CN115574789B - Aerial RTK hovering ground target laser measuring device and method - Google Patents
Aerial RTK hovering ground target laser measuring device and method Download PDFInfo
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- CN115574789B CN115574789B CN202211092110.6A CN202211092110A CN115574789B CN 115574789 B CN115574789 B CN 115574789B CN 202211092110 A CN202211092110 A CN 202211092110A CN 115574789 B CN115574789 B CN 115574789B
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- 238000013461 design Methods 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention provides an aerial RTK hovering ground target laser measuring device and method, comprising an RTK arranged on an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a carrier, the top of the carrier is provided with the RTK, the bottom of the carrier is provided with a self-adaptive unit, the bottom of the self-adaptive unit is hinged with a telescopic unit, the lower side of the telescopic unit is provided with a counterweight unit, and the bottom of the counterweight unit is provided with a laser transmitter. The invention has smart structure, can overcome the influence of environmental change in the process of foundation pit lofting, effectively solves the problems of poor stability of GPS-RTK point lofting signals of deep and large foundation pits, and repeated station setting problems such as shielding, blind areas and the like in the process of lofting and positioning of the total station, overcomes the defects of lower efficiency, repeated station setting errors and the like, and can perform the on-demand measurement with high efficiency and rapidness.
Description
Technical Field
The invention relates to the technical field of engineering construction, in particular to an aerial RTK hovering ground target laser measuring device and method.
Background
In foundation ditch excavation construction, the measurement lofting of more characteristic points is involved, if the lofting of the GPS-RTK method is adopted, signal connection of the instrument is not smooth, and the instrument is usually floating solution, cannot be fixed for a long time or has no signal, so that effective fixed solution lofting cannot be carried out. The conventional measurement method of the total station is affected by the geographical environment and construction, the general instrument is required to be erected on the adjacent side of the foundation pit, the stability of the instrument is poor, large deviation is easy to occur, and the current measurement task can be completed only by setting the station for many times. Meanwhile, in the measurement process, the detection condition is absent, the measurement accuracy is poor, and the reference transmission data is difficult to trace. Meanwhile, due to the objectivity of environmental factors, the unmanned aerial vehicle has limited capability of correcting yaw lateral wind in the flying process, and when the wind power exceeds a corrected threshold value, the marked position of the laser transmitter can deviate from the actual position greatly. Chinese patent document CN 114136292A describes an unmanned aerial vehicle lofting method and system suitable for earthwork, and the method cannot well influence customer service environment factors in the using process, so that the precision retention is poor, the use has defects, and the improvement is needed.
Disclosure of Invention
The invention provides an aerial RTK hovering ground target laser measuring device and method, which solve the problems that the foundation pit lofting operation is troublesome, the precision is poor, the construction safety is not high, and the accurate and quick lofting cannot be carried out by overcoming the influence of environmental factors.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides an aerial RTK hovers to ground target laser measuring device and method, includes the RTK that sets up on unmanned aerial vehicle, and unmanned aerial vehicle includes the carrier, and the top of carrier is equipped with the RTK, and the bottom of carrier is equipped with self-adaptation unit, and self-adaptation unit's bottom articulates there is flexible unit, and flexible unit's downside is equipped with the counter weight unit, and the bottom of counter weight unit is equipped with laser emitter.
In the preferred scheme, the upper portion of carrier is equipped with a plurality of second mounting holes, and the second mounting hole has connecting element through the screw connection, and connecting element includes the base, is equipped with a plurality of first through-holes on the base, and the screw wears to establish in first through-hole, and the upper portion of base is equipped with the barrel, and RTK passes through the support column and is connected with the barrel.
In the preferred scheme, the inside second screw thread that is equipped with of barrel, the upper portion and the RTK of support column are connected, the lower part and the second screw thread threaded connection of support column.
In the preferred scheme, the upside threaded connection of base has the adjustment seat, the bottom of support column is equipped with the stopper, the detachable setting of stopper is inboard at the adjustment seat, the stopper downside is equipped with the spring, the spring is located the barrel, the barrel outside is equipped with first screw thread, the inside third screw thread that is equipped with of adjustment seat, third screw thread and first screw thread threaded connection, the upper portion of stopper is equipped with the spliced pole, the bottom threaded connection of spliced pole and support column, the upper portion of adjustment seat is equipped with the apron, the centre of apron is equipped with logical groove and draw-in groove, the length of logical groove and draw-in groove is less than the diameter of third screw thread.
