CN112977859B - Surveying and mapping device and method based on BIM unmanned aerial vehicle - Google Patents
Surveying and mapping device and method based on BIM unmanned aerial vehicle Download PDFInfo
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- CN112977859B CN112977859B CN202110378012.8A CN202110378012A CN112977859B CN 112977859 B CN112977859 B CN 112977859B CN 202110378012 A CN202110378012 A CN 202110378012A CN 112977859 B CN112977859 B CN 112977859B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The invention discloses a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle, which comprises a frame, wherein two ends of one side surface of the frame are fixedly connected with supporting legs, two ends of one side surface of the frame are fixedly connected with fixed blocks, one side surface of each fixed block is fixedly provided with a first motor, one side surface of each first motor is rotatably provided with a threaded rod, one end of each threaded rod is rotatably connected with one side surface of each fixed block, the surface of each threaded rod is connected with a U-shaped frame through a threaded hole in a threaded manner, one end surface of each U-shaped frame is slidably connected with one side surface of the frame, the other side surface of each U-shaped frame is fixedly provided with a second motor, the shaft end of each second motor is rotatably provided with a BIM surveying and mapping camera, one end of each BIM surveying and mapping camera is positioned on one side surface of each U-shaped frame, and the other end of each BIM surveying and mapping camera is fixedly provided with a lens, therefore, the convenience and the stability of use can be greatly improved, and the surveying and mapping efficiency and the accuracy are ensured.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle surveying and mapping, in particular to a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle.
Background
In current daily life and work, in order to facilitate planning and management of the land, surveying and mapping are needed, generally based on the BIM technology, photography operation is performed through an unmanned aerial vehicle, and then accurate surveying and mapping are performed.
The BIM technology is proposed by Autodesk company in 2002, can help to realize the integration of building information, and various information is always integrated in a three-dimensional model information database from the design, construction and operation of a building to the end of the whole life cycle of the building, thereby effectively improving the working efficiency, saving resources, reducing the cost and realizing sustainable development.
But among the current BIM unmanned aerial vehicle mapping device, it is direct at unmanned aerial vehicle bottom fixed mounting survey and drawing camera many, then use through the wireless technology transmission, but such mode can not adjust the transverse position as required, causes the survey and drawing deviation easily after the flight, and turn to adjust inconvenient, adaptability is poor, can not carry out the sign to the direction that the camera lens was made a video recording simultaneously, the picture of making a video recording the shooting many times can not be adjusted the concatenation well, influence survey and drawing accuracy, wait to improve.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a surveying and mapping device and a surveying and mapping method based on a BIM unmanned aerial vehicle.
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides a survey and drawing device based on BIM unmanned aerial vehicle, includes the frame, a side surface both ends of frame all fixedly connected with landing leg, a side surface both ends fixedly connected with fixed block of frame, a side surface fixed mounting of fixed block has first motor, a side surface of first motor is rotated and is installed the threaded rod, one end of threaded rod is rotated and is connected with a side surface of fixed block, the surface of threaded rod is connected with U type frame through screw hole screw thread, the surface of one end of U type frame is connected in a side surface of frame in a sliding manner, another side surface fixed mounting of U type frame has the second motor, the axle head of second motor is rotated and is installed BIM survey and drawing camera, one end of BIM survey and drawing camera is located a side surface of U type frame, the other end fixed mounting of BIM survey and drawing camera has the camera lens;
the surface of one end of the BIM surveying and mapping camera is rotatably provided with a rotating ring, one side surface of the rotating ring is positioned at one side position of the lens, the connecting angle can be rotatably adjusted by installing the rotating ring, the adaptability is high, the other end surface of the rotating ring is fixedly connected with a connecting rod, one end of the connecting rod is fixedly provided with an adjusting ring, the adjusting ring is connected through the connecting rod and can be rotatably adjusted to be square, the collision interference is avoided, the convenience and the stability are realized, the surface of the adjusting ring is provided with a square hole, the corner position of the square hole is provided with an identification block, the shooting angle can be identified by connecting the identification block in the square hole, the alignment and the splicing of videos are facilitated, the dislocation is avoided, the accuracy is improved, the other side surface of the rotating ring is in threaded connection with a positioning screw, one end of the positioning screw is tightly connected to the side surface of the BIM surveying and is connected with a positioning screw through the rotating ring, can be adjusted to lock and position, avoid loosening, and is convenient and stable.
