CN111688939A

CN111688939A - Unmanned aerial vehicle for engineering survey

Info

Publication number: CN111688939A
Application number: CN202010714476.7A
Authority: CN
Inventors: 王堃; 冯文龙; 李思桥
Original assignee: Huzhou Institute Of International Innovation Harbin University Of Technology Robot
Current assignee: Zhushi Technology Huzhou Co ltd
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2020-09-22

Abstract

The invention provides an unmanned aerial vehicle for engineering survey. This unmanned aerial vehicle for engineering survey mainly includes unmanned vehicles, radar, attitude adjustment mechanism and engineering measuring head. Wherein, the radar is installed on unmanned vehicles for navigating unmanned vehicles. The attitude adjusting mechanism is arranged on the unmanned aerial vehicle, and the engineering measuring head is arranged at the output end of the attitude adjusting mechanism. Through combining together engineering measuring head that has contained multiple measuring sensor with unmanned vehicles for measuring equipment suspension is in the air, does not receive ground to stack material or work progress influence, satisfies the actual measurement demand of construction overall process. The radar installed on the unmanned aerial vehicle is used for realizing indoor positioning and navigation of the unmanned aerial vehicle, solving the problem of indoor satellite-free positioning system signal environment and realizing autonomous operation of the unmanned aerial vehicle. Therefore, the technical problems that manual measurement is low in efficiency and accuracy is not guaranteed can be solved.

Description

Unmanned aerial vehicle for engineering survey

Technical Field

The invention relates to the technical field of engineering measurement, in particular to an unmanned aerial vehicle for engineering measurement.

Background

Engineering measurements play a crucial role in the control of engineering quality. The method is characterized in that pre-condition measurement and accurate paying-off and sample making are needed before each link of construction begins, real-time monitoring is needed in the process, and inspection and re-measurement are needed after completion. In the whole construction process, the accuracy and the full coverage of measurement are achieved according to the standard requirements, the leaving and accumulation of construction errors can be eliminated, serious quality problems and great economic losses are avoided, construction information is comprehensively and timely mastered, and conditions are created for efficient scheduling and management. An accurate, standard and efficient measurement system is a decisive factor for realizing fine engineering.

In the whole building construction process, the measurement objects are complex, and the relevant standard specifications have different requirements on the measurement frequency, the coverage area and the precision of each measurement object aiming at the different stages. However, many of these measurement objects are connected to one another by the basic measurement principle and the corresponding measurement tools and methods, and the various measurement operations can be classified into several categories:

linear distance: measuring the coordinates of the objects to be measured and the distance between two objects to be measured is the most widespread type of measurement. Such as building structure height, width, depth, beam column width, wall location, door and window opening size and location, trim panel location, and spacer width.

Structural perpendicularity and levelness: the macroscopic deviation of the straight line or plane elements on the building structure from the standard horizontal and vertical directions not only relates to the visual effect, but also is an important index of the structure safety. Such as shear walls, columns and top plates after concrete pouring, plastered surfaces, plate surface layers, vertical surfaces and ground surfaces decorated by paint, side lines for opening and installing doors and windows, and the like.

Surface flatness: deviations of the building structure and the decorative surface from the ideal plane have a significant influence on the comfort and look of use. Such as concrete shear walls, plastered surfaces, partition wall surfaces, slab facings, painted decorative surfaces, etc., all have different flatness requirements.

At present, the measurement in the building construction process is mainly realized by means of a hand tool, common tools comprise a tape measure, a running rule, a feeler gauge handheld laser range finder, a suspension wire and the like, and modern electronic measuring equipment such as a total station and a laser scanner and the like is applied to part of projects. The problems in the use of these devices are mainly:

(1) the manual measuring equipment has low precision, the measuring process is greatly influenced by the skill and the physical and mental state of personnel, and the measuring accuracy has great uncertainty.

(2) The novel equipment such as total stations and laser scanners are expensive and difficult to popularize in a large range.

(3) No matter the measuring equipment such as manual equipment or total stations and the like, the measuring process is complicated, the time consumption is long, and the data processing quantity is large, so that higher labor cost is brought. Therefore, the measurement can only adopt a sampling method, the sampling rate is low in practice, and the construction quality is difficult to guarantee.

(4) The ground is erected with measuring equipment, the process is complicated, and the construction process is easily restricted by ground stacking materials or tile paving and the like.

Disclosure of Invention

The invention mainly aims to provide an unmanned aerial vehicle for engineering measurement, which aims to solve the technical problem that in the prior art, the efficiency and the accuracy are not guaranteed because the engineering measurement is completed manually.