In the preferred scheme, the bottom of carrier is equipped with a plurality of first mounting holes, self-adaptation unit includes the fixing base, the fixing base passes through screw and carrier connection, the upper portion of fixing base is equipped with the boss, be equipped with first hemisphere in the boss, be equipped with the step between boss and the fixing base, boss outside threaded connection has the connecting seat, be equipped with the second hemisphere in the connecting seat, first hemisphere and second hemisphere form spherical airtight space, the bulb laminating is in spherical airtight space, the bottom of bulb is equipped with the adapter plate, the adapter plate passes through screw and telescopic unit connection.
In the preferred scheme, the fixing base outside is equipped with a plurality of otic placodes, be equipped with the second through-hole on the otic placode, the otic placode passes through screw carrier connection, the outside of boss is equipped with the fourth screw thread, the connecting seat includes straight portion and circular arc portion, the inboard of straight portion is equipped with the fifth screw thread, fifth screw thread and fourth screw thread threaded connection, the second hemisphere face is located circular arc portion, circular arc portion bottom runs through and is equipped with the fourth through-hole, be equipped with the pillar on the adapter, be equipped with the sixth screw thread on the pillar, the bulb bottom is equipped with the third mounting hole, sixth screw thread and third mounting hole threaded connection, the bottom of fixing base still is equipped with a plurality of ring grooves.
In the preferred scheme, be equipped with a plurality of third through-holes on the adapter plate, flexible unit includes the supporting seat, and the bottom of supporting seat is equipped with the mounting disc, is equipped with the fifth through-hole on the mounting disc, and the screw wears to establish in third through-hole and fifth through-hole, and the both sides of supporting seat are equipped with motor and balancing piece respectively, are equipped with the telescopic part between motor and the balancing piece, are equipped with the ejector pin in the telescopic part, and the ejector pin passes through couple and balancing unit connection.
In the preferred scheme, a sixth through hole is formed in the lower side of the ejector rod, a fifth mounting hole is formed in the bottom of the ejector rod, a hook comprises a C-shaped rod, one side of the C-shaped rod is arranged in the sixth through hole in a penetrating mode, a hanging plate is arranged on the other side of the C-shaped rod, an eighth through hole is formed in the hanging plate, a counterweight unit comprises a counterweight block, two upright posts are arranged on the counterweight block in parallel and are connected through clamping plates arranged in parallel, the distance between the two upright posts is matched with the thickness of the hanging plate, a seventh through hole is formed in the clamping plate, the diameter of the seventh through hole is equal to the diameter of the eighth through hole, a locking pin is arranged in the clamping plate in a penetrating mode, and the locking pin is in threaded connection with the fifth mounting hole;
the upper portion of balancing weight is equipped with a plurality of adjustment holes, and the downthehole detachable of adjustment is equipped with the pole of gaining weight, and the bottom of balancing weight is equipped with sixth mounting hole, laser emitter and sixth mounting hole threaded connection.
A method of aerial RTK hover-to-ground target laser measurement, comprising the steps of:
s1, refitting a first mounting hole and a second mounting hole of the unmanned aerial vehicle according to a design drawing;
s2, acquiring relevant parameters of wind near the foundation pit through weather data and a anemoscope;
s3, when the wind power strength is smaller than a yaw roll correction threshold value of the unmanned aerial vehicle, installing an RTK on the upper portion of the unmanned aerial vehicle, and directly installing a laser transmitter on the lower portion of the unmanned aerial vehicle;
s4, when the wind intensity is larger than a yaw inclination correction threshold value of the unmanned aerial vehicle, installing RTKs on the upper portion of the unmanned aerial vehicle, respectively switching through the self-adaptive unit, the telescopic unit, the counterweight unit and the hooks on the lower portion of the unmanned aerial vehicle, and then installing laser transmitters on the bottom of the counterweight unit;
s5, the modified unmanned aerial vehicle flies to the upper portion of the foundation pit through handheld control, and when the modified unmanned aerial vehicle reaches a design position, a laser emitter is turned on to mark the bottom of the foundation pit;
and S6, adjusting the corresponding lofting points according to the type of the foundation pit until the lofting marks of all points are completed.
