CN114199192A - Road topographic map mapping system based on vehicle-mounted point cloud and airborne point cloud - Google Patents
Road topographic map mapping system based on vehicle-mounted point cloud and airborne point cloud Download PDFInfo
- Publication number
- CN114199192A CN114199192A CN202111517407.8A CN202111517407A CN114199192A CN 114199192 A CN114199192 A CN 114199192A CN 202111517407 A CN202111517407 A CN 202111517407A CN 114199192 A CN114199192 A CN 114199192A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- main body
- point cloud
- plate
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000013507 mapping Methods 0.000 title claims abstract description 25
- 230000008093 supporting effect Effects 0.000 claims description 29
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000012876 topography Methods 0.000 claims 9
- 230000000694 effects Effects 0.000 abstract description 2
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a road topographic map surveying and mapping system based on vehicle-mounted and airborne point clouds, which comprises a vehicle-mounted mobile measuring mechanism and an unmanned aerial vehicle oblique photography mechanism, wherein the vehicle-mounted mobile measuring mechanism comprises a main body, two moving parts and inserting plates, the top end of the main body is provided with a data acquisition head through a rectangular rod, the two moving parts are provided with two moving parts, the two moving parts are respectively arranged at two ends of the bottom of the main body, the inserting plates are in a T-shaped plate structure, the four inserting plates are provided with four inserting plates, and the four inserting plates are respectively inserted into the four slots, and the four inserting plates are respectively positioned at four sides of the main body; unmanned aerial vehicle oblique photography mechanism includes the unmanned aerial vehicle body, installs the slope camera in the below of unmanned aerial vehicle body, installs the all around flying wing at the unmanned aerial vehicle body. According to the road topographic map surveying and mapping system based on the vehicle-mounted point cloud and the airborne point cloud, when a moving vehicle has a great jolt, the rectangular rod cannot greatly shake or damage, and the surveying and mapping effect and stability are guaranteed.
Description
Technical Field
The invention belongs to the technical field of topographic map mapping systems, and particularly relates to a road topographic map mapping system based on vehicle-mounted and airborne point clouds.
Background
Surveying and mapping methods based on vehicle-mounted mobile measurement technology and unmanned aerial vehicle oblique photography technology develop rapidly in the years, and have obtained more scientific research achievements and engineering practical experience in respective fields.
However, when the existing vehicle-mounted mobile measuring mechanism is used, because the two sides of the roof of the mobile vehicle are arc-shaped, the installation of the data acquisition equipment on the mobile vehicle is easy to be unstable, and meanwhile, because a supporting structure which is convenient to adjust according to the installation position is lacked, when the mobile vehicle jolts, the top end of the data acquisition equipment (mainly indicating a data acquisition head) is easy to greatly shake, and a long-distance supporting and reinforcing structure is lacked.
Disclosure of Invention
In order to solve the technical problems, the invention provides a road topographic map surveying and mapping system based on vehicle-mounted and airborne point clouds, which aims to solve the problems that when an existing vehicle-mounted mobile measuring mechanism is used, due to the fact that two sides of a vehicle roof are arc-shaped, data acquisition equipment is prone to being installed insufficiently and stably, and a supporting structure which can be adjusted conveniently according to installation positions is lacked.
In order to solve the technical problems, the invention adopts the technical scheme that:
a road topographic map mapping system based on vehicle-mounted and airborne point clouds comprises a vehicle-mounted mobile measuring mechanism and an unmanned aerial vehicle oblique photography mechanism,
the vehicle-mounted mobile measuring mechanism comprises a main body, wherein the main body is of a rectangular structure, a data acquisition head is mounted at the top end of the main body through a rectangular rod, and the main body is fixed at the top end of a mobile vehicle; the movable parts are rectangular plate-shaped structures, the number of the movable parts is two, the two movable parts are respectively installed at two ends of the bottom of the main body, two rectangular grooves are formed in each movable part, two connectors are respectively arranged on two sides of the top end of each movable part, each connector is of a T-shaped structure and embedded in the corresponding movable groove, the inserting plates are of T-shaped plate-shaped structures and are four, the four inserting plates are respectively inserted into the four inserting grooves, and the four inserting plates are respectively located on four sides of the main body;
the unmanned aerial vehicle oblique photography mechanism comprises an unmanned aerial vehicle body, oblique cameras are installed below the unmanned aerial vehicle body, and flying wings are installed on the periphery of the unmanned aerial vehicle body;
and the vehicle-mounted mobile measurement mechanism and the unmanned aerial vehicle oblique photography mechanism are in communication connection with the background server.