In order to achieve the above object, the present invention provides an unmanned aerial vehicle for engineering survey, comprising: an unmanned aerial vehicle; the radar is arranged on the unmanned aerial vehicle and used for navigating the unmanned aerial vehicle; the output end of the attitude adjusting mechanism can be movably arranged relative to the unmanned aerial vehicle; and the engineering measuring head is arranged on the output end of the attitude adjusting mechanism.

In one embodiment, the attitude adjustment mechanism includes: the base is arranged on the unmanned aerial vehicle; the roll adjusting component is arranged on the base; the pitching adjusting assembly is installed at the output end of the rolling adjusting assembly, the engineering measuring head is installed at the output end of the pitching adjusting assembly, the output end of the pitching adjusting assembly is the output end of the attitude adjusting mechanism, the rolling adjusting assembly is used for adjusting the roll angle of the engineering measuring head, and the pitching adjusting assembly is used for adjusting the pitch angle of the engineering measuring head.

In one embodiment, the roll adjustment assembly comprises: the roll support is rotatably hinged on the base along the roll direction of the engineering measuring head; and the rolling driving piece is arranged between the rolling support and the base and is used for driving the rolling support to rotate.

In one embodiment, the pitch adjustment assembly comprises: the pitching support is rotatably hinged on the rolling support along the pitching direction of the engineering measuring head; and the pitching driving part is arranged between the pitching support and the rolling support and is used for driving the pitching support to rotate.

In one embodiment, the roll driving member includes a first motor and a first link member, the first motor is mounted on the roll support, a rotating shaft of the first motor is in driving connection with a first end of the first link member, and a second end of the first link member is hinged with the base.

In one embodiment, the pitch driving member includes a second motor and a second link member, the second motor is mounted on the roll bracket, a rotating shaft of the second motor is in driving connection with a first end of the second link member, and a second end of the second link member is hinged with the pitch bracket.

In one embodiment, the engineering measurement head includes a housing and a binocular structured light camera and/or a laser ranging and/or surveillance camera mounted within the housing.

In one embodiment, a tilt sensor is further installed in the housing, the tilt sensor is used for detecting the attitude information of the engineering measuring head, and the attitude adjusting mechanism adjusts the attitude position of the engineering measuring head according to the attitude information.

In one embodiment, the radar is a lidar.

In one embodiment, the radar is mounted on the roof of the unmanned aerial vehicle.

By applying the technical scheme of the invention, the engineering measuring head comprising various measuring sensors is combined with the unmanned aerial vehicle, so that the measuring equipment is suspended in the air and is not influenced by ground stacked materials or a construction process, and actual measurement requirements in the whole construction process are met. The radar installed on the unmanned aerial vehicle is used for realizing indoor positioning and navigation of the unmanned aerial vehicle, solving the problem of indoor satellite-free positioning system signal environment and realizing autonomous operation of the unmanned aerial vehicle. Therefore, the technical problems that manual measurement is low in efficiency and accuracy is not guaranteed can be solved. Moreover, the cost of the equipment is lower than that of the conventional total station, laser scanner and the like.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic front view of an embodiment of a drone for engineering surveying according to the invention;

fig. 2 shows a schematic side view of the unmanned aerial vehicle for engineering survey of fig. 1;

fig. 3 shows a schematic perspective view of an attitude adjustment mechanism of the unmanned aerial vehicle for engineering measurement in fig. 1.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1, 2 and 3 show an embodiment of the unmanned aerial vehicle for engineering survey of the present invention, which mainly includes an unmanned aerial vehicle 10, a radar 20, an attitude adjustment mechanism 30, and an engineering measurement head 40. Wherein the radar 20 is mounted on the unmanned aerial vehicle 10 for navigating the unmanned aerial vehicle 10. The attitude adjusting mechanism 30 is arranged on the unmanned aerial vehicle 10, the engineering measuring head 40 is arranged at the output end of the attitude adjusting mechanism 30, and the output end of the attitude adjusting mechanism 30 can be movably arranged relative to the unmanned aerial vehicle 10, so that the attitude position of the engineering measuring head 40 is adjusted to meet the measurement requirement.

It should be noted that, in the technical solution of the present invention, the engineering measuring head 40 is a device integrating a plurality of measuring sensors required by engineering, and includes the sensors and corresponding accessories required for size measurement, data are fused with each other, and a plurality of measuring items can be completed by using one device. In the technical scheme of the invention, the engineering measuring head 40 comprising various measuring sensors is combined with the unmanned aerial vehicle 10, so that the measuring equipment is suspended in the air and is not influenced by ground stacked materials or a construction process, and actual measurement requirements in the whole construction process are met. The radar 20 installed on the unmanned aerial vehicle 10 is used for realizing indoor positioning and navigation of the unmanned aerial vehicle, solving the problem of indoor satellite-free positioning system signal environment and realizing autonomous operation of the unmanned aerial vehicle 10. Therefore, the technical problems that manual measurement is low in efficiency and accuracy is not guaranteed can be solved. Moreover, the cost of the equipment is lower than that of the conventional total station, laser scanner and the like.

