CN114228996B - Surveying and mapping unmanned aerial vehicle and surveying and mapping method thereof - Google Patents
Surveying and mapping unmanned aerial vehicle and surveying and mapping method thereof Download PDFInfo
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- CN114228996B CN114228996B CN202111310950.0A CN202111310950A CN114228996B CN 114228996 B CN114228996 B CN 114228996B CN 202111310950 A CN202111310950 A CN 202111310950A CN 114228996 B CN114228996 B CN 114228996B
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- 238000013507 mapping Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 239000000428 dust Substances 0.000 claims abstract description 46
- 239000004744 fabric Substances 0.000 claims description 28
- 238000009434 installation Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000011109 contamination Methods 0.000 claims 1
- 210000003781 tooth socket Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000010186 staining Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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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- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a surveying and mapping unmanned aerial vehicle and a surveying and mapping method thereof, wherein the surveying and mapping unmanned aerial vehicle comprises a machine body, a central control module is fixedly arranged at the top of the machine body, a mounting platform and a landing gear are fixedly connected to the bottom of the machine body, a main camera and side cameras are fixedly arranged at the bottom of the mounting platform, lenses of the main camera face to the right lower side, lenses of the two side cameras incline to two sides respectively, and a first auxiliary surveying and mapping mechanism and a second auxiliary surveying and mapping mechanism are respectively arranged on the lower end surfaces of the main camera and the side cameras. According to the invention, the first auxiliary mapping mechanism is matched with the second auxiliary mapping mechanism, so that the lenses of the main camera and the side camera can be wiped clean when the lenses of the main camera and the side camera are stained with rainwater or dust, and the proportion of the photographed mapping pictures is ensured to be consistent under the condition of strong wind.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle mapping, in particular to a mapping unmanned aerial vehicle and a mapping method thereof.
Background
After geological disasters happen, serious damages are caused to traffic and communication of disaster areas, rescue workers are difficult to enter the scene of the disaster areas at the first time, disaster conditions of the disaster areas, particularly information related to geographical space information, cannot be transmitted to rescue command decision makers, currently, accurate, visual, comprehensive and multi-angle mapping topographic maps of the disaster areas can be timely obtained by adopting an oblique photographing technology, oblique images are images obtained by aerial cameras with certain oblique angles, a plurality of sensors are carried on an unmanned aerial vehicle, images of ground targets are collected from different angles such as vertical angles and oblique angles, and in the same aerial zone, the oblique cameras continuously shoot images with a plurality of groups of overlapped images to generate three-dimensional model data for emergency rescue command and disaster condition assessment.
Because the inclination angles of the cameras on two sides are about 45 degrees, if the cameras on two sides are rained during mapping, the cameras on two sides are stained with rainwater, mapping lenses are pasted by the rainwater, so that the measured topographic map is fuzzy and has errors, the focal length of the cameras is well determined during mapping, the proportion of the photographed pictures can be ensured to be consistent when the cameras are photographed at a certain height, but the unmanned aerial vehicle is higher or lower than the set height when being scraped by strong wind, the unmanned aerial vehicle is difficult to quickly restore the height, the proportion of the measured map photographed at the moment is changed, and the photographed pictures are difficult to splice; and unmanned aerial vehicle is when the landing, is difficult to guarantee that the ground that falls is level and smooth, if the stone can lead to its and camera lens collision to cause the loss appears on ground, and have the dust to be blown up when unmanned aerial vehicle falls, lead to the camera lens to be infected with the survey and drawing that the dust is unfavorable for next time, for this reason, we propose a survey and drawing unmanned aerial vehicle and survey and drawing method thereof.
Disclosure of Invention
The invention mainly aims to provide a surveying and mapping unmanned aerial vehicle and a surveying and mapping method thereof, wherein when the lenses of a main camera and a side camera are stained with rainwater or dust by matching a first auxiliary surveying and mapping mechanism with a second auxiliary surveying and mapping mechanism, the lenses of the main camera and the side camera can be wiped clean, and the proportion of shot surveying and mapping pictures can be ensured to be consistent under the condition of strong wind; can avoid unmanned aerial vehicle at the in-process that falls can avoid the camera lens to be infected with the dust through the supplementary mapping mechanism of second, protect the main camera when falling to the ground simultaneously, avoid taking place the damage, can effectively solve the problem among the background art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a survey and drawing unmanned aerial vehicle, includes the organism, the top fixed mounting of organism has central control module, the bottom fixedly connected with mounting platform and the undercarriage of organism, mounting platform's bottom fixed mounting has main camera and side camera, the camera lens of main camera is towards under, two the camera lens of side camera inclines to both sides respectively, the lower terminal surface of main camera and side camera is provided with first supplementary mapping mechanism and the supplementary mapping mechanism of second respectively, two the undercarriage is located mounting platform's both sides respectively.