In the preferred scheme, in S5, whether the position of the unmanned aerial vehicle is the same as sampled data is observed in real time through handholding until fine adjustment is performed in an error range, when the wind strength is greater than a yaw roll correction threshold value of the unmanned aerial vehicle, the ejector rod of the telescopic unit is opened, so that the overall gravity center is lowered, the flying height of the unmanned aerial vehicle is slightly lowered under the condition that the signal of the RTK is good, and then the subsequent process is performed.
The beneficial effects of the invention are as follows: the invention mainly starts from the aspects of improving working efficiency, guaranteeing measuring and lofting precision, avoiding personnel safety risks and the like in the construction process of a deep and large foundation pit of a building (structure), fully utilizes the effective compensation of RTK inertial navigation measurement, and directly lofts the ground target characteristic points by matching with the laser indication guidance of a laser emitter, thereby effectively reducing a large amount of investment of measuring personnel and equipment and achieving the high efficiency, real-time performance, convenience and accuracy of measurement control. The invention has very little change to the unmanned aerial vehicle, has avoided damaging the structure of the unmanned aerial vehicle and thus influencing the problem of the unmanned aerial vehicle performance, in the face of stronger wind-force, because the bottom of the telescopic unit is provided with the counterweight unit, thus can keep the steady state in certain range, the self-adaptive unit located in upper portion of the telescopic unit can pull and hold the unmanned aerial vehicle at this moment, adjust the ejector pin length of the telescopic link at the same time, further reduce the gravity center of the whole apparatus, assist the unmanned aerial vehicle to revise, the weighting lever plays the role of adjusting the counterweight, when RTK after revise is in the compensation range, open the laser emitter, carry on the lofting mark to the bottom of the foundation ditch, thus provide guidance for subsequent construction, have good economic benefits.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic view of the present invention in a first configuration;
FIG. 2 is a schematic front view of FIG. 1;
FIG. 3 is a right side schematic view of FIG. 1;
FIG. 4 is a schematic view of an unmanned aerial vehicle-mounted RTK explosion structure of the present invention in state one;
FIG. 5 is a schematic view state two of an unmanned aerial vehicle-mounted RTK explosion structure of the present invention;
FIG. 6 is a schematic view of the base structure of the present invention;
FIG. 7 is a schematic view of the adjusting seat according to the present invention;
FIG. 8 is a schematic view of an explosion structure of an unmanned aerial vehicle-mounted laser transmitter of the present invention in state one;
fig. 9 is a schematic view state two of an explosion structure of an unmanned aerial vehicle-mounted laser transmitter according to the invention;
FIG. 10 is a schematic view of the construction of a counterweight unit of the invention;
FIG. 11 is a schematic diagram of a second embodiment of the present invention;
FIG. 12 is a schematic view of the present invention in state three;
fig. 13 is a schematic structural view of the present invention in state four.
In the figure: an unmanned plane 1; a carrier 101; a first mounting hole 102; a second mounting hole 103; RTK2; a laser emitter 3; a connection unit 4; a base 401; an adjustment base 402; a first through hole 403; a first thread 404; a second thread 405; a spring 406; a stopper 407; a connecting column 408; a cover plate 409; a third thread 410; a through slot 411; a card slot 412; a cylinder 413; a screw 5; a support column 6; an adaptive unit 7; a fixed seat 701; boss 702; a first hemispherical surface 703; a fourth thread 704; an ear plate 705; a second through hole 706; a step 707; ball 708; a third mounting hole 709; a connection base 710; a straight portion 711; a circular arc portion 712; fifth threads 713; a second hemispherical surface 714; a transition plate 715; a pillar 716; sixth thread 717; circular groove 718; a third through hole 719; a fourth through hole 720; a telescoping unit 8; a support base 801; a motor 802; a counterweight 803; a mounting plate 804; a telescoping section 805; a jack 806; a fifth through hole 807; a fifth mounting hole 808; a sixth through hole 809; a counterweight unit 9; balancing weight 901; upright 902; a grip plate 903; a seventh through hole 904; an adjustment hole 905; a sixth mounting hole 906; a hook 10; c-shaped bar 1001; a hanging plate 1002; eighth through hole 1003; a locking pin 11; weighting rod 12.