Preferably, the corner positions of the top end of the main body are respectively provided with a fixing piece, the fixing pieces are of a U-shaped structure, two ends of the bottom of the main body are respectively provided with two moving grooves, and the moving grooves are of a T-shaped structure.
Preferably, four support rods are arranged at the top end of the main body, the support rods are of an inclined structure, a top piece is fixed at the top ends of the support rods, the top piece is of a rectangular annular structure, and the top piece is sleeved outside the rectangular rod of the main body.
Preferably, four inner sides of the top member are respectively provided with a slot, the slots are of a T-shaped structure, four outer sides of the top member are respectively provided with two auxiliary slots, and the auxiliary slots are of a rectangular structure.
Preferably, a middle groove is formed in the middle of the top end of the moving member, the middle groove is of a rectangular structure, the bottom of a fixing plate is mounted inside the middle groove, the fixing plate is of a cross-shaped structure, the middle of the bottom of the fixing plate is of a rectangular structure, and the fixing plate is made of rubber.
Preferably, each of the moving members is provided with a support block at each of two ends of the bottom thereof, the support block is of a rectangular structure, the bottom of the support block is provided with a V-shaped groove, the support block is made of rubber, two ends of the bottom of the support block are provided with a contact head, and the contact head is of a cylindrical structure.
Preferably, a bottom plate is arranged on the outer side of the bottom of the insertion plate, the bottom plate is of a rectangular plate-shaped structure, two insertion rods are respectively arranged on two sides of the bottom plate, the insertion rods are of an L-shaped structure, and the insertion rods are inserted into the auxiliary grooves (106).
Preferably, stress plates are arranged on the outer side of the inserting plate and the top end of the bottom plate, the stress plates are of inclined plate-shaped structures, a contact plate is arranged at the bottom of the bottom plate, the contact plate is of a rectangular plate-shaped structure, the bottom of the contact plate is of a wedge-shaped structure, and the bottom of the contact plate is in contact with the support rod.
Preferably, the tilt camera includes a lens that can photograph the ground in five directions, i.e., front, rear, left, right, and vertical directions.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the road topographic map surveying and mapping system based on the vehicle-mounted point cloud and the vehicle-mounted point cloud, the supporting blocks are arranged, so that when the road topographic map surveying and mapping system is used, if two sides of the roof of a moving vehicle are of arc structures, the main body is unstable in installation and easy to shake, the supporting blocks can be in contact with the roof, the bottoms of the two sides of the main body are supported, the main body can be stable and cannot shake, and when the road topographic map surveying and mapping system is used on vehicles with other articles on the roof, the moving parts can be controlled to drive the supporting blocks to move inwards, and the connectors can be adjusted in the moving grooves in a self-adaptive mode.
2. According to the road topographic map surveying and mapping system based on the vehicle-mounted point cloud and the vehicle-mounted point cloud, the plugboards are arranged, so that the plugboards can be controlled to be installed in advance when the road topographic map surveying and mapping system is used, the plugboards can be inserted into the slots, the insertion rods can be inserted into the auxiliary slots, the four plugboards can be stably installed, the four plugboards can be positioned on the four sides of the rectangular rod of the main body, the rectangular rod can be supported in all directions, the rectangular rod can be more stable, the plugboards are long, the rectangular rod can be stably supported for a long distance, and when the road topographic map surveying and mapping system is installed on a vehicle to be used, the rectangular rod cannot greatly shake or be damaged after the vehicle is greatly bumped.
Drawings
Fig. 1 is a schematic overall perspective view of the present invention.
Fig. 2 is a schematic bottom view of the vehicle-mounted movement measuring mechanism of the present invention.
Fig. 3 is an exploded perspective and partially enlarged structural schematic diagram of the vehicle-mounted movement measuring mechanism of the invention.
Fig. 4 is an exploded perspective view of the moving member of the present invention.
Fig. 5 is an exploded perspective view of the insert plate of the present invention.