The invention is further improved in that the first auxiliary mapping mechanism comprises a first rotary table, a rotary hole is formed in the center of the first rotary table, a first mounting rod is connected in the rotary hole in a rotary mode, the top end of the first mounting rod is fixedly connected with the bottom of the mounting platform, the inclination angle of the first mounting rod is the same as that of the side camera, a containing groove is formed in the bottom of the first rotary table, an windward plate is arranged in the containing groove, three through holes are formed in the first rotary table, a focal length amplifying lens and a focal length reducing lens are respectively and fixedly arranged in the two through holes, and gear teeth are uniformly and fixedly arranged on the side edges of the first rotary table.
The structure can be realized by the following steps: when the side camera shoots, the lens is aligned with the through hole on which the focus magnifying lens and the focus reducing lens are not installed.
The invention is further improved in that a connecting rod is fixedly arranged on the side face of the first mounting rod, a limiting block is fixedly connected to the bottom of one end, far away from the first mounting rod, of the connecting rod, three limiting grooves are formed in the top of the first rotary table, the three limiting grooves are equidistantly arranged, the size of each limiting groove is matched with that of each limiting block, a plurality of protruding blocks are fixedly arranged on the top of the first rotary table, the protruding blocks are located under the movement track of the limiting block, the protruding blocks are surrounded into a circular shape, first dust removing cloth is fixedly arranged on the top of the first rotary table, and each first dust removing cloth is located between adjacent through holes.
The structure can be realized by the following steps: when the first auxiliary mapping mechanism is needed to remove raindrops on the lens, the windward plate is unfolded from the storage groove, wind power drives the first turntable to rotate around the first mounting rod by pushing the windward plate, and the first turntable enables the first dust removing cloth to wipe the lens of the side camera; when the wind power is too big, the height of the machine body is difficult to control, when the proportion of taking pictures needs to be adjusted by using the focal length enlarging lens or the focal length reducing lens, the rotation speed of the first rotary table is too fast, the limiting block is controlled to stretch, the limiting block is contacted with the convex block to be used for reducing the speed, when the focal length enlarging lens or the focal length reducing lens is positioned under the lens, the limiting block is further stretched, the limiting block is positioned in the limiting groove to be fixed, and the focal length enlarging lens and the focal length reducing lens can also play a role in blocking dust when the unmanned aerial vehicle falls.
The invention is further improved in that the second auxiliary mapping mechanism comprises a second rotary table, a shooting hole is formed in the round part of the second rotary table, a second dust removing cloth is fixedly arranged at the top of the second rotary table and located at the outer side edge of the shooting hole, a sliding groove is formed in the top of the second rotary table, the sliding groove is in a circular shape, a second mounting rod is connected inside the sliding groove in a sliding mode, the top of the second mounting rod is connected with the bottom of the mounting platform in a sliding mode, tooth grooves are uniformly formed in the side face of the second rotary table, and the tooth grooves on the second rotary table are matched with the tooth teeth on the first rotary table.
The structure can be realized by the following steps: the camera lens of the main camera is aligned to the shooting hole, and the tooth socket on the second rotary table is meshed with the tooth socket on the first rotary table by moving the second mounting rod to the left side or the right side, meanwhile, the camera lens is contacted with the second dust removing cloth, and the first rotary table rotates to drive the second rotary table to rotate, so that rainwater or dust stained on the main camera and the side camera can be cleaned simultaneously.
The invention is further improved in that an L-shaped rod is fixedly arranged on the side face of the second mounting rod, an arc-shaped groove is formed in the upper surface of the second rotary table, the radian of the arc-shaped groove is matched with the motion track of the tail end of the L-shaped rod, an inflator is fixedly arranged in the arc-shaped groove, a placing groove is formed in the bottom of the arc-shaped groove, a reset spring is arranged in the placing groove, one end of the reset spring is fixedly connected with the inner wall of the placing groove, the other end of the reset spring is fixedly connected with the tail end of the inflator, a lifting block is fixedly arranged at the tail end of the arc-shaped groove, and the L-shaped rod is made of rubber materials and has certain elasticity.
The structure can be realized by the following steps: the second carousel is at pivoted in-process, the bottom of the montant of L shape pole is located the arc wall, and along with the rotation of carousel, L shape pole extrusion inflator, reset spring stretches, when L shape pole reachd the tail end in arc wall, because L shape pole has certain elasticity, the lifter has certain slope, and the lowest department and the arc wall contact of lifter inclined plane, the highest department and the upper surface parallel and level of second carousel on the lifter inclined plane, at the in-process that removes, the part that L shape pole is located the arc wall is by the ejecting arc wall of lifter, reset spring resumes normal position and pulls the inflator, the second carousel lasts to rotate and makes the inflator push and pull back and forth.