As shown in fig. 2 and 3, in the present embodiment, the attitude adjustment mechanism 30 includes a base 31, a roll adjustment unit 32, and a pitch adjustment unit 33, the base 31 is mounted on the unmanned aerial vehicle 10, the roll adjustment unit 32 is mounted on the base 31, and the pitch adjustment unit 33 is mounted on an output end of the roll adjustment unit 32. The engineering measuring head 40 is installed at the output end of the pitch adjusting assembly 33, and the output end of the pitch adjusting assembly 33 is the output end of the attitude adjusting mechanism 30. In use, the roll adjustment assembly 32 adjusts the roll angle of the engineering measurement head 40 and the pitch adjustment assembly 33 is used to adjust the pitch angle of the engineering measurement head 40. The angle of view of the engineering head 40 may be adjusted to the appropriate position by the cooperation of the roll adjustment assembly 32 and the pitch adjustment assembly 33. Through the cooperation of roll adjustment subassembly 32 and pitch adjustment subassembly 33, provide the rotational degree of freedom of two directions, make the measuring range of engineering measuring head 40 can include ground, wall and ceiling, accomplish whole room size measurement.

Alternatively, as shown in fig. 3, in the present embodiment, the roll adjusting assembly 32 includes a roll bracket 321 and a roll driving member, the roll bracket 321 is rotatably hinged on the base 31 along the roll direction of the engineering measuring head 40, and the roll driving member is installed between the roll bracket 321 and the base 31 for driving the roll bracket 321 to rotate. More preferably, the pitch adjustment assembly 33 includes a pitch bracket 331 and a pitch driving member, the pitch bracket 331 is rotatably hinged to the roll bracket 321 along the pitch direction of the engineering measurement head 40, and the pitch driving member is installed between the pitch bracket 331 and the roll bracket 321 for driving the pitch bracket 331 to rotate. It should be noted that the pitch direction is a direction rotatable around the length direction of the engineering measurement head 10, that is, the pitch bracket 331 is driven by the pitch driving component to enable the engineering measurement head 10 to rotate around the axis of the length direction; the roll direction is a direction rotatable around the width direction of the engineering measuring head 10, and the width direction of the engineering measuring head 10 is a direction perpendicular to the length direction of the engineering measuring head 10, that is, the roll support 321 is driven by the roll driving member to enable the engineering measuring head 10 to rotate around the axis of the width direction.

Preferably, in the technical solution of the present embodiment, the roll driving member includes a first motor 322 and a first link member 323, the first motor 322 is installed on the roll bracket 321, a rotating shaft of the first motor 322 is drivingly connected to a first end of the first link member 323, and a second end of the first link member 323 is hinged to the base 31. In use, the first link 323 is driven by the rotating shaft of the first motor 322 to move, so that the second end of the first link 323 can push the base 31 to rotate. Correspondingly, the pitch driving member includes a second motor 332 and a second link member 333, the second motor 332 is mounted on the roll bracket 321, a rotating shaft of the second motor 332 is drivingly connected to a first end of the second link member 333, and a second end of the second link member 333 is hinged to the pitch bracket 331. When in use, the second link member 333 is driven by the rotating shaft of the second motor 332 to move, so that the second end of the second link member 333 can push the pitch bracket 331 to rotate.

The optional first motor 322 and the second motor 332 are steering engines, and the steering engines drive the connecting rod piece driving mechanism to rotate around corresponding joints, so that the purpose of posture adjustment is achieved.

As shown in fig. 1, the engineering measurement head 40 includes a housing 41 and a binocular light camera 42, a laser range finder 43 and a monitoring camera 44 mounted in the housing 41 as a preferred embodiment. More preferably, a controller and a tilt sensor are mounted in the housing 41. The laser ranging 43 can measure the indexes such as the width and depth of the house; the binocular structure optical camera 42 can perform flatness and angle measurement, and can perform levelness and perpendicularity measurement after being fused with tilt sensor data. The measuring function of the measuring head covers the main size indexes in the building construction standard. More preferably, the tilt sensor is used for detecting the posture information of the engineering measuring head 40, and the posture adjusting mechanism 30 adjusts the posture position of the engineering measuring head 40 according to the posture information. In this way, the attitude of the engineering measuring head 10 can be reflected, and the engineering measuring head 10 can be ensured to stay in the required attitude. In addition, the tilt angle sensor can be fused with the measurement data of the engineering measuring head 10 to obtain data such as levelness, verticality and the like.