In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a main body; 101. a fixing member; 102. a moving groove; 103. a strut; 104. a top piece; 105. a slot; 106. an auxiliary groove; 2. a moving member; 201. a connector; 202. a middle groove; 203. a fixing plate; 204. a support block; 205. a contact head; 3. inserting plates; 301. a base plate; 302. inserting a rod; 303. a stress plate; 304. a contact plate; 4. an unmanned aerial vehicle body; 401. tilting the camera; 402. flying wings.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, an embodiment of the invention provides a road topographic map mapping system based on vehicle-mounted and airborne point clouds, which comprises a vehicle-mounted mobile measuring mechanism and an unmanned aerial vehicle oblique photography mechanism; the vehicle-mounted mobile measuring mechanism comprises a main body 1; the main part 1 is the rectangle structure for install and use at moving vehicle roof fixed mounting for on-vehicle removal measuring mechanism can follow moving vehicle and remove the use, and the top of main part 1 is installed the data acquisition head through the rectangle pole (in this embodiment, the data acquisition head is the hexagon structure, all is provided with the collection camera on every side), and main part 1 is fixed on the vehicle top. The moving parts 2 are rectangular plate-shaped structures, the moving parts 2 are provided with two moving parts 2, the two moving parts 2 are respectively arranged at two ends of the bottom of the main body 1 and are used for being arranged at the bottom moving and adjusting positions of the main body 1, two rectangular grooves are arranged in each moving part 2, two connectors 201 are respectively arranged at two sides of the top end of each moving part 2, the connectors 201 are T-shaped structures, the connectors 201 are embedded in the moving grooves 102, the connectors 201 can be used at the moving and adjusting positions in the moving grooves 102, the supporting blocks 204 can be positioned at different positions to support the main body 1, the main body 1 can be more stable, the inserting plates 3 are T-shaped plate-shaped structures, the inserting plates 3 are provided with four inserting plates 3, the four inserting plates 3 are respectively inserted into the four inserting grooves 105, the inserting plates 3 can be freely installed and used, and the four inserting plates 3 are respectively positioned at four sides of the main body 1, the rectangular bar of the main body 1 can be supported in all directions. Real-time point cloud data of an area space are obtained by utilizing a vehicle-mounted mobile measuring mechanism, the acquisition of space vector point cloud and image data is completed by matching with an inertial navigation system, GPS equipment, panoramic camera equipment and the like, and the acquired data is wirelessly sent to a background server.
Unmanned aerial vehicle oblique photography mechanism includes unmanned aerial vehicle body 4, installs oblique camera 401 in the below of unmanned aerial vehicle body 4 install all around flying wing 402 of unmanned aerial vehicle body 4. The tilt camera 401 includes a lens that can photograph the ground in five directions, i.e., front, rear, left, right, and vertical directions. The inclined camera 401 carried on the unmanned aerial vehicle body 4 continuously takes photos on the ground, and then the images are processed through a series of images to obtain image data, and the image data can be automatically sent to the background server.
Referring to fig. 1 to 5, a fixing member 101 is respectively disposed at a corner position of a top end of the main body 1, the fixing member 101 is of a U-shaped structure and is used for connecting with a fixing rope to stably fix the main body 1 on a vehicle roof, two moving grooves 102 are respectively disposed at two ends of a bottom of the main body 1, the moving grooves 102 are of a T-shaped structure and are used for embedding an installation connector 201, so that the moving member 2 can be guided to a displacement adjusting position; the top end of the main body 1 is provided with four supporting rods 103, the supporting rods 103 are of an inclined structure and are used for assisting in supporting a top piece 104, the top ends of the supporting rods 103 are fixedly provided with the top piece 104, the top piece 104 is of a rectangular annular structure, and the top piece 104 is sleeved on the outer side of a rectangular rod of the main body 1 and is used for assisting in fixedly supporting the rectangular rod; four sides of the inside of the top part 104 are respectively provided with a slot 105, the slots 105 are of a T-shaped structure and used for inserting the bottom of the inserting plate 3, so that the inserting plate 3 can be freely installed and used according to the use requirement, four sides of the outside of the top part 104 are respectively provided with two auxiliary grooves 106, the auxiliary grooves 106 are of a rectangular structure and used for inserting the inserting rods 302, and the bottom plate 301 can be used for stably installing and supporting the inserting plate 3.
Referring to fig. 1 to 5, a middle groove 202 is arranged at the middle position of the top end of the moving member 2, the middle groove 202 is of a rectangular structure, the bottom of a fixing plate 203 is installed inside the middle groove 202 and used for installing the fixing plate 203, the fixing plate 203 is of a cross structure, the middle position of the bottom of the fixing plate 203 is of a rectangular structure, and the fixing plate 203 is made of rubber, so that after the position of the moving member 2 is adjusted, the main body 1 is fixed, the connecting head 201 can be lifted inside the moving groove 102, the fixing plate 203 can be pressed, and the supporting and fixing effects can be automatically enhanced; two ends of the bottom of each moving element 2 are respectively provided with a supporting block 204, each supporting block 204 is of a rectangular structure, the bottom of each supporting block 204 is provided with a V-shaped groove, each supporting block 204 is made of rubber and used for assisting in supporting the main body 1, so that the main body 1 is more stable, the main body 1 cannot incline and slide, two ends of the bottom of each supporting block 204 are respectively provided with a contact 205, and each contact 205 is of a cylindrical structure and used for assisting in contact and fixation.
