A water-based pile sinking laser radar measurement system based on a near-field GNSS base station

Abstract

The utility model relates to the technical field of water engineering measurement, concretely is a kind of water pile laser radar measurement system based on near-field GNSS base station, and it is applicable to the form monitoring, position calibration and data archiving of water pile construction in port, waterway, cross-sea bridge and other water engineering;By erecting GNSS base station in the near field of unmanned aerial vehicle operation, the positioning accuracy and stability of unmanned aerial vehicle airborne RTK are improved, and the efficient and accurate measurement of water pile is realized by combining the laser radar carried by unmanned aerial vehicle.

Description

Technical Field

[0001] This utility model belongs to the field of marine engineering surveying technology, specifically relating to a marine pile driving lidar measurement system based on a near-field GNSS base station, which can be used for morphological monitoring, position calibration and data archiving after pile driving construction in marine engineering projects such as ports, waterways and cross-sea bridges. Background Technology

[0002] In marine engineering construction, pile driving is a core component of foundation construction, and its installation location, verticality, and surface integrity directly determine the structural safety of the project. Currently, marine pile driving surveying mainly relies on manual operations using a total station mounted on a boat or underwater robot scanning, which suffers from low efficiency, poor accuracy, and weak safety.

[0003] Although existing UAV measurement technology is gradually being applied to water engineering, it still faces key technical bottlenecks due to the constraints of signal transmission and positioning environment: Traditional UAV RTK positioning mainly relies on CORS system, and the interval between CORS base stations is usually 30-70km, while the distance between the UAV and the base station is often tens of kilometers. This results in a large residual between the ionosphere and troposphere after GNSS differential, especially during the noon (11:00-14:00) period when the ionosphere is active. The correlation between the GNSS error of the base station and the rover is weakened, which may cause the GNSS positioning accuracy of the UAV to drop from the centimeter level to the decimeter level, which cannot meet the accuracy requirements of pile driving measurement.

[0004] Therefore, there is an urgent need for a system to improve the positioning accuracy and stability of UAVs, and to solve the problems of unstable positioning and poor reliability of point cloud data coordinates in existing technologies. Utility Model Content

[0005] To address the aforementioned issues, this utility model discloses a lidar measurement system for underwater pile driving based on a near-field GNSS base station. It employs a collaborative working system of "UAV-remote controller-near-field GNSS base station," where a GNSS base station is set up near the UAV's operating area. The remote controller acts as a relay to achieve positioning signal and data interaction, ensuring the UAV's positioning accuracy and stability, and improving the efficiency and safety of underwater pile driving measurement.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: A lidar measurement system for underwater pile driving based on a near-field GNSS base station includes a drone, a near-field GNSS base station, and a remote controller; the drone is equipped with a lidar and an RTK module. The near-field GNSS base station includes a GNSS receiver, a wireless transmission module, and a power supply unit. The GNSS receiver generates a differential signal, which is transmitted to a remote controller via the wireless transmission module for transmitting the differential signal.

[0007] The remote controller is used to control the drone, and simultaneously receives differential signals from the near-field GNSS base station and forwards them to the drone, and receives and displays the drone's status data.

[0008] As an improvement of this utility model, the distance between the near-field GNSS base station and the UAV is controlled within 5km.

[0009] As an improvement of this utility model, the lidar of the UAV adopts a pulsed laser scanning module, the scanning frequency can be adjusted in the range of 50-200kHz, the scanning field of view of the lidar is not less than 120°, the RTK module of the UAV supports centimeter-level positioning, and the data exchange with the remote controller is carried out through the 2.4GHz wireless frequency band.

[0010] As an improvement of this utility model, the lidar carried by the UAV is used to scan the sinking piles in the water to obtain point cloud data, and the RTK module receives the differential signal forwarded by the remote controller for high-precision positioning.

[0011] As an improvement of this utility model, the remote controller is equipped with a dual-band wireless communication module, wherein the 5.8GHz band is used to receive differential signals from near-field GNSS base stations, and the 2.4GHz band is used to forward differential signals to the UAV and receive the UAV's status data. The remote controller is equipped with a touch screen display, which can display the UAV's position, flight altitude, lidar operating parameters and point cloud data acquisition progress in real time.

[0012] As an improvement of this utility model, it also includes a data processing terminal. The data processing terminal establishes a connection with the UAV through a wireless transmission module and can receive raw point cloud data and RTK positioning data collected by the UAV. The data processing terminal has built-in point cloud denoising, registration and 3D modeling algorithms and can generate pile driving morphology parameter reports.