The invention is further improved in that a cavity and an extension hole are formed in the second rotary table, an air bag and a baffle are arranged in the cavity, the outer side of the air bag is fixedly connected with the inner wall of the cavity, the other side of the air bag is fixedly connected with the baffle, one end, far away from the air bag, of the baffle is positioned in the extension hole, an air outlet of the inflator is fixedly connected with an air tube, the tail end of the air tube penetrates through the second rotary table and is fixedly connected with the air bag, an electric valve is fixedly arranged at the bottom of the air bag, and an ejection plate is fixedly arranged at the bottom of the second rotary table.
The structure can be realized by the following steps: when unmanned aerial vehicle will descend, electronic pneumatic valve is closed, and the inflator makes a round trip the push-and-pull and inflates for the gasbag through the gas tube, at the in-process of gasbag inflation, the gasbag can release the baffle cavity, and the baffle is shot Kong Dangzhu, avoids through shooting hole dust come-up, and the gasbag continues the inflation and can jack-up the pop-up board, makes the gasbag be located the below of second carousel, plays the effect of buffering when descending, and unmanned aerial vehicle keeps the electronic pneumatic valve at the open state when aerial survey and drawing, avoids the gasbag to expand this moment.
The invention is further improved in that the central control module has the functions of unmanned aerial vehicle positioning, unmanned aerial vehicle flying height determining and mapping photo real-time monitoring.
The structure can be realized by the following steps: and determining the position and the height of the unmanned aerial vehicle in real time, and when the height deviates from the set height, if the unmanned aerial vehicle cannot return to the original height as soon as possible, lifting or descending the unmanned aerial vehicle to another preset height along the wind power, and ensuring that the proportion of the photographed pictures is the same by moving the focal length enlarging lens or the focal length reducing lens to the position under the lens.
The invention further improves a mapping method of a mapping unmanned aerial vehicle, wherein the mapping method of the unmanned aerial vehicle comprises the following steps:
(1) The method comprises the steps that a mapped route is set, the unmanned aerial vehicle flies according to the route after taking off, flight data are transmitted to ground personnel through a central control module, the ground personnel observe the flight state of the unmanned aerial vehicle in real time, and when the flight abnormality is found, the flight state of the unmanned aerial vehicle can be corrected in time;
(2) When the unmanned aerial vehicle flies to a corresponding height, the main camera and the side camera shoot a photo according to the arranged image control points, if the mapping area is observed to be rainy, the lens can be prevented from being pasted by rainwater through the first auxiliary mapping mechanism, the windward plate is unfolded, the first rotating disc is rotated by wind force, the first dust removing cloth wipes the lens of the side camera, the second rotating disc is contacted with the first rotating disc through moving the second mounting rod, the second rotating disc is driven to rotate, the second dust removing cloth wipes the lens of the main camera, and the windward plate is folded at ordinary times, so that the flying speed of the unmanned aerial vehicle is prevented from being influenced by overlarge resistance;
(3) When the aerial wind power is overlarge, the flying height of the unmanned aerial vehicle changes, the unmanned aerial vehicle is difficult to quickly adjust the height back to the original position, the machine body is flown upwards or downwards to a certain height along the wind power, the proportion of shooting pictures is adjusted through a focus magnifying lens or a focus reducing lens, and the first auxiliary mapping mechanism and the second auxiliary mapping mechanism need to work in a non-shooting time period;
(4) After mapping is finished, the windward plate is unfolded again to play a certain buffering role in the landing process of the unmanned aerial vehicle, the second installation rod is moved to enable the second turntable to be in contact with the first turntable, the electric valve is closed, the air bag in the second turntable continuously inflates when the second turntable rotates until the baffle plate completely closes the shooting hole, the air bag extrudes the cavity through the popup plate, dust pollution of the main camera can be avoided when the unmanned aerial vehicle lands, and meanwhile, the main camera is protected to prevent damage caused by collision with hard objects in the landing process;
(5) The main camera and the side camera are used for shooting photos, so that the same ground object can be found on at least 3 photos at the same time, three-dimensional model data, TIN, DSM, DOM and other digital mapping products can be generated through multi-view image joint adjustment and multi-view image dense matching technologies in the later period, and in a three-dimensional model, disaster body boundary, position, length, volume and other information can be accurately defined through overlooking, upward viewing, rotation and other operations, so that disaster areas can be accurately rescued.