The surveying and mapping method of the surveying and mapping device comprises the following steps:
s1, adjusting the lens, driving the adjusting ring to rotate in the angle direction through the rotating ring, and screwing the locking position of the positioning screw;
s2, adjusting the square hole to align to the position of the lens, positioning the identification block to three points in the shooting direction, and enabling the vacant position to correspond to the right small angle in the shooting direction;
s4, starting the unmanned aerial vehicle, driving the rack to fly up through the rotor wing, and reaching a preset surveying and mapping height;
s5, starting the BIM surveying and mapping camera to photograph, and enabling the unmanned aerial vehicle to fly according to a preset straight line square shape;
s6, starting a first motor to drive a threaded rod to rotate, driving a U-shaped frame and a BIM surveying and mapping camera to move transversely, and compensating transverse deviation in the linear flight direction;
s7, when the unmanned aerial vehicle reaches the farthest end of the surveying and mapping, the transverse moving position carries out return flight shooting, and the whole surveying and mapping area is covered by repeated operation;
s8, returning the unmanned aerial vehicle, carrying out identification contraposition through the vacant position, splicing the multiple shot videos to form a global image, and surveying and mapping according to a scale.
Further, the identification block has threely, and is located the three turning position of quad slit respectively, sets up three identification block, can reserve a vacancy position, does benefit to discernment, makes things convenient for the survey and drawing to use.
Furthermore, one side surface of the adjusting ring is connected with one side surface of the lens in a sliding mode and is located at the bottom position.
Further, the opposite side fixed surface of frame installs the support, the surface rotation of support installs the rotor, through the installation rotor, does benefit to the flight survey and drawing.
Further, compared with the prior art, the invention has the advantages that:
(1) this scheme passes through first motor of frame bottom installation and threaded rod, and then threaded connection U type frame, can horizontal screw thread adjusting position, and the offset distance is compensated in convenient regulation when flight, simultaneously through second motor installation BIM survey and drawing camera, can rotate angle regulation, can adjust the shooting well, does benefit to the concatenation survey and drawing.
(2) Through the installation swivel becket, can rotate the regulation connection angle, the adaptability is high.
(3) The connecting rod is connected with the adjusting ring, the adjusting ring can be rotated to be square, the collision interference is avoided, and the device is convenient and stable.
(4) Through at quad slit internal connection sign piece, can the sign shoot angle, do benefit to and adjust the concatenation video well, avoid the dislocation, improve the accuracy.
(5) Set up three sign piece, can reserve a vacancy position, do benefit to discernment, convenient survey and drawing is used.
(6) The rotating ring is connected with the positioning screw, so that the locking and positioning can be realized after adjustment, the looseness is avoided, and the device is convenient and stable.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial schematic view of the U-shaped frame connection of the present invention;
FIG. 3 is an enlarged view of the pivot ring attachment of FIG. 1 in accordance with the present invention at point A;
fig. 4 is a schematic view of the structure of the adjusting ring of the present invention.
The reference numbers in the figures illustrate:
the rotary wing-type surveying and mapping system comprises a machine frame 1, 11 supporting legs, 12 fixing blocks, 13 first motors, 14 threaded rods, 15 threaded holes, 16U-shaped frames, 17 second motors, 18 BIM surveying and mapping cameras, 19 lenses, 2 rotating rings, 21 positioning screws, 22 connecting rods, 23 adjusting rings, 24 square holes, 25 identification blocks, 26 supports and 27 rotary wings.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the embodiments described are merely exemplary embodiments, rather than exemplary embodiments, and that all other embodiments may be devised by those skilled in the art without departing from the scope of the present invention.