Detailed Description
As in fig. 1-13, an aerial RTK hovers to ground target laser measurement device, including setting up RTK2 on unmanned aerial vehicle 1, unmanned aerial vehicle 1 includes carrier 101, and carrier 101's top is equipped with RTK2, and carrier 101's bottom is equipped with self-adaptation unit 7, and self-adaptation unit 7's bottom articulates has flexible unit 8, and flexible unit 8's downside is equipped with counterweight unit 9, and counterweight unit 9's bottom is equipped with laser emitter 3. From this structure to make with unmanned aerial vehicle 1 as flight platform, can realize the stable technical characteristics of hovering, thereby control the handheld device and bring RTK2 and laser emitter 3 into design coordinate point and accomplish the lofting, the search solution of design point is calculated to RTK2, when unmanned aerial vehicle 1 flies to the design point top, constructor operation unmanned aerial vehicle 1 is in the state of hovering, laser emitter 3 just is the foundation ditch this moment, accomplish the mark of lofting point, thereby do benefit to constructor accurate efficient and carry out the operation to the foundation ditch, self-adaptation unit 7 is connected with counterweight unit 9 with the flexible unit 8 of bottom, thereby can bear the influence of yaw crosswind, keep self vertical ground's ability, when facing stronger wind-force, self-adaptation unit 7 can carry out supplementary correction to unmanned aerial vehicle 1, because flexible unit 8 and mating unit 9 are rigid connection, change the holistic focus of device through flexible unit 8, guarantee overall structure's stability.
In a preferred scheme, a plurality of second mounting holes 103 are formed in the upper portion of the carrier 101, the second mounting holes 103 are connected with a connecting unit 4 through bolts 5, the connecting unit 4 comprises a base 401, a plurality of first through holes 403 are formed in the base 401, the bolts 5 penetrate through the first through holes 403, a cylinder 413 is arranged on the upper portion of the base 401, and RTKs 2 are connected with the cylinder 413 through support columns 6. From this structure to make RTK2 can be convenient with base 401 connect, only need to accomplish RTK2 and laser emitter 3's installation through the mode that sets up the screw hole on unmanned aerial vehicle 1's base member, avoided too big change to unmanned aerial vehicle 1 to cause the problem that influences unmanned aerial vehicle wholeness ability and flight effect, base 401 can be changed and adjusted as required, thereby it is more convenient to use.
In a preferred embodiment, the cylinder 413 is internally provided with a second thread 405, and the upper portion of the support column 6 is connected to the RTK2, and the lower portion of the support column 6 is screwed to the second thread 405. The outside of the support column 6 is provided with threads, so that the support column 6 can be conveniently mounted on the RTK2, then the RTK2 is fixed in the cylinder 413, the operation is simple, and the overall stability is better.
In the preferred scheme, the upside threaded connection of base 401 has adjusting seat 402, the bottom of support column 6 is equipped with stopper 407, stopper 407 detachable sets up in adjusting seat 402 inboard, stopper 407 downside is equipped with spring 406, spring 406 is located barrel 413, barrel 413 outside is equipped with first screw thread 404, adjusting seat 402 inside is equipped with third screw thread 410, third screw thread 410 and first screw thread 404 threaded connection, the upper portion of stopper 407 is equipped with spliced pole 408, the bottom threaded connection of spliced pole 408 and support column 6, the upper portion of adjusting seat 402 is equipped with apron 409, the centre of apron 409 is equipped with logical groove 411 and draw-in groove 412, the length of logical groove 411 and draw-in groove 412 is less than the diameter of third screw thread 410. With the structure, the compression state of the spring 406 can be changed by changing the position of the adjusting seat 402 relative to the base 401, namely the supporting force of the spring 406 is changed, so that the limiting block 407 can be stably propped against the inner side of the adjusting seat 402, the position stability of the supporting column 6 is ensured, and a better working environment can be provided for the RTK2; the adjusting seat 402 and the cylinder 413 are convenient to assemble and disassemble, the position of the adjusting seat 402 can be quickly changed according to the use requirement, meanwhile, the limiting block 407 and the supporting column 6 are convenient to connect, the whole rigidity is good, the structure is stable, and the connecting column 408 plays a role in supporting and starting. Through slot 411 and draw-in groove 412 perpendicular setting, the degree of depth of draw-in groove 412 is less than through slot 411, inserts stopper 407 in adjusting seat 402 from through slot 411 in, continues downward compression spring 406 then rotates stopper 407, lets stopper 407 block into draw-in groove 412 in, and finally spring 406 gives stopper 407 stable firm support to keep the state of RTK 2.