Compared with the prior art, the invention can clean the lenses of the main camera and the side camera when the lenses of the main camera and the side camera are stained with rainwater or dust through the matching of the first auxiliary mapping mechanism and the second auxiliary mapping mechanism, can ensure that the proportion of the photographed mapping photos is consistent under the condition of heavy wind, keeps the electric air valve in an open state, expands the windward plate from the storage groove, drives the first rotating plate to rotate by pushing the windward plate, the first rotating plate wipes the lenses of the side camera by the first dust removing cloth, moves the second mounting rod to the left side or the right side, enables the tooth socket on the second rotating plate to be meshed with the gear teeth on the first rotating plate, simultaneously contacts with the second dust removing cloth, and enables the first rotating plate to rotate to drive the second rotating plate to clean the polluted rainwater or dust on the main camera and the side camera.
Compared with the prior art, the invention can avoid the dust pollution of the lens in the falling process of the unmanned aerial vehicle through the second auxiliary mapping mechanism, meanwhile, the main camera is protected in the falling process, damage is avoided, the electric air valve is controlled to be closed when the unmanned aerial vehicle falls down, tooth grooves and gear teeth are kept in meshed states, the second turntable is rotated in the process, the bottom end of the vertical rod of the L-shaped rod is positioned in the arc-shaped groove, the L-shaped rod extrudes the inflator along with the rotation of the turntable, the reset spring stretches, when the L-shaped rod reaches the tail end of the arc-shaped groove, as the L-shaped rod has certain elasticity, the lifting block has certain gradient, the lowest part of the inclined plane of the lifting block is contacted with the arc-shaped groove, the highest part of the inclined plane of the lifting block is flush with the upper surface of the second turntable, in the moving process, the L-shaped rod is pushed out of the arc-shaped groove by the lifting block, the reset spring returns to the original position and pulls the inflator, the inflator is continuously rotated to push and pull the inflator back and forth, the air bag is pushed out of the cavity along with the rotation of the turntable, the baffle plate is inflated, the baffle plate is Kong Dangzhu is inflated, and the dust is prevented from falling down to the air bag through the top plate when the air bag is continuously located below the air bag.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a mapping unmanned aerial vehicle.
Fig. 2 is a schematic bottom view of a first auxiliary mapping mechanism of the unmanned mapping plane.
Fig. 3 is a schematic top view of a first auxiliary mapping mechanism of the unmanned mapping vehicle according to the present invention.
Fig. 4 is a schematic top view of a second auxiliary mapping mechanism of the mapping unmanned aerial vehicle according to the present invention.
Fig. 5 is an enlarged schematic view of a mapping drone of fig. 4 according to the present invention.
Fig. 6 is a schematic cross-sectional structural view of a second auxiliary mapping mechanism of the mapping unmanned aerial vehicle.
Fig. 7 is a schematic bottom view of a second auxiliary mapping mechanism of the mapping unmanned aerial vehicle after completion of the work.
In the figure: 1. a body; 2.a central control module; 3. a mounting platform; 4. a main camera; 5. a side camera; 6. a first mounting bar; 7. a first auxiliary mapping mechanism; 701. a first turntable; 702. a rotation hole; 703. a through hole; 704. a focal length magnifying lens; 705. a focal length reduction lens; 706. windward plate; 707. a storage groove; 708. gear teeth; 709. a limit groove; 710. a bump; 711. a first dust removing cloth; 8. a second mounting bar; 9. a second auxiliary mapping mechanism; 901. a second turntable; 902. a photographing hole; 903. a second dust removing cloth; 904. a chute; 905. tooth slots; 906. a cavity; 907. a protruding hole; 10. landing gear; 11. a connecting rod; 12.a limiting block; 13. an L-shaped rod; 14. an arc-shaped groove; 15. an inflator; 16. a placement groove; 17. a return spring; 18. lifting blocks; 19. an inflation tube; 20. an air bag; 21. a baffle; 22. an electric air valve; 23. and ejecting the plate.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are shown in schematic drawings, rather than physical drawings, and are not to be construed as limiting the present invention, and in order to better explain the detailed description of the invention, certain components of the drawings may be omitted, enlarged or reduced in size, and not represent the actual product, and it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted, and that all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the invention based on the detailed description of the present invention.
Example 1
As shown in fig. 1, 2, 3 and 6, a surveying unmanned aerial vehicle, including organism 1, the top fixed mounting of organism 1 has central control module 2, the bottom fixedly connected with mounting platform 3 of organism 1 and undercarriage 10, the bottom fixed mounting of mounting platform 3 has main camera 4 and side camera 5, the camera lens of main camera 4 is oriented under, the camera lens of two side cameras 5 inclines to both sides respectively, the lower terminal surface of main camera 4 and side camera 5 is provided with first supplementary mapping mechanism 7 and supplementary mapping mechanism 9 of second respectively, two undercarriage 10 are located the both sides of mounting platform 3 respectively.