Referring to fig. 1-4, a surveying and mapping device based on a BIM unmanned aerial vehicle comprises a frame 1, referring to fig. 1 and 2, wherein two ends of one side surface of the frame 1 are fixedly connected with supporting legs 11, two ends of one side surface of the frame 1 are fixedly connected with fixing blocks 12, one side surface of each fixing block 12 is fixedly provided with a first motor 13 which can rotate to adjust the transverse position, so as to compensate flight deviation and ensure surveying and mapping accuracy, one side surface of each first motor 13 is rotatably provided with a threaded rod 14, one end of each threaded rod 14 is rotatably connected with one side surface of each fixing block 12, the surface of each threaded rod 14 is in threaded connection with a U-shaped frame 16 through a threaded hole 15, so that the device can be transversely adjusted, is convenient and stable and is beneficial to operation and use, one end surface of each U-shaped frame 16 is slidably connected with one side surface of the frame 1, the other side surface of each U-shaped frame 16 is fixedly provided with a second motor 17, and a BIM surveying and mapping camera 18 is rotatably arranged at the shaft end of the second motor 17, can make a video recording survey and drawing, then with the video concatenation combination, can shoot by a large scale, guarantee survey and drawing efficiency and accuracy, BIM survey and drawing camera 18's one end is located a side surface of U type frame 16, and BIM survey and drawing camera 18's other end fixed mounting has camera lens 19, and frame 1's another side surface fixed mounting has support 26, and support 26's surface rotation installs rotor 27, through installing rotor 27, does benefit to the flight survey and drawing.
Referring to fig. 3 and 4, a rotating ring 2 is rotatably mounted on one end surface of a BIM surveying and mapping camera 18, one side surface of the rotating ring 2 is located at one side position of a lens 19, the rotating ring 2 is mounted and can be rotated to adjust a connection angle, the adaptability is high, a positioning screw 21 is in threaded connection with the other side surface of the rotating ring 2, one end of the positioning screw 21 is tightly connected to the side surface of the BIM surveying and mapping camera 18, the rotating ring 2 is connected with the positioning screw 21 and can be locked and positioned after adjustment, the looseness is avoided, the convenience and the stability are achieved, a connecting rod 22 is fixedly connected to the other end surface of the rotating ring 2, an adjusting ring 23 is fixedly mounted at one end of the connecting rod 22, the connecting rod 22 is connected with the adjusting ring 23, the squareness can be adjusted in a rotating manner, the collision interference is avoided, the convenience and the stability are achieved, a square hole 24 is formed in the surface of the adjusting ring 23, and an identification block 25 is arranged at the corner position of the square hole 24, through at square 24 internal connection identification block 25, can the sign shoot the angle, do benefit to and adjust the concatenation video well, avoid the dislocation, improve the accuracy, identification block 25 has threely, and is located the three turning position of square 24 respectively, sets up three identification block 25, can reserve a vacancy position, does benefit to the discernment, makes things convenient for the survey and drawing to use.
The surveying and mapping method of the surveying and mapping device comprises the following steps:
s1, adjusting the lens, driving the adjusting ring to rotate in the angle direction through the rotating ring, and screwing the locking position of the positioning screw;
s2, adjusting the square hole to align to the position of the lens, positioning the identification block to three points in the shooting direction, and enabling the vacant position to correspond to the right small angle in the shooting direction;
s4, starting the unmanned aerial vehicle, driving the rack to fly up through the rotor wing, and reaching a preset surveying and mapping height;
s5, starting the BIM surveying and mapping camera to photograph, and enabling the unmanned aerial vehicle to fly according to a preset straight line square shape;
s6, starting a first motor to drive a threaded rod to rotate, driving a U-shaped frame and a BIM surveying and mapping camera to move transversely, and compensating transverse deviation in the linear flight direction;
s7, when the unmanned aerial vehicle reaches the farthest end of the surveying and mapping, the transverse moving position is subjected to return flight shooting, the whole surveying and mapping area is covered by repeated operation, and the surveying and mapping data are transmitted to a database based on a BIM technology;
s8, returning the unmanned aerial vehicle, carrying out identification contraposition through the vacant position, splicing the multiple shot videos to form a global image, and surveying and mapping according to a scale.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (2)