Preferably, the radar 20 is a laser radar. Optionally, the radar 20 is installed on the top of the unmanned aerial vehicle 10, so that signal interference of the radar 20 by a mechanism of the radar 20 can be avoided, and the emission and the reception of laser are ensured to be not blocked. The laser radar acquires the position data of the obstacles in the surrounding environment, and the real-time position of the unmanned aerial vehicle 10 in the house can be obtained through calculation by processing equipment on the aerial vehicle, and the obstacles are avoided.

It should be noted that, in the solution of the present invention, in order to make the hovering more stable, the unmanned aerial vehicle 10 is a quad-rotor unmanned aerial vehicle 10. The power supply required for all equipment, as well as the measurement equipment and external wireless communication modules, are also located on the UAV 10. As other alternative embodiments, the unmanned aerial vehicle can also be an unmanned aerial vehicle with other structural forms.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an unmanned aerial vehicle for engineering survey which characterized in that includes:

an unmanned aerial vehicle (10);

a radar (20) mounted on the UAV (10) for navigating the UAV (10);

the attitude adjusting mechanism (30) is arranged on the unmanned aerial vehicle (10), and the output end of the attitude adjusting mechanism (30) can be movably arranged relative to the unmanned aerial vehicle (10);

and the engineering measuring head (40) is arranged on the output end of the posture adjusting mechanism (30).

2. Unmanned aerial vehicle for engineering measurement according to claim 1, characterized in that the attitude adjustment mechanism (30) comprises:

a base (31), the base (31) being mounted on the UAV (10);

a roll adjustment assembly (32) mounted on the base (31);

pitch adjustment subassembly (33), install the output of roll adjustment subassembly (32), install engineering measuring head (40) the output of pitch adjustment subassembly (33), the output of pitch adjustment subassembly (33) does the output of gesture guiding mechanism (30), roll adjustment subassembly (32) are used for adjusting the roll angle of engineering measuring head (40), pitch adjustment subassembly (33) are used for adjusting the angle of pitch of engineering measuring head (40).

3. Unmanned aerial vehicle for engineering surveying according to claim 2, characterized in that the roll adjustment assembly (32) comprises:

a roll bracket (321) rotatably hinged on the base (31) along the roll direction of the engineering measuring head (40);

and the rolling driving piece is arranged between the rolling bracket (321) and the base (31) and is used for driving the rolling bracket (321) to rotate.

4. Unmanned aerial vehicle for engineering surveying according to claim 3, characterized in that the pitch adjustment assembly (33) comprises:

a pitching bracket (331) rotatably hinged on the rolling bracket (321) along the pitching direction of the engineering measuring head (40);

and the pitch driving part is arranged between the pitch bracket (331) and the roll bracket (321) and is used for driving the pitch bracket (331) to rotate.

5. The unmanned aerial vehicle for engineering survey of claim 3, wherein the roll driving member comprises a first motor (322) and a first link member (323), the first motor (322) is installed on the roll bracket (321), a rotating shaft of the first motor (322) is in driving connection with a first end of the first link member (323), and a second end of the first link member (323) is hinged with the base (31).

6. The unmanned aerial vehicle for engineering survey of claim 4, wherein the pitch driving member comprises a second motor (332) and a second connecting rod member (333), the second motor (332) is installed on the roll bracket (321), a rotating shaft of the second motor (332) is in driving connection with a first end of the second connecting rod member (333), and a second end of the second connecting rod member (333) is hinged with the pitch bracket (331).

7. Unmanned aerial vehicle for engineering survey according to claim 1, characterized in that the engineering measurement head (40) comprises a housing (41) and binocular structured light cameras (42) and/or laser range finding (43) and/or surveillance cameras (44) mounted within the housing (41).

8. The unmanned aerial vehicle for engineering measurement as claimed in claim 7, wherein a tilt sensor is further installed in the housing (41), the tilt sensor is used for detecting attitude information of the engineering measurement head (40), and the attitude adjusting mechanism (30) adjusts an attitude position of the engineering measurement head (40) according to the attitude information.

9. Unmanned aerial vehicle for engineering surveying according to claim 1, characterized in that the radar (20) is a lidar.

10. Unmanned aerial vehicle for engineering surveying according to claim 1, characterized in that the radar (20) is mounted on top of the unmanned aerial vehicle (10).