The first auxiliary mapping mechanism 7 comprises a first rotary table 701, a rotary hole 702 is formed in the circle center of the first rotary table 701, a first mounting rod 6 is connected to the inside of the rotary hole 702 in a rotary mode, the top end of the first mounting rod 6 is fixedly connected with the bottom of the mounting platform 3, the inclination angle of the first mounting rod 6 is identical to that of the side camera 5, a containing groove 707 is formed in the bottom of the first rotary table 701, an windward plate 706 is arranged in the containing groove 707, three through holes 703 are formed in the first rotary table 701, a focal length enlarging lens 704 and a focal length reducing lens 705 are fixedly mounted in the two through holes 703 respectively, and gear teeth 708 are uniformly and fixedly mounted on the side edges of the first rotary table 701.
The side fixed mounting of first installation pole 6 has connecting rod 11, the bottom fixedly connected with stopper 12 of the one end of keeping away from of connecting rod 11 first installation pole 6, three spacing groove 709 has been seted up at the top of first carousel 701, the equidistance sets up between the three spacing groove 709, and the size of spacing groove 709 and the size assorted of stopper 12, the top fixed mounting of first carousel 701 has a plurality of lug 710, a plurality of lug 710 all is located the motion trail of stopper 12 under, and a plurality of lug 710 encloses into the ring, the top fixed mounting of first carousel 701 has first dust cloth 711, every first dust cloth 711 all is located between the adjacent through-hole 703.
The second auxiliary mapping mechanism 9 comprises a second rotary table 901, a shooting hole 902 is formed in the round part of the second rotary table 901, a second dust removing cloth 903 is fixedly arranged at the top of the second rotary table 901, the second dust removing cloth 903 is located at the outer side edge of the shooting hole 902, a sliding groove 904 is formed in the top of the second rotary table 901, the sliding groove 904 is circular, a second mounting rod 8 is connected to the inner part of the sliding groove 904 in a sliding mode, the top of the second mounting rod 8 is connected with the bottom of the mounting platform 3 in a sliding mode, tooth grooves 905 are uniformly formed in the side face of the second rotary table 901, and the tooth grooves 905 on the second rotary table 901 are matched with the tooth grooves 708 on the first rotary table 701.
The central control module 2 has the functions of unmanned aerial vehicle positioning, unmanned aerial vehicle flying height determining and mapping photo real-time monitoring.
By adopting the technical scheme: through the cooperation of first supplementary mapping mechanism 7 and second supplementary mapping mechanism 9, can be when the camera lens of main camera 4 and side camera 5 is stained with rainwater or dust, clean the camera lens of main camera 4 and side camera 5, and can guarantee under the heavy wind condition that the proportion of survey and drawing photo is unanimous, keep electric air valve 22 in the open state, expand the windward board 706 from accomodating in the groove 707, wind-force is through promoting windward board 706 and is driven first carousel 701 and rotate around first installation pole 6, first carousel 701 makes first dust removal cloth 711 clean the camera lens of side camera 5, move second installation pole 8 to the left side or the right side, tooth socket 905 on the messenger's second carousel 901 meshes with the teeth 708 on the first carousel 701, the camera lens contacts with second dust removal cloth 903 simultaneously, first carousel 701 rotates and drives the rotation of second carousel 901, can clear up the rainwater or the dust of staining on main camera 4 and the side camera 5 simultaneously, when using the lens 704 of the reduction or the proportion that the lens 705 adjusted to take photo, for the rotation speed of the first carousel 701 is controlled, control the rotational speed of the stopper 12 and the stopper 12 is used for the stopper of the first carousel, when the stopper is used for further stretching the stopper 12, when the stopper is located under the stopper 12 is in the limit 12, when the stopper is further stretched or is avoided to be located under the stopper 12.
Example 2
As shown in fig. 1-7, a surveying and mapping unmanned aerial vehicle comprises a machine body 1, a central control module 2 is fixedly arranged at the top of the machine body 1, a mounting platform 3 and landing gears 10 are fixedly connected to the bottom of the machine body 1, a main camera 4 and side cameras 5 are fixedly arranged at the bottom of the mounting platform 3, lenses of the main camera 4 face to the right lower side, lenses of the two side cameras 5 incline to two sides respectively, a first auxiliary surveying and mapping mechanism 7 and a second auxiliary surveying and mapping mechanism 9 are respectively arranged on the lower end faces of the main camera 4 and the side cameras 5, and the two landing gears 10 are respectively located on two sides of the mounting platform 3.