In a preferred scheme, a plurality of first mounting holes 102 are formed in the bottom of a carrier 101, the self-adaptive unit 7 comprises a fixing seat 701, the fixing seat 701 is connected with the carrier 101 through a screw 5, a boss 702 is arranged on the upper portion of the fixing seat 701, a first hemispherical surface 703 is arranged in the boss 702, a step 707 is arranged between the boss 702 and the fixing seat 701, a connecting seat 710 is connected with the outer side of the boss 702 in a threaded mode, a second hemispherical surface 714 is arranged in the connecting seat 710, the first hemispherical surface 703 and the second hemispherical surface 714 form a spherical closed space, a ball head 708 is attached to the spherical closed space, a switching disc 715 is arranged at the bottom of the ball head 708, and the switching disc 715 is connected with a telescopic unit 8 through the screw 5. From this structure to make when wind-force intensity is greater than unmanned aerial vehicle 1's correction ability, install self-adaptation unit 7 in unmanned aerial vehicle 1's bottom, because form spherical hinge structure between bulb 708 and fixing base 701 and connection seat 710, the counter weight unit 9 of telescopic unit 8 bottom has guaranteed the state vertical ground of telescopic unit 8, unmanned aerial vehicle 1 is blown the slope by wind-force, bulb 708 is rotated in fixing base 701, has guaranteed holistic stability, namely when unmanned aerial vehicle 1 is blown by wind-force, telescopic unit 8 can keep the state on vertical ground, thereby provide basis and the environment of accurate mark for laser emitter 3.
In the preferred scheme, the fixing base 701 outside is equipped with a plurality of otic placodes 705, be equipped with the second through-hole 706 on the otic placode 705, the otic placode 705 passes through 5 carriers 101 of screw and connects, the outside of boss 702 is equipped with fourth screw thread 704, connecting seat 710 includes straight portion 711 and circular arc portion 712, the inboard of straight portion 711 is equipped with fifth screw thread 713, fifth screw thread 713 and fourth screw thread 704 threaded connection, second hemisphere face 714 is located circular arc portion 712, circular arc portion 712 bottom runs through and is equipped with fourth through-hole 720, be equipped with pillar 716 on the adapter plate 715, be equipped with sixth screw thread 717 on the pillar 716, bulb 708 bottom is equipped with third mounting hole 709, sixth screw thread 717 and third mounting hole 709 threaded connection, the bottom of fixing base 701 still is equipped with a plurality of ring grooves 718. The diameter of the fourth through hole 720 satisfies when the pillar 716 is attached to the inner side of the through hole 720, the included angle (acute angle) between the axis of the pillar 716 and the axis of the fourth through hole is not larger than the inclination angle corrected by inertial navigation of the unmanned aerial vehicle 1, and the structure is formed, so that the fixing seat 701 and the installation and disassembly of the connecting seat 710 are convenient, the pillar 716 on the adapter plate 715 pulls and holds the ball head 708, the ball head 708 is guaranteed to stably restrict and limit the fixing seat 701 and the connecting seat 710, the circular groove 718 avoids the change of curvature existing on the surface of the unmanned aerial vehicle 1, the contact area of the fixing seat 701 and the unmanned aerial vehicle 1 is reduced, the integral connection rigidity is better, the unmanned aerial vehicle 1 is better when facing yaw wind due to the limitation of the fourth through hole 720, and the support unit 9 is pulled and can assist in correcting the inclination angle of the unmanned aerial vehicle and slow down the inclination degree, so that the efficient and stable operation of the RTK in the compensated inclination angle range is guaranteed.
In the preferred scheme, be equipped with a plurality of third through holes 719 on the adapter plate 715, flexible unit 8 includes supporting seat 801, the bottom of supporting seat 801 is equipped with mounting plate 804, be equipped with fifth through-hole 807 on the mounting plate 804, screw 5 wears to establish in third through-hole 719 and fifth through-hole 807, the both sides of supporting seat 801 are equipped with motor 802 and balancing piece 803 respectively, be equipped with flexible portion 805 between motor 802 and the balancing piece 803, be equipped with ejector pin 806 in the flexible portion 805, ejector pin 806 passes through couple 10 and is connected with weight unit 9. From this structure to make with the help of balancing piece 803, the weight of the supporting seat 801 both sides of flexible unit 8 equals, can keep better balanced state, and the flexible action of ejector pin 806 has changed the position of counter weight unit 9, thereby has changed holistic focus, and unmanned aerial vehicle's flight state is more steady.