[0013] As an improvement of this utility model, the near-field GNSS base station sends the differential signal to the remote controller through a communication link, and the remote controller then forwards the differential signal to the UAV, so as to reduce the interference of the ionosphere and troposphere on the positioning signal and improve the positioning accuracy of the UAV.

[0014] The beneficial effects of this utility model are as follows: 1. This utility model effectively weakens the adverse effects of ionospheric and tropospheric residuals on GNSS positioning by setting up a GNSS base station in the near field of UAV operation and utilizing the differential signal sent by the near-field GNSS base station, thereby improving the positioning accuracy and stability of UAV and ensuring the reliability of lidar point cloud data, and meeting the accuracy requirements of pile driving measurement.

[0015] 2. A collaborative working system of "UAV-remote controller-near-field GNSS base station" was constructed, with the remote controller as the relay to realize the interaction of positioning signals and data, which ensured the positioning accuracy of UAV and improved the efficiency and safety of underwater pile driving measurement.

[0016] 3. It is applicable to the morphological monitoring, position calibration and data archiving after pile driving construction in various water projects such as ports, waterways and cross-sea bridges, and has a wide range of application scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the working principle of this utility model. Detailed Implementation

[0018] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0019] As shown in the figure, the waterborne pile driving lidar measurement system based on a near-field GNSS base station described in this utility model first involves setting up a near-field GNSS base station near the waterborne pile driving operation area. The distance between the near-field GNSS base station and the drone is controlled within 5km to ensure that the near-field GNSS base station is in a stable position that can effectively cover the drone's operating range. After the near-field GNSS base station is activated, it begins to transmit differential signals.

[0020] Then, the operator establishes a connection with the drone via the remote controller and establishes a communication link between the remote controller and the near-field GNSS base station, enabling the remote controller to receive differential signals sent by the near-field GNSS base station.

[0021] Next, the drone took off, and its onboard RTK module received the differential signal from the near-field GNSS base station relayed by the remote controller. Because the near-field GNSS base station was close to the drone, the interference of the ionosphere and troposphere on the positioning signal was greatly reduced, enabling the drone to achieve high-precision positioning. At the same time, the lidar on the drone began scanning the submerged piles in the water to acquire point cloud data of the piles.

[0022] During operation, the remote controller receives and displays data such as the drone's position, attitude, and lidar scanning status in real time. Operators can monitor the operation in real time through the remote controller and adjust the drone's flight and lidar scanning as needed.

[0023] After the operation is completed, the drone will transmit the acquired point cloud data to relevant equipment for processing, thereby enabling the monitoring of the shape of the underwater piles, the calibration of their positions, and the archiving of the data.

[0024] It should be noted that the above content merely illustrates the technical concept of this utility model and cannot be used to limit the scope of protection of this utility model. For those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and all such improvements and modifications fall within the scope of protection of the claims of this utility model.

Claims

1. A lidar measurement system for underwater pile driving based on a near-field GNSS base station, comprising a UAV, a near-field GNSS base station, and a remote controller, characterized in that: The drone is equipped with a lidar and an RTK module; The near-field GNSS base station includes a GNSS receiver, a wireless transmission module, and a power supply unit. The GNSS receiver generates a differential signal, which is transmitted to a remote controller via the wireless transmission module for transmitting the differential signal. The remote controller is used to control the drone, and simultaneously receives differential signals from the near-field GNSS base station and forwards them to the drone, and receives and displays the drone's status data.

2. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: The distance between the near-field GNSS base station and the UAV is controlled within 5km.

3. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: The drone's lidar uses a pulsed laser scanning module with a scanning frequency adjustable within the range of 50-200kHz. The lidar's scanning field of view is ≥120°. The drone's RTK module supports centimeter-level positioning and interacts with the remote controller via the 2.4GHz wireless band.

4. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: The lidar carried by the UAV is used to scan the sinking piles in the water and acquire point cloud data. The RTK module receives the differential signal forwarded by the remote controller for high-precision positioning.

5. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: The remote controller is equipped with a dual-band wireless communication module, in which the 5.8GHz band is used to receive differential signals from near-field GNSS base stations, and the 2.4GHz band is used to forward differential signals to the drone and receive the drone's status data. The remote controller is also equipped with a touch screen display.

6. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: It also includes a data processing terminal, which establishes a connection with the UAV through a wireless transmission module, receives raw point cloud data and RTK positioning data collected by the UAV, and has built-in point cloud denoising, registration and 3D modeling algorithms, and can generate pile driving morphology parameter reports.

7. The water-based pile driving laser radar measurement system based on near-field GNSS base station according to claim 1, characterized in that: The near-field GNSS base station sends differential signals to the remote controller via a communication link, and the remote controller then forwards the differential signals to the UAV.

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