The first auxiliary mapping mechanism 7 comprises a first rotary table 701, a rotary hole 702 is formed in the circle center of the first rotary table 701, a first mounting rod 6 is connected to the inside of the rotary hole 702 in a rotary mode, the top end of the first mounting rod 6 is fixedly connected with the bottom of the mounting platform 3, the inclination angle of the first mounting rod 6 is identical to that of the side camera 5, a containing groove 707 is formed in the bottom of the first rotary table 701, an windward plate 706 is arranged in the containing groove 707, three through holes 703 are formed in the first rotary table 701, a focal length enlarging lens 704 and a focal length reducing lens 705 are fixedly mounted in the two through holes 703 respectively, and gear teeth 708 are uniformly and fixedly mounted on the side edges of the first rotary table 701.
The side fixed mounting of first installation pole 6 has connecting rod 11, the bottom fixedly connected with stopper 12 of the one end of keeping away from of connecting rod 11 first installation pole 6, three spacing groove 709 has been seted up at the top of first carousel 701, the equidistance sets up between the three spacing groove 709, and the size of spacing groove 709 and the size assorted of stopper 12, the top fixed mounting of first carousel 701 has a plurality of lug 710, a plurality of lug 710 all is located the motion trail of stopper 12 under, and a plurality of lug 710 encloses into the ring, the top fixed mounting of first carousel 701 has first dust cloth 711, every first dust cloth 711 all is located between the adjacent through-hole 703.
The second auxiliary mapping mechanism 9 comprises a second rotary table 901, a shooting hole 902 is formed in the round part of the second rotary table 901, a second dust removing cloth 903 is fixedly arranged at the top of the second rotary table 901, the second dust removing cloth 903 is located at the outer side edge of the shooting hole 902, a sliding groove 904 is formed in the top of the second rotary table 901, the sliding groove 904 is circular, a second mounting rod 8 is connected to the inner part of the sliding groove 904 in a sliding mode, the top of the second mounting rod 8 is connected with the bottom of the mounting platform 3 in a sliding mode, tooth grooves 905 are uniformly formed in the side face of the second rotary table 901, and the tooth grooves 905 on the second rotary table 901 are matched with the tooth grooves 708 on the first rotary table 701.
The side fixed mounting of second installation pole 8 has L shape pole 13, arc wall 14 has been seted up to the upper surface of second carousel 901, the radian of arc wall 14 matches with the motion track of the tail end of L shape pole 13, the inside fixed mounting of arc wall 14 has inflator 15, standing groove 16 has been seted up to the bottom of arc wall 14, the inside of standing groove 16 is provided with reset spring 17, reset spring 17's one end and the inner wall fixed connection of standing groove 16, reset spring 17's the other end and the afterbody fixed connection of inflator 15, the tail end fixed mounting of arc wall 14 has lifting block 18, L shape pole 13 uses rubber materials preparation to have certain elasticity.
The cavity 906 and stretch out the hole 907 have been seted up to the inside of second carousel 901, the inside of cavity 906 is provided with gasbag 20 and baffle 21, the outside and the inner wall fixed connection of cavity 906 of gasbag 20, the opposite side and the baffle 21 fixed connection of gasbag 20, the one end that keeps away from gasbag 20 of baffle 21 is located stretches out the hole 907, the gas outlet fixedly connected with gas tube 19 of inflator 15, the tail end of gas tube 19 runs through behind the second carousel 901 with gasbag 20 fixed connection, the bottom fixed mounting of gasbag 20 has electric valve 22, the bottom fixed mounting of second carousel 901 has the board 23 that pops out.
The central control module 2 has the functions of unmanned aerial vehicle positioning, unmanned aerial vehicle flying height determining and mapping photo real-time monitoring.
By adopting the technical scheme: can avoid unmanned aerial vehicle to be infected with the dust at the in-process of whereabouts through second auxiliary mapping mechanism 9, protect main camera 4 when falling to the ground simultaneously, avoid taking place the damage, unmanned aerial vehicle is with the whereabouts time, control electric air valve 22 is closed, tooth socket 905 keeps engagement state with teeth of a cogwheel 708, the second carousel 901 is at pivoted in-process, the bottom of the montant of L shape pole 13 is located arc wall 14, and along with the rotation of carousel, L shape pole 13 extrudees inflator 15, reset spring 17 stretches, when L shape pole 13 reaches the tail end of arc wall 14, because L shape pole 13 has certain elasticity, lifting piece 18 has certain slope, and the lowest on lifting piece 18 inclined plane contacts with arc wall 14, the highest on lifting piece 18 inclined plane is with the upper surface parallel and level of second carousel 901, at the in-process of removal, the part that L shape pole 13 is located arc wall 14 is by lifting piece 18 ejecting arc wall 14, reset spring 17 resumes the normal position and pulls inflator 15, second carousel 901 continues to rotate and makes inflator 15 push-pull, and pull inflator 20, air bag 20, in the effect of airbag 20 can be avoided expanding airbag 20 to take place at the top hole 21 when airbag 20 falls to the top hole 21, airbag 20 can continue to take place at the top hole 902, airbag 20, the effect can be avoided in the inflation hole 902, the airbag 20 is blown down in the top hole is formed in the top hole, and the airbag 20 is blown down is down in the hole is 21.