In the preferred scheme, a sixth through hole 809 is formed in the lower side of a top rod 806, a fifth mounting hole 808 is formed in the bottom of the top rod 806, a hook 10 comprises a C-shaped rod 1001, one side of the C-shaped rod 1001 is arranged in the sixth through hole 809 in a penetrating mode, a hanging plate 1002 is arranged on the other side of the C-shaped rod 1001, an eighth through hole 1003 is formed in the hanging plate 1002, a counterweight unit 9 comprises a counterweight 901, two upright posts 902 are arranged on the counterweight 901 in parallel, the two upright posts 902 are connected through clamping plates 903 which are arranged in parallel, the distance between the two clamping plates 903 is matched with the thickness of the hanging plate 1002, a seventh through hole 904 is formed in the clamping plate 903, the diameter of the seventh through hole 904 is equal to the diameter of the eighth through hole 1003, a locking nail 11 is arranged in the clamping plate 903 in a penetrating mode, and the locking nail 11 is in threaded connection with the fifth mounting hole 808;
the upper portion of balancing weight 901 is equipped with a plurality of adjustment holes 905, and the detachable in the adjustment hole 905 is equipped with the weight rod 12, and the bottom of balancing weight 901 is equipped with sixth mounting hole 906, laser emitter 3 and sixth mounting hole 906 threaded connection. From this structure to make couple 10 can provide better pulling force for counterweight unit 9, equipartition load simultaneously, the atress is more stable, and has guaranteed the accuracy of position when counterweight unit 9 is reinstalled after the dismantlement.
A method of aerial RTK hover-to-ground target laser measurement, comprising the steps of:
s1, refitting a first mounting hole 102 and a second mounting hole 103 of the unmanned aerial vehicle 1 according to a design drawing;
s2, acquiring relevant parameters of wind near the foundation pit through weather data and a anemoscope;
s3, when the wind intensity is smaller than a yaw roll correction threshold value of the unmanned aerial vehicle 1, installing an RTK2 on the upper portion of the unmanned aerial vehicle 1, and directly installing a laser transmitter 3 on the lower portion of the unmanned aerial vehicle 1;
s4, when the wind intensity is larger than a yaw roll correction threshold value of the unmanned aerial vehicle 1, installing RTK2 at the upper part of the unmanned aerial vehicle 1, respectively switching through the self-adaptive unit 7, the telescopic unit 8, the counterweight unit 9 and the hook 10 at the lower part of the unmanned aerial vehicle 1, and then installing the laser transmitter 3 at the bottom of the counterweight unit 9;
s5, the modified unmanned aerial vehicle 1 flies to the upper part of the foundation pit through handheld control, and when the modified unmanned aerial vehicle reaches a design position, a laser emitter 3 is turned on to mark the bottom of the foundation pit;
and S6, adjusting the corresponding lofting points according to the type of the foundation pit until the lofting marks of all points are completed.
By the structure, a measuring person does not need to climb to the bottom of the foundation pit to carry out a driver mirror, the specific position of the target can be indicated by utilizing the laser guidance of the laser transmitter, the indication can be carried out according to the indicated position, and the safety aspect is ensured; when the deep and large foundation pit structure feature point lofting is carried out, the flying height of the unmanned aerial vehicle is generally 1-2m away from the standing ground, the capability of coping with environmental changes is better, and when the foundation pit feature points with different depths are lofted, the laser spot diameter of the laser transmitter can be adjusted in real time, so that the clarity and the minimum range of lofted point marks are ensured.
In the preferred scheme, in S5, whether the position of the unmanned aerial vehicle 1 is the same as the sampled data is observed in real time through hand holding until fine adjustment is performed to an error range, when the wind intensity is greater than the yaw roll correction threshold value of the unmanned aerial vehicle 1, the ejector rod 806 of the telescopic unit 8 is opened, so that the overall gravity center is lowered, the flying height of the unmanned aerial vehicle 1 is slightly lowered under the condition that the signal of the RTK2 is good, and then the subsequent process is performed. From this structure to make can effectively solve dark big foundation ditch GPS-RTK point position lofting signal stability poor, repeat the problem of establishing the station such as shelter from, blind area in the total powerstation lofting location process, make up the inefficiency in the aspect of the error of establishing the station repeatedly etc. and when having great to wind-force intensity, can't carry out the construction lofting, guarantee the problem of efficiency and precision, this device can accomplish to be tested as required, high-efficient swiftly.