Referring to fig. 1 to 5, a bottom plate 301 is disposed at an outer side of a bottom of the board 3, the bottom plate 301 is in a rectangular plate structure and is used for connecting with the board 3, so as to support and connect with an auxiliary support, two sides of the bottom plate 301 are respectively provided with an insertion rod 302, the insertion rod 302 is in an L-shaped structure, and the insertion rod 302 is inserted into the auxiliary groove 106, so that the bottom plate 301 can be fixed; the outer side of the plugboard 3 and the top end of the bottom plate 301 are provided with stress plates 303, the stress plates 303 are of inclined plate-shaped structures and used for assisting in supporting the plugboard 3, so that the plugboard 3 is more stable, the bottom of the bottom plate 301 is provided with a contact plate 304, the contact plate 304 is of a rectangular plate-shaped structure, the bottom of the contact plate 304 is of a wedge-shaped structure, and the bottom of the contact plate 304 is in contact with the supporting rod 103 and used for being stressed and supported, so that the supporting effect is improved.
In this embodiment, the main body 1 can be installed by manual control, if the two sides of the top end of the moving vehicle are arc-shaped structures, the moving member 2 can be controlled to move outwards, if other measuring articles are placed on the vehicle, the moving member 2 can be controlled to move inwards to avoid other measuring articles, then the rope is used to connect with the fixing member 101, and further the main body 1 is pulled and fixed, so that the moving member 2 can be stressed, the connector 201 rises, the fixing plate 203 can be compressed, supported and fixed, so that the main body 1 is installed more stably, then the four inserting plates 3 are installed by manual control, so that the bottoms of the inserting plates 3 can be inserted into the slots 105, the inserting rods 302 can be inserted into the auxiliary slots 106, and further the four inserting plates 3 can be installed simultaneously, and simultaneously support the four sides of the rectangular rods, so that the rectangular rods can be supported and fixed for a long distance, when the vehicle runs into great jolt, if main part 1 top or rectangular pole when producing and rocking, can contact with picture peg 3, and then supplementary fixed, avoid 1 top of main part impaired.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (9)
1. The utility model provides a highway topography mapping system based on-vehicle and machine carries point cloud, includes on-vehicle removal measuring mechanism and unmanned aerial vehicle oblique photography mechanism, its characterized in that:
the vehicle-mounted mobile measuring mechanism comprises a main body (1), wherein the main body (1) is of a rectangular structure, a data acquisition head is mounted at the top end of the main body (1) through a rectangular rod, and the main body (1) is fixed at the top end of a mobile vehicle; the moving parts (2) are of rectangular plate-shaped structures, the number of the moving parts (2) is two, the two moving parts (2) are respectively installed at two ends of the bottom of the main body (1), two rectangular grooves are formed in each moving part (2), two connectors (201) are respectively arranged on two sides of the top end of each moving part (2), each connector (201) is of a T-shaped structure, each connector (201) is embedded in each moving groove (102), and the number of the inserting plates (3) is four, the inserting plates (3) are of T-shaped plate-shaped structures, the number of the inserting plates (3) is four, the four inserting plates (3) are respectively inserted into the four inserting grooves (105), and the four inserting plates (3) are respectively located on four sides of the main body (1);
the unmanned aerial vehicle oblique photography mechanism comprises an unmanned aerial vehicle body (4), oblique cameras (401) are installed below the unmanned aerial vehicle body (4), and flying wings (402) are installed on the periphery of the unmanned aerial vehicle body (4);
and the vehicle-mounted mobile measurement mechanism and the unmanned aerial vehicle oblique photography mechanism are in communication connection with the background server.
2. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 1, wherein: the fixing part (101) is arranged at the corner position of the top end of the main body (1) respectively, the fixing part (101) is of a U-shaped structure, two moving grooves (102) are arranged at two ends of the bottom of the main body (1) respectively, and the moving grooves (102) are of a T-shaped structure.
3. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 1, wherein: the top of main part (1) is equipped with four branch (103), and branch (103) are the slope column structure, and the top of branch (103) is fixed with top (104), and top (104) are rectangle loop configuration, and top (104) cover is in the rectangle pole outside of main part (1).
4. A road topography mapping system based on vehicle and airborne point clouds according to claim 3, wherein: four sides of the interior of the top piece (104) are respectively provided with a slot (105), the slot (105) is of a T-shaped structure, four sides of the exterior of the top piece (104) are respectively provided with two auxiliary grooves (106), and the auxiliary grooves (106) are of a rectangular structure.
5. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 1, wherein: the middle position of the top end of the moving piece (2) is provided with a middle groove (202), the middle groove (202) is of a rectangular structure, the bottom of a fixing plate (203) is arranged inside the middle groove (202), the fixing plate (203) is of a cross-shaped structure, the middle position of the bottom of the fixing plate (203) is of a rectangular structure, and the fixing plate (203) is made of rubber.
6. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 1, wherein: two ends of the bottom of each moving element (2) are respectively provided with a supporting block (204), each supporting block (204) is of a rectangular structure, the bottom of each supporting block (204) is provided with a V-shaped groove, each supporting block (204) is made of rubber, two ends of the bottom of each supporting block (204) are respectively provided with a contact head (205), and each contact head (205) is of a cylindrical structure.
7. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 4, wherein: bottom plate (301) is arranged on the outer side of the bottom of inserting plate (3), bottom plate (301) is of a rectangular plate-shaped structure, two sides of bottom plate (301) are respectively provided with an inserting rod (302), inserting rod (302) is of an L-shaped structure, and inserting rod (302) is inserted into auxiliary groove (106).
8. The vehicle-mounted and airborne point cloud based road topography system of claim 7, wherein: the outer side of the inserting plate (3) and the top end of the bottom plate (301) are provided with stress plates (303), the stress plates (303) are of inclined plate-shaped structures, the bottom of the bottom plate (301) is provided with contact plates (304), the contact plates (304) are of rectangular plate-shaped structures, the bottoms of the contact plates (304) are of wedge-shaped structures, and the bottoms of the contact plates (304) are in contact with the supporting rods (103).
9. The vehicle-mounted and airborne point cloud based road topography mapping system of claim 1, wherein: the tilt camera (402) includes a lens that can photograph the ground from five directions, front, rear, left, right, and vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111517407.8A CN114199192B (en) | 2021-12-13 | 2021-12-13 | Highway topography mapping system based on-vehicle and on-board point cloud |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111517407.8A CN114199192B (en) | 2021-12-13 | 2021-12-13 | Highway topography mapping system based on-vehicle and on-board point cloud |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114199192A true CN114199192A (en) | 2022-03-18 |
| CN114199192B CN114199192B (en) | 2024-02-27 |
Family
ID=80652965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111517407.8A Active CN114199192B (en) | 2021-12-13 | 2021-12-13 | Highway topography mapping system based on-vehicle and on-board point cloud |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114199192B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115215487A (en) * | 2022-09-01 | 2022-10-21 | 田林林 | Sewage sterilizing and purifying integrated instrument |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007302103A (en) * | 2006-05-10 | 2007-11-22 | Sanitary One:Kk | In-vehicle fixing tool for industrial pilotless helicopter |
| CN202782963U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景（武汉）信息技术有限公司 | Panorama acquisition car roof platform |
| CA2830955A1 (en) * | 2012-10-31 | 2014-04-30 | Kabushiki Kaisha Topcon | Aerial photogrammetry and aerial photogrammetric system |
| US20170015253A1 (en) * | 2015-07-14 | 2017-01-19 | Aisin Seiki Kabushisiki Kaisha | Roof rail device |
| CN107064954A (en) * | 2017-05-24 | 2017-08-18 | 云南省交通规划设计研究院 | A kind of highway topography mapping method and system based on vehicle-mounted and airborne cloud |