When the unmanned aerial vehicle is used, firstly, a surveying route is set, the unmanned aerial vehicle flies according to the route after taking off, the unmanned aerial vehicle transmits flight data to ground personnel through a central control module 2, the ground personnel can timely correct the flight state of the unmanned aerial vehicle when the flight abnormality is found by observing the flight state of the unmanned aerial vehicle in real time, secondly, after the unmanned aerial vehicle flies to a corresponding height, a main camera 4 and a side camera 5 take photos according to the arranged image control points, if a surveying area is observed to rain, a lens can be prevented from being pasted by rainwater through a first auxiliary surveying mechanism 7, an windward plate 706 is unfolded, a first rotating disc 701 rotates by wind force, a first dust collection cloth is wiped against the lens of a side camera 5, the second rotating disc 901 is contacted with the first rotating disc 701 by moving a second mounting rod 8, the second rotary table 901 is driven to rotate, the second dust removing cloth 903 wipes the lens of the main camera 4, the windward plate 706 is folded at ordinary times, the unmanned aerial vehicle flying speed is prevented from being influenced by overlarge resistance, furthermore, when the air wind force is overlarge, the unmanned aerial vehicle flying height is changed, the unmanned aerial vehicle is difficult to quickly return the height to the original position, the machine body 1 flies upwards or downwards to a certain height along the wind force, the proportion of shooting pictures is adjusted through the focal length enlarging lens 704 or the focal length reducing lens 705, the first auxiliary mapping mechanism 7 and the second auxiliary mapping mechanism 9 work in a non-shooting time period, then, after mapping is finished, the windward plate 706 is unfolded again, a certain buffer function is achieved, the second mounting rod 8 is moved, the second rotary table 901 is contacted with the first rotary table 701, the electric air valve 22 is closed, the second carousel 901 continuously aerifys its inside gasbag 20 when rotating, until baffle 21 will shoot hole 902 and close completely, gasbag 20 extrudes cavity 906 through popping up board 23, when unmanned aerial vehicle falls to the ground, can avoid main camera 4 to be infected with the dust, protect main camera 4 simultaneously, prevent that its in-process of falling to the ground from colliding with hard thing and causing the damage, finally, shoot the photograph through main camera 4 and side camera 5, make same ground object can be simultaneously be found on at least 3 photos, later stage can be through the multiple vision image jointly adjustment, multiple vision image intensive matching technique generates digital mapping products such as three-dimensional model data, TIN, DSM, DOM, in the three-dimensional model, the operation such as accessible overlook, look up and rotation, accurately define disaster body boundary, position, length, volume information, help the accurate rescue to the disaster area.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Survey and drawing unmanned aerial vehicle, including the organism, its characterized in that: the device comprises a machine body, a central control module, a mounting platform, a landing gear, a main camera, a side camera, a first auxiliary mapping mechanism, a second auxiliary mapping mechanism, a first landing gear, a second auxiliary mapping mechanism, a third auxiliary mapping mechanism, a fourth auxiliary mapping mechanism and a fourth auxiliary mapping mechanism, wherein the central control module is fixedly arranged at the top of the machine body;
The first auxiliary mapping mechanism comprises a first rotary table, a rotary hole is formed in the circle center of the first rotary table, a first mounting rod is connected in the rotary hole in a rotary mode, the top end of the first mounting rod is fixedly connected with the bottom of the mounting platform, the inclination angle of the first mounting rod is identical to that of the side camera, a containing groove is formed in the bottom of the first rotary table, an windward plate is arranged in the containing groove, three through holes are formed in the first rotary table, a focal length amplifying lens and a focal length reducing lens are fixedly mounted in the two through holes respectively, and gear teeth are uniformly and fixedly mounted on the side edges of the first rotary table;
The second auxiliary mapping mechanism comprises a second rotary table, a shooting hole is formed in the circle center of the second rotary table, second dust removing cloth is fixedly arranged at the top of the second rotary table and located at the outer side edge of the shooting hole, a sliding groove is formed in the top of the second rotary table and is in a circular ring shape, a second mounting rod is connected to the inside of the sliding groove in a sliding mode, the top of the second mounting rod is connected with the bottom of the mounting platform in a sliding mode, tooth grooves are uniformly formed in the side face of the second rotary table, and tooth grooves on the second rotary table are matched with those on the first rotary table.