The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.
Claims (9)
1. An aerial RTK hovers and targets the laser measuring device to the ground, characterized by: the unmanned aerial vehicle comprises an RTK (2) arranged on the unmanned aerial vehicle (1), wherein the unmanned aerial vehicle (1) comprises a carrier (101), the RTK (2) is arranged at the top of the carrier (101), an adaptive unit (7) is arranged at the bottom of the carrier (101), a telescopic unit (8) is hinged to the bottom of the adaptive unit (7), a counterweight unit (9) is arranged at the lower side of the telescopic unit (8), and a laser transmitter (3) is arranged at the bottom of the counterweight unit (9);
the bottom of carrier (101) is equipped with a plurality of first mounting holes (102), self-adaptation unit (7) are including fixing base (701), fixing base (701) are connected through screw (5) and carrier (101), the upper portion of fixing base (701) is equipped with boss (702), be equipped with first hemisphere (703) in boss (702), be equipped with step (707) between boss (702) and fixing base (701), boss (702) outside threaded connection has connecting seat (710), be equipped with second hemisphere (714) in connecting seat (710), first hemisphere (703) and second hemisphere (714) form spherical airtight space, bulb (708) laminating is in spherical airtight space, the bottom of bulb (708) is equipped with adapter plate (715), adapter plate (715) are connected through screw (5) and telescoping unit (8).
2. The aerial RTK hover-to-ground target laser measurement device of claim 1, characterized by: the upper portion of carrier (101) is equipped with a plurality of second mounting holes (103), and second mounting hole (103) are connected with connecting element (4) through screw (5), and connecting element (4) are equipped with a plurality of first through-holes (403) including base (401) on base (401), and screw (5) are worn to establish in first through-hole (403), and the upper portion of base (401) is equipped with barrel (413), and RTK (2) are connected through support column (6) and barrel (413).
3. The aerial RTK hover-to-ground target laser measurement device of claim 2, characterized by: the inside of barrel (413) is equipped with second screw thread (405), and the upper portion and the RTK (2) of support column (6) are connected, and the lower part and the second screw thread (405) of support column (6) threaded connection.
4. The aerial RTK hover-to-ground target laser measurement device of claim 2, characterized by: the upper side threaded connection of base (401) has adjustment seat (402), the bottom of support column (6) is equipped with stopper (407), stopper (407) detachable sets up in adjustment seat (402) inboard, stopper (407) downside is equipped with spring (406), spring (406) are located barrel (413), barrel (413) outside is equipped with first screw thread (404), adjustment seat (402) inside is equipped with third screw thread (410), third screw thread (410) and first screw thread (404) threaded connection, the upper portion of stopper (407) is equipped with spliced pole (408), the bottom threaded connection of spliced pole (408) and support column (6), the upper portion of adjustment seat (402) is equipped with apron (409), the centre of apron (409) is equipped with logical groove (411) and draw-in groove (412), the length of logical groove (411) and draw-in groove (412) is less than the diameter of third screw thread (410).
5. The aerial RTK hover-to-ground target laser measurement device of claim 1, characterized by: the fixing base (701) outside is equipped with a plurality of otic placodes (705), be equipped with second through-hole (706) on otic placode (705), otic placode (705) are connected through screw (5) carrier (101), the outside of boss (702) is equipped with fourth screw thread (704), connecting seat (710) are including directly stretching portion (711) and circular arc portion (712), the inboard of directly stretching portion (711) is equipped with fifth screw thread (713), fifth screw thread (713) and fourth screw thread (704) threaded connection, second hemisphere face (714) are located circular arc portion (712), circular arc portion (712) bottom runs through and is equipped with fourth through-hole (720), be equipped with pillar (716) on adapter plate (715), be equipped with sixth screw thread (717) on pillar (716), bulb (708) bottom is equipped with third mounting hole (709), sixth screw thread (717) and third mounting hole (709) threaded connection, the bottom of fixing base (701) still is equipped with a plurality of ring grooves (718).
6. The aerial RTK hover-to-ground target laser measurement device of claim 1, characterized by: be equipped with a plurality of third through-holes (719) on adapter plate (715), flexible unit (8) are equipped with mounting plate (804) including supporting seat (801), the bottom of supporting seat (801) is equipped with fifth through-hole (807) on mounting plate (804), screw (5) are worn to establish in third through-hole (719) and fifth through-hole (807), the both sides of supporting seat (801) are equipped with motor (802) and balancing piece (803) respectively, be equipped with flexible portion (805) between motor (802) and balancing piece (803), be equipped with ejector pin (806) in flexible portion (805), ejector pin (806) are connected through couple (10) and counter weight unit (9).
7. The aerial RTK hover-to-ground target laser measurement apparatus of claim 6, wherein: the lower side of the ejector rod (806) is provided with a sixth through hole (809), the bottom of the ejector rod (806) is provided with a fifth mounting hole (808), the hook (10) comprises a C-shaped rod (1001), one side of the C-shaped rod (1001) is arranged in the sixth through hole (809) in a penetrating mode, the other side of the C-shaped rod (1001) is provided with a hanging plate (1002), the hanging plate (1002) is provided with an eighth through hole (1003), the counterweight unit (9) comprises a counterweight (901), two upright posts (902) are arranged on the counterweight (901) in parallel, the two upright posts (902) are connected through clamping plates (903) which are arranged in parallel, the distance between the two clamping plates (903) is matched with the thickness of the hanging plate (1002), a seventh through hole (904) is formed in the clamping plate (903), the diameter of the seventh through hole (904) is equal to the diameter of the eighth through hole (1003), a locking pin (11) is arranged in the clamping plate (903) in a penetrating mode, and the locking pin (11) is in threaded connection with the fifth mounting hole (808);
the upper portion of balancing weight (901) is equipped with a plurality of adjustment holes (905), and detachable in adjustment hole (905) is equipped with weight increasing rod (12), and the bottom of balancing weight (901) is equipped with sixth mounting hole (906), laser emitter (3) and sixth mounting hole (906) threaded connection.
8. A method of airborne RTK hover-to-ground target laser measurement according to any of claims 1-7, comprising the steps of:
s1, refitting a first mounting hole (102) and a second mounting hole (103) of the unmanned aerial vehicle (1) according to a design drawing;
s2, acquiring relevant parameters of wind near the foundation pit through weather data and a anemoscope;
s3, when the wind intensity is smaller than a yaw roll correction threshold value of the unmanned aerial vehicle (1), installing an RTK (2) on the upper part of the unmanned aerial vehicle (1), and directly installing a laser transmitter (3) on the lower part of the unmanned aerial vehicle (1);
s4, when the wind intensity is larger than a yaw roll correction threshold value of the unmanned aerial vehicle (1), installing an RTK (2) at the upper part of the unmanned aerial vehicle (1), respectively switching through the self-adaptive unit (7), the telescopic unit (8), the counterweight unit (9) and the hook (10) at the lower part of the unmanned aerial vehicle (1), and then installing a laser transmitter (3) at the bottom of the counterweight unit (9);
s5, the modified unmanned aerial vehicle (1) flies to the upper part of the foundation pit through handheld control, and when the modified unmanned aerial vehicle reaches a designed position, a laser emitter (3) is turned on to mark the bottom of the foundation pit;
and S6, adjusting the corresponding lofting points according to the type of the foundation pit until the lofting marks of all points are completed.
9. The method for measuring the ground target laser measuring device by the air RTK hover according to claim 8, wherein the method comprises the following steps: in S5, whether the position of the unmanned aerial vehicle (1) is the same as the sampled data is observed in real time through handholding until the position is finely adjusted to be within an error range, when the wind strength is greater than a yaw roll correction threshold value of the unmanned aerial vehicle (1), the ejector rod (806) of the telescopic unit (8) is opened, so that the overall gravity center is lowered, the flying height of the unmanned aerial vehicle (1) is slightly lowered under the condition that the signal of the RTK (2) is good, and then the subsequent process is carried out.
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| CN116605427B (en) * | 2023-07-20 | 2023-09-26 | 山东高烽畜牧科技有限公司 | Atomizing and spraying device based on agricultural plant protection unmanned aerial vehicle and application method thereof |
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