driving sprocket, the driving sprocket drives the chain, the chain drives the driven sprocket, and the sprocket drives the forward wheel.

4. The device according to claim 1, characterized in that The forward wheel is a telescopic structure. In normal mode, the forward wheel is in a retracted state, and grooves are evenly distributed on the sides. In difficult mode, the internal rotation of the forward wheel causes the external part to bulge, increasing the contact area and providing friction when the forward wheel rotates.

5. The device according to claim 1, characterized in that It also includes a remote controller, through which the user can control the working mode of the forward wheel, whether the blade is started, the camera angle, the motor power, and the direction.

6. The device according to claim 1, characterized in that The front end of the first baffle is tilted upward.

7. The device according to claim 1, characterized in that The mud surface elevation H C Calculated by the following formula: H C =H A -H AB -H BC Among them, H A is the first elevation, i.e., the RTK elevation; H BC is the second elevation, i.e. the distance from the laser rangefinder to the mud surface; H AB is the distance between RTK and laser rangefinder.

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