2. A mapping drone as set forth in claim 1 wherein: the side fixed mounting of first installation pole has the connecting rod, the bottom fixedly connected with stopper of the one end of keeping away from of connecting rod, three spacing groove has been seted up at the top of first carousel, and three the equidistance sets up between the spacing groove, just the size of spacing groove and the size assorted of stopper, the top fixed mounting of first carousel has a plurality of lug, a plurality of the lug all is located under the stopper motion track, and a plurality of the lug encloses into the ring, the top fixed mounting of first carousel has first dust cloth, every first dust cloth all is located between the adjacent through-hole.
3. A mapping drone as set forth in claim 1 wherein: the side fixed mounting of second erection rod has L shape pole, the arc wall has been seted up to the upper surface of second carousel, the radian of arc wall and the motion trail phase-match of the tail end of L shape pole, the inside fixed mounting of arc wall has the inflator, the standing groove has been seted up to the bottom of arc wall, the inside of standing groove is provided with reset spring, reset spring's one end and the inner wall fixed connection of standing groove, reset spring's the other end and the afterbody fixed connection of inflator, the tail end fixed mounting of arc wall has the lifting block, L shape pole uses rubber materials preparation to have elasticity.
4. A mapping drone as set forth in claim 3 wherein: the inside of second carousel has been seted up the cavity and has been stretched out the hole, the inside of cavity is provided with gasbag and baffle, the outside and the inner wall fixed connection of cavity of gasbag, the opposite side and the baffle fixed connection of gasbag, the one end of keeping away from the gasbag of baffle is located stretches out the hole, the gas outlet fixedly connected with gas tube of inflator, the tail end of gas tube runs through behind the second carousel with gasbag fixed connection, the bottom fixed mounting of gasbag has electric valve, the bottom fixed mounting of second carousel has the board that pops out.
5. A mapping drone as set forth in claim 1 wherein: the central control module has the functions of positioning the unmanned aerial vehicle, determining the flying height of the unmanned aerial vehicle and monitoring the mapping photo in real time.
6. A mapping method of a mapping drone according to any of claims 1-5, wherein: the unmanned aerial vehicle surveying and mapping method comprises the following steps:
(1) The method comprises the steps that a mapped route is set, the unmanned aerial vehicle flies according to the route after taking off, flight data are transmitted to ground personnel through a central control module, the ground personnel observe the flight state of the unmanned aerial vehicle in real time, and when the flight abnormality is found, the flight state of the unmanned aerial vehicle can be corrected in time;
(2) When the unmanned aerial vehicle flies to a corresponding height, the main camera and the side camera shoot a photo according to the arranged image control points, if the mapping area is observed to be rainy, the lens can be prevented from being pasted by rainwater through the first auxiliary mapping mechanism, the windward plate is unfolded, the first rotating disc is rotated by wind force, the first dust removing cloth wipes the lens of the side camera, the second rotating disc is contacted with the first rotating disc through moving the second mounting rod, the second rotating disc is driven to rotate, the second dust removing cloth wipes the lens of the main camera, and the windward plate is folded at ordinary times, so that the flying speed of the unmanned aerial vehicle is prevented from being influenced by overlarge resistance;
(3) When the aerial wind power is overlarge, the flying height of the unmanned aerial vehicle changes, the unmanned aerial vehicle is difficult to quickly adjust the height back to the original position, the machine body is flown upwards or downwards to a certain height along the wind power, the proportion of shooting pictures is adjusted through a focus magnifying lens or a focus reducing lens, and the first auxiliary mapping mechanism and the second auxiliary mapping mechanism need to work in a non-shooting time period;
(4) After mapping is finished, the windward plate is unfolded again to play a role in buffering, the second mounting rod is moved to enable the second turntable to be in contact with the first turntable, the electric air valve is closed, an air bag in the second turntable continuously inflates when the second turntable rotates until the baffle plate completely closes a shooting hole, the air bag extrudes out of the cavity through the popup plate, and when the unmanned aerial vehicle lands, dust contamination of a main camera can be avoided, and meanwhile, the main camera is protected to prevent damage caused by collision with a hard object in the landing process;
(5) The main camera and the side camera are used for shooting photos, so that the same ground object can be found on at least 3 photos at the same time, three-dimensional model data are generated through multi-view image joint adjustment and multi-view image dense matching technology in the later period, and disaster body boundaries, positions, lengths and volumes are accurately defined through overlooking, upward looking and rotating operations in the three-dimensional model.
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