1. The utility model provides a based on BIM unmanned aerial vehicle mapping device, includes frame (1), its characterized in that: the equal fixedly connected with landing leg (11) in a side surface both ends of frame (1), a side surface both ends fixedly connected with fixed block (12) of frame (1), a side fixed surface of fixed block (12) installs first motor (13), a side surface of first motor (13) rotates and installs threaded rod (14), the one end of threaded rod (14) rotates and is connected with a side surface of fixed block (12), the surface of threaded rod (14) has U type frame (16) through screw hole (15) threaded connection, the one end surface sliding connection of U type frame (16) is in a side surface of frame (1), the opposite side fixed surface of U type frame (16) installs second motor (17), the survey and drawing camera (18) is installed in the rotation of second motor (17) axle head, the one end of BIM survey and drawing camera (18) is located a side surface of U type frame (16), a lens (19) is fixedly arranged at the other end of the BIM surveying and mapping camera (18);
a rotating ring (2) is rotatably mounted on the surface of one end of the BIM surveying and mapping camera (18), the surface of one side of the rotating ring (2) is located at the position of one side of the lens (19), a connecting rod (22) is fixedly connected to the surface of the other end of the rotating ring (2), an adjusting ring (23) is fixedly mounted at one end of the connecting rod (22), a square hole (24) is formed in the surface of the adjusting ring (23), an identification block (25) is arranged at the corner position of the square hole (24), a positioning screw (21) is in threaded connection with the surface of the other side of the rotating ring (2), and one end of the positioning screw (21) is tightly connected to the side face of the BIM surveying and mapping camera (18) in a propping manner;
the number of the identification blocks (25) is three, the identification blocks are respectively positioned at three corner positions of the square hole (24), and one side surface of the adjusting ring (23) is connected with one side surface of the lens (19) in a sliding mode and is positioned at the bottom position;
the surveying and mapping method of the surveying and mapping device comprises the following steps:
s1, adjusting the lens, driving the adjusting ring to rotate in the angle direction through the rotating ring, and screwing the locking position of the positioning screw;
s2, adjusting the square hole to align to the position of the lens, positioning the identification block to three points in the shooting direction, and enabling the vacant position to correspond to the right small angle in the shooting direction;
s4, starting the unmanned aerial vehicle, driving the rack to fly up through the rotor wing, and reaching a preset surveying and mapping height;
s5, starting the BIM surveying and mapping camera to photograph, and enabling the unmanned aerial vehicle to fly according to a preset straight line square shape;
s6, starting the first motor to drive the threaded rod to rotate, and driving the U-shaped frame and the BIM to survey the transverse moving position of the camera, and compensating the transverse deviation of the linear flight direction;
s7, when the unmanned aerial vehicle reaches the farthest end of the surveying and mapping, the transverse moving position carries out return flight shooting, and the whole surveying and mapping area is covered by repeated operation;
s8, returning the unmanned aerial vehicle, carrying out identification contraposition through the vacant position, splicing the multiple shot videos to form a global image, and surveying and mapping according to a scale.
2. The BIM-based unmanned aerial vehicle surveying and mapping device of claim 1, wherein: the other side fixed surface of frame (1) installs support (26), the surface rotation of support (26) installs rotor (27).
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| CN113697122B (en) * | 2021-09-13 | 2023-07-14 | 宋增巡 | Unmanned aerial vehicle mapping device and mapping method based on BIM |
| CN114136294B (en) * | 2021-11-26 | 2022-08-16 | 山东省物化探勘查院 | Intelligent three-dimensional topographic surveying and mapping device |
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| CN111698412A (en) * | 2019-03-12 | 2020-09-22 | 杭州海康机器人技术有限公司 | Dual-spectrum panoramic image acquisition method and device, unmanned aerial vehicle and client |
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| CN203786371U (en) * | 2014-02-27 | 2014-08-20 | 刘昊 | Filter support, lens comprising filter support and frame assembly |
| CN207851394U (en) * | 2018-01-16 | 2018-09-11 | 任治辉 | It is a kind of can 360 degree adjusting Multimedia Mobile optical lens |
| CN108583856A (en) * | 2018-04-10 | 2018-09-28 | 清远市巨劲科技有限公司 | A kind of mapping unmanned plane convenient for storage |
| CN108848335B (en) * | 2018-05-24 | 2023-10-10 | 广东工业大学 | Unmanned aerial vehicle image stitching system and method |
| AU2018450426B2 (en) * | 2018-11-21 | 2022-12-01 | Guangzhou Xaircraft Technology Co., Ltd. | Method and device for planning sample points for surveying and mapping, control terminal and storage medium |
| US11610337B2 (en) * | 2019-02-17 | 2023-03-21 | Purdue Research Foundation | Calibration of cameras and scanners on UAV and mobile platforms |
| CN211013976U (en) * | 2019-09-05 | 2020-07-14 | 西安瑞丰仪器设备有限责任公司 | Imaging measurement system |
| CN212584676U (en) * | 2020-03-17 | 2021-02-23 | 福建省新天地信勘测有限公司 | Novel aerial photography survey and drawing device |
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