| JP2018151845A (en) * | 2017-03-13 | 2018-09-27 | 井関農機株式会社 | Working ground map data preparation device of agricultural work vehicle |
| CN209325289U (en) * | 2018-10-23 | 2019-08-30 | 山东鑫地博工程管理有限公司 | A kind of mobile mapping device of panorama camera |
| CN212473317U (en) * | 2020-05-25 | 2021-02-05 | 重庆国勘地图资料采集有限公司 | Map data acquisition vehicle for camera shooting and photograph |
| CN212989655U (en) * | 2020-08-20 | 2021-04-16 | 千寻位置网络有限公司 | Road map acquisition device and lane line map mapping system |
| CN112744145A (en) * | 2020-09-23 | 2021-05-04 | 新余博迅汽车有限公司 | Unmanned aerial vehicle forest fire control command vehicle and command control system |
-
2021
- 2021-12-13 CN CN202111517407.8A patent/CN114199192B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007302103A (en) * | 2006-05-10 | 2007-11-22 | Sanitary One:Kk | In-vehicle fixing tool for industrial pilotless helicopter |
| CN202782963U (en) * | 2012-09-21 | 2013-03-13 | 纵横皆景（武汉）信息技术有限公司 | Panorama acquisition car roof platform |
| CA2830955A1 (en) * | 2012-10-31 | 2014-04-30 | Kabushiki Kaisha Topcon | Aerial photogrammetry and aerial photogrammetric system |
| US20170015253A1 (en) * | 2015-07-14 | 2017-01-19 | Aisin Seiki Kabushisiki Kaisha | Roof rail device |
| JP2018151845A (en) * | 2017-03-13 | 2018-09-27 | 井関農機株式会社 | Working ground map data preparation device of agricultural work vehicle |
| CN107064954A (en) * | 2017-05-24 | 2017-08-18 | 云南省交通规划设计研究院 | A kind of highway topography mapping method and system based on vehicle-mounted and airborne cloud |
| CN209325289U (en) * | 2018-10-23 | 2019-08-30 | 山东鑫地博工程管理有限公司 | A kind of mobile mapping device of panorama camera |
| CN212473317U (en) * | 2020-05-25 | 2021-02-05 | 重庆国勘地图资料采集有限公司 | Map data acquisition vehicle for camera shooting and photograph |
| CN212989655U (en) * | 2020-08-20 | 2021-04-16 | 千寻位置网络有限公司 | Road map acquisition device and lane line map mapping system |
| CN112744145A (en) * | 2020-09-23 | 2021-05-04 | 新余博迅汽车有限公司 | Unmanned aerial vehicle forest fire control command vehicle and command control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115215487A (en) * | 2022-09-01 | 2022-10-21 | 田林林 | Sewage sterilizing and purifying integrated instrument |
| CN115215487B (en) * | 2022-09-01 | 2024-01-05 | 田林林 | Sewage sterilization and purification integrated instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114199192B (en) | 2024-02-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103895584B (en) | Movable lifting type vehicle-mounted panorama holder with high precision locating function | |
| BRPI1006265B1 (en) | flotation unit, system and method for operating a flotation unit | |
| CN114199192A (en) | Road topographic map mapping system based on vehicle-mounted point cloud and airborne point cloud | |
| CN109564375A (en) | Photographic device | |
| CN214165328U (en) | Helicopter is navigated and is patrolled with alignment jig of photo shooting device | |
| CN111426309A (en) | Acquisition and processing method based on three-dimensional topographic mapping data | |
| CN113716056A (en) | Camera linkage that civil unmanned aerial vehicle was taken photo by plane | |
| CN110203393A (en) | A kind of quickly mapping multi-rotor unmanned aerial vehicle and its mapping method | |
| CN106864763B (en) | A kind of accurate positioning that auxiliary unmanned plane lands and fixed device | |
| CN212056386U (en) | Image pickup apparatus and intelligent image pickup system | |
| CN113932776B (en) | Live-action modeling unmanned aerial vehicle system | |
| CN211001835U (en) | Unmanned aerial vehicle positioner that charges | |
| CN208376659U (en) | Vehicular panorama acquisition device | |
| US20190379813A1 (en) | System, method, and program for calculating distance | |
| CN205861051U (en) | A kind of aviation three-dimensional geographic information harvester | |
| CN217424371U (en) | Photogrammetric system | |
| KR101862120B1 (en) | Drones for camera fixing braket equipment | |
| CN113074698A (en) | Intelligent tower inclination detection system based on machine vision | |
| CN214084824U (en) | Aerial survey unmanned aerial vehicle | |
| CN112318510B (en) | Mobile robot based on binocular vision | |
| CN217170589U (en) | Survey and drawing is with car roof field investigation device of collecting evidence | |
| CN216113191U (en) | Three-dimensional data acquisition vehicle for constructing military simulation exercise scene | |
| CN214420721U (en) | Aerial survey unmanned aerial vehicle photography holder | |
| CN116605406B (en) | Throwing system, control method thereof and flying equipment | |
| CN219809677U (en) | Engineering investigation mapping instrument based on satellite positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |