CN117508691B - Unmanned aerial vehicle surveying device and method based on urban road landscape design - Google Patents
Unmanned aerial vehicle surveying device and method based on urban road landscape design Download PDFInfo
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- CN117508691B CN117508691B CN202410006316.5A CN202410006316A CN117508691B CN 117508691 B CN117508691 B CN 117508691B CN 202410006316 A CN202410006316 A CN 202410006316A CN 117508691 B CN117508691 B CN 117508691B
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- 238000013461 design Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000001125 extrusion Methods 0.000 claims description 31
- 238000010276 construction Methods 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims 1
- 238000004088 simulation Methods 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 description 5
- 241001464837 Viridiplantae Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
- B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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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)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an unmanned aerial vehicle survey device based on urban road landscape design, which comprises: the bottom of the machine body is provided with a landing gear; extend the wing, be located the organism screw outside and can stretch out and draw back the adjustment length, the organism lower part sets up rotatable revolving stage, and the revolving stage rotatable install in the organism lower part, and the servo motor of organism bottom configuration drive revolving stage, servo motor drive revolving stage rotate, extend the inboard detection end that sets up of wing: the adjusting component is arranged on the inner side of the rotary table and is consistent with the extension angle of the extension wing, the adjusting component extends to the inner side of the extension wing, the extension wing and the adjusting component synchronously extend, the projection component is arranged at the lower part of the adjusting component, and the acquisition components for image acquisition are arranged at the lower part of the rotary table and the lower part of the machine body. When the road information is acquired, the image can be projected on the ground through the simulation landscape specification in the process of acquiring the image through the image acquisition and the projection assembly capable of carrying out laser projection.
Description
Technical Field
The invention relates to the technical field of urban road exploration, in particular to an unmanned aerial vehicle exploration device and an unmanned aerial vehicle exploration method based on urban road landscape design.
Background
In urban landscape design, roads are an important part because roads play a role in coordination and balance among urban landscapes. In the design process of road landscapes, the old landscapes are particularly protected, modified, coordinated, developed and built to create new landscapes, and good landscape image and visual effect are created. If the city has good road landscape, the city is beneficial to sustainable development of various resources and landscape.
The road is under duty of urban traffic, so that the most basic and important principle in urban road landscape design is to ensure smoothness and safety of the road. However, the implementation of the current urban environment protection policy causes the problem of influencing the normal running of traffic for urban greening. Therefore, the planting of the green plants must pay attention to moderate and position, traffic is not blocked, in addition, the construction of the green plants cannot trigger and influence road safety facilities, that is, the road marked lines, arrows and the like cannot be covered, the road monitoring system and the fire protection system cannot be shielded, green plants and green belts are reasonably designed, and the maximum traffic function of the road is ensured.
When a road is newly built or rebuilt, greening construction can be synchronously carried out with the road, so that time and cost can be saved, and damage to the built road can be avoided.
Unmanned aerial vehicle surveys and is a technology that utilizes unmanned aerial vehicle carried high definition digtal camera or camera automatic collection road condition information, utilizes image transmission system transmission video signal or picture signal of shooing, utilizes flight control system to implement autonomous flight, realizes intelligent monitoring. The unmanned aerial vehicle survey can quickly, efficiently and inexpensively acquire high-precision and high-resolution image data, and provides powerful support for planning, designing, constructing, maintaining and managing urban roads.
The effect obtained by surveying the planned road by the unmanned aerial vehicle is used as the basis of road construction, and meanwhile, the planning of road landscapes is carried out according to the width area which can be realized.
The existing unmanned aerial vehicle can only gather road condition information through the camera installed by the unmanned aerial vehicle, the design of road landscape is carried out to the influence data and the road condition information that unmanned aerial vehicle gathered, lacks and carries out the road landscape area of different size specifications and to the produced influence of peripheral scope on actual road surface, therefore, when carrying out road acquisition through the existing unmanned aerial vehicle, the view that is located the corner position can not carry out the projection simulation of entity area in the road condition information who gathers.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle surveying device and a surveying method based on urban road landscape design, which are used for carrying out projection planning on an actual road landscape construction area at a road paving position in a projection mode, and measuring actual specifications of roads in a landscape construction area according to the road landscape construction area as a center so as to achieve the effect of simulating landscape occupation.
In order to achieve the above purpose, the invention is realized by the following technical scheme: unmanned aerial vehicle surveys device based on urban road view design includes:
the bottom of the machine body is provided with a landing gear;
the expansion wings are positioned at the outer side of the engine body propeller and can stretch and adjust the length, the rotary table is arranged at the lower part of the engine body and is rotatably arranged at the lower part of the engine body, the servo motor for driving the rotary table is arranged at the bottom of the engine body, the servo motor drives the rotary table to rotate, and the inner side of the expansion wings is provided with a detection end;
the adjusting component is arranged on the inner side of the rotary table and is consistent with the extension angle of the extension wing, the adjusting component extends to the inner side of the extension wing, the extension wing and the adjusting component synchronously extend, the lower part of the adjusting component is provided with the projection component, and the lower part of the rotary table and the lower part of the machine body are provided with the acquisition components for image acquisition;
the projection assembly comprises an arc laser emitter for projecting arc laser and a linear laser emitter for projecting linear laser, the arc laser emitter and the linear laser emitter are combined to form a landscape occupied area, and the arc laser emitter and the linear laser emitter are matched with the machine body to realize the survey of the landscape occupied area.
In one or more embodiments of the present invention, the expansion wing includes:
the extension arm is positioned at the lower part of the engine body propeller and is contained in the engine body, one section of extension arm extending to the inside of the engine body is provided with a plug rod, the plug rod extends to the inside of the engine body, and the plug rod is used for positioning extension of the extension arm;
the sliding electromagnetic plate is fixed in the machine body, two ends of the sliding electromagnetic plate are respectively provided with a positioning magnetic block and a reverse electromagnetic plate, the positioning magnetic blocks are fixed on the inner side of the extension arm, and the reverse electromagnetic plate can be sleeved at one end of the inserted link, which is far away from the extension arm, in a sliding way;
the compression spring is sleeved on the outer side of the inserted link to form a support for the reverse electromagnetic plate.
In one or more embodiments of the present invention, the expansion wing further includes:
the control board is positioned at the inner side of the machine body at the lower part of the extension arm, a control electromagnetic plate is arranged at the inner side of the control board, and the control board forms a columnar bulge to extend into the machine body and forms connection between the control board and the machine body through a torsion spring;
the control plate is supported by the torsion spring to be inclined.
In one or more embodiments of the present invention, the adjusting assembly includes:
the sliding frame can be inserted into the rotating table in a sliding manner, the extending direction of the sliding frame is consistent with that of the extension arm, an adjusting frame is arranged at one end of the sliding frame extending to the outer side of the rotating table, and the adjusting frame can be arranged on the inner side of the sliding frame in a swinging manner;
the connector is positioned at the outer side of the adjusting frame and extends to the inside of the sliding frame, and the adjusting frame rotates around the connector;
the extrusion cavity is arranged in the sliding frame, an extrusion head is arranged in the extrusion cavity, the extrusion head moves to extrude the extrusion cavity, one end of the extrusion cavity is provided with a slideway communicated with the extrusion cavity, and a sealing plate is arranged in the slideway and is attached to the outer surface of the sliding groove;
and the traction rope is arranged between the sealing plate and the adjusting frame to form traction on the adjusting frame.
In one or more embodiments of the present invention, the adjusting assembly further includes:
the attitude sensor is fixed in the adjusting frame and detects the inclination angle of the adjusting frame;
the driving device is fixed in the rotary table, a cam is sleeved outside the driving device, and the cam forms extrusion to the extrusion head;
the guide groove is formed in the sliding frame, a sliding block is arranged in the guide groove and is attached to the guide groove, a guide hole is formed in one end of the sliding block extending to the outer side of the guide groove, and the traction rope penetrates through the guide hole to form a support for the traction rope;
the electromagnetic block is fixed on the inner wall of the guide groove and forms the traction to the sliding block by means of electromagnetic force.
In one or more embodiments of the present invention, the adjusting assembly further includes:
the arc-shaped groove is formed in the lower portion of the extension arm, the arc-shaped block is arranged in the arc-shaped groove, the arc-shaped block extends to the inside of the arc-shaped groove and contacts the arc-shaped block, the ball is embedded in the inner side of the arc-shaped block, the ball rotates relative to the arc-shaped block, and the ball is attached to the inner wall of the arc-shaped groove.
In one or more embodiments of the present invention, the arc-shaped slot limits the swing angle of the arc-shaped block, and the servo motor drives the rotary table to rotate to adjust the position of the carriage.
In one or more embodiments of the present invention, the projection assembly includes:
the mounting frame is mounted inside the adjusting frame, and the arc-shaped laser transmitters and the linear laser transmitters are mounted inside the mounting frame extending towards the extension arm;
the phase type laser ranging sensor is fixed on the inner side of the rotary table, and is perpendicular to the ground in a hovering state of the unmanned aerial vehicle;
the laser emitter component is arranged in a sliding frame arranged in the middle of the machine body;
the collection assembly includes:
the image acquisition camera is arranged at the lower part of the machine body and is obliquely arranged;
the wide-angle camera is arranged at the bottom of the rotary table and is vertical to the ground;
the laser identification camera is arranged on one side of the wide-angle camera and used for collecting laser shapes.
In one or more embodiments of the present invention, the detection end includes:
the detection head is arranged on the inner side of the extension arm, a reflecting plate is arranged at a corresponding position of the detection head, and the detection head faces the reflecting plate vertically;
the receiving end is positioned at one end of the detection head, which is shot to the reflecting plate.
The invention also provides a city road landscape design survey method, which is used for the unmanned aerial vehicle survey device and comprises the following steps:
step one: planning a survey path, and planning a moving survey route of the unmanned aerial vehicle according to a required survey road;
step two: landscape specification planning, namely hovering in a region required to carry out landscape construction, and adjusting the landscape construction region by adjusting the angle of the projection component through the adjustment component;
step three: the landscape specification is measured, and the detail dimension of the landscape and the dimension of the road are calculated according to the height of the unmanned aerial vehicle and the projection angle of the projection assembly;
step four: and planning the landscape specification, and obtaining the optimal landscape construction area by changing the landscape coverage area.
The invention provides an unmanned aerial vehicle surveying device and method based on urban road landscape design. Compared with the prior art, the method has the following beneficial effects:
1. when the road information is acquired, the image can be projected on the ground through simulating the landscape specification in the process of acquiring the image through the image acquisition and laser projection-capable projection assembly, the dimension specification of the road under the landscape simulation can be calculated, and the influence of the landscape on the road under a certain specification can be calculated.
2. The invention uses the projection component capable of adjusting the angle in the using process, uses the different angles of the projection component to adjust the landscape specifications, uses the different angles of the projection component to adjust the angle position, and uses the cooperation of the linear laser and the curve laser to form the combination of different landscape specifications, and is applied to different positions of roads.
3. According to the invention, the adjusting component capable of controlling the angle of the projection component is configured, and the landscape specification size planned by the laser can be calculated by controlling the emitting angle of the laser and the existing height of the unmanned aerial vehicle when the laser is used, so that the landscape is planned according to the different laser angles, and the calculation of the actual road interference area in the road is performed.
4. When the laser projection is adjusted, the expansion wings can be used for extending outwards from the machine body, so that the laser emission position is changed, the landscape size can be adjusted by changing the laser position according to the length position of the laser emission extension, and the size specification of the road can be calculated more accurately after the image acquisition is carried out.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a bottom view of the body of the present invention;
FIG. 4 is a schematic view of an expansion wing of the present invention;
FIG. 5 is a disassembled view of an expansion airfoil of the present invention;
FIG. 6 is a schematic view of an extension arm of the present invention;
FIG. 7 is a schematic diagram of a control board of the present invention;
FIG. 8 is a schematic diagram of a carriage of the present invention;
FIG. 9 is a cross-sectional view of a carriage of the present invention;
FIG. 10 is a schematic view of the carriage internal structure of the present invention;
FIG. 11 is an exploded view of the inside structure of the adjusting bracket of the present invention;
FIG. 12 is a schematic view of a slider structure according to the present invention;
fig. 13 is a schematic view of an attitude sensor of the present invention.
In the figure: 100 machine bodies, 200 expansion wings, 300 projection components, 400 adjustment components, 500 acquisition components, 600 landing gear, 700 rotary tables, 800 servo motors and 900 detection ends;
the extension arm 201 and the extension arm 202 slide the electromagnetic plate 203, the positioning magnetic block 204 control plate 205 torsion spring 206 control the electromagnetic plate 207 inserted link 208 reverse electromagnetic plate 209 compression spring;
301 arc laser emitter, 302 straight line laser emitter, 303 phase type laser ranging sensor, 304 laser emitting component, 305 mounting frame;
401 attitude sensor, 402 regulating frame, 403 connector, 404 driving device, 405 carriage, 406 extrusion cavity, 407 slideway, 408 sealing plate, 409 traction rope, 410 slider, 411 guide hole, 412 electromagnetic block, 413 ball, 414 guide slot, 415 cam, 416 arc slot, 417 arc block, 418 extrusion head;
501 image acquisition cameras, 502 wide-angle cameras and 503 laser recognition cameras;
901 detection head, 902 reflecting plate, 903 receiving end.
Detailed Description
Various embodiments of the invention are disclosed in the accompanying drawings, and for purposes of explanation, numerous practical details are set forth in the following description. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Furthermore, for the purpose of simplifying the drawings, some of the presently available structures and elements are shown in a simplified schematic form, and the same reference numerals will be used throughout the drawings to designate the same or similar elements. And features of different embodiments may be interactively applied, if implementation is possible.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have their ordinary meaning as understood by one of ordinary skill in the art. Furthermore, the definitions of the words and phrases used herein should be understood and interpreted to have a meaning consistent with the understanding of the relevant art and technology. These terms are not to be construed as idealized or overly formal meanings unless expressly so defined.
Referring to fig. 1-13, the present invention provides an unmanned aerial vehicle survey device based on urban road landscape design, which can plan a landscape specification by using a laser shape on a road, and can detect surrounding road width data with the landscape as a center after planning the landscape, and can detect and judge an actual road size, and comprises:
a body 100, the bottom of which is provided with a landing gear 600;
the expansion wing 200 is positioned at the outer side of the propeller of the machine body 100 and can stretch and adjust the length, a rotatable rotary table 700 is arranged at the lower part of the machine body 100, the rotary table 700 is rotatably arranged at the lower part of the machine body 100, a servo motor 800 for driving the rotary table 700 is arranged at the bottom of the machine body 100, the servo motor 800 drives the rotary table 700 to rotate, and a detection end 900 is arranged at the inner side of the expansion wing 200;
the adjusting assembly 400 is arranged on the inner side of the rotary table 700 and is consistent with the extension angle of the expansion wing 200, the adjusting assembly 400 extends to the inner side of the expansion wing 200, the expansion wing 200 and the adjusting assembly 400 synchronously extend, the projection assembly 300 is arranged on the lower part of the adjusting assembly 400, and the acquisition assemblies 500 for image acquisition are arranged on the lower part of the rotary table 700 and the lower part of the machine body 100;
the projection assembly 300 comprises an arc laser emitter 301 for projecting arc laser and a linear laser emitter 302 for projecting linear laser, wherein the arc laser emitter 301 and the linear laser emitter 302 are combined to form a landscape occupied area, and the arc laser emitter 301 and the linear laser emitter 302 are matched with the machine body 100 in height to realize the survey of the landscape occupied area.
In this embodiment, through the cooperation of arc laser emitter 301 and sharp laser emitter 302, can survey the in-process that unmanned aerial vehicle surveyed, carry out the planning of the shared region of view, the survey of view occupation area is carried out to the synchronous altitude position that utilizes unmanned aerial vehicle and laser emitter's angular position.
The occupied area of the landscape and the influence area generated after the landscape is constructed can be adjusted according to the angle of the laser transmitter, the landscape position and the distance to the roadside position are measured according to the angle of the laser transmitter, the width dimension of the road can be accurately detected according to the transmitting angle position of the laser, accordingly normal traffic can not be influenced after the landscape is constructed, and measurement errors are reduced.
In one embodiment, the expansion wing comprises:
extension arm 201, which is located at the lower part of the propeller of the machine body 100 and is accommodated in the inner side of the machine body 100, wherein a section of extension arm 201 extends to the inner side of the machine body 100 to configure a plug rod 207, the plug rod 207 extends to the inner side of the machine body 100, and the plug rod 207 forms the extension positioning of the extension arm 201;
the sliding electromagnetic plate 202 is fixed in the machine body 100, two ends of the sliding electromagnetic plate 202 are respectively provided with a positioning magnetic block 203 and a reverse electromagnetic plate 208, the positioning magnetic block 203 is fixed on the inner side of the extension arm 201, and the reverse electromagnetic plate 208 can be slidably sleeved on a section of the inserted link 207, which is away from the extension arm 201;
the compression spring 209 is sleeved outside the inserted link 207 to form a support for the reverse electromagnetic plate 208.
In this embodiment, the extension arm 201 can be extended outwards to extend the length of the machine body 100, and the sliding electromagnetic plate 202 is matched with the positioning magnetic block 203 and the reverse electromagnetic plate 208 can be matched, so that the magnetic force is used to push the extension arm 201 to change the extension length, so that the position of the extension arm 201 can be changed.
In the use process, the compression spring 209 forms a support for the reverse electromagnetic plate 208 and can cooperate with the sliding electromagnetic plate 202 to drive the extension arm 201 to retract, the sliding electromagnetic plate 202 repels the electromagnetic plate in the direction, so that the reverse electromagnetic plate 208 supports the extension arm 201, the extension arm 201 can retract, and the extension arm 201 can be pushed outwards when the sliding electromagnet pushes the positioning magnetic block 203.
In one embodiment, the expansion wing further comprises:
the control board 204 is positioned at the inner side of the machine body 100 at the lower part of the extension arm 201, a control electromagnetic board 206 is arranged at the inner side of the control board 204, and the control board 204 forms a columnar bulge to extend into the machine body 100 and forms connection between the control board 204 and the machine body 100 through a torsion spring 205;
the control plate 204 is supported in an inclined shape by a torsion spring 205.
In this embodiment, by providing the control plate 204 in an inclined shape, the positioning magnet 203 can be pushed by controlling the electromagnetic plate 206 by tilting the control plate 204 when in use, so that the extension arm 201 can be extended outwards, and by providing the torsion spring 205, the control plate 204 can be pressed when the extension arm 201 is retracted inwards, so that the control plate 204 can be stored in the machine body 100.
In one embodiment, the adjustment assembly 400 includes:
a carriage 405 slidably inserted into the turntable 700, the carriage 405 being aligned with the extension direction of the extension arm 201, the carriage 405 extending to a section of the adjustment frame 402 outside the turntable 700, the adjustment frame 402 being swingably mounted inside the carriage 405;
the connector 403 is positioned outside the adjusting frame 402 and extends into the carriage 405, and the adjusting frame 402 rotates around the connector 403;
the extrusion cavity 406 is arranged in the carriage 405, an extrusion head 418 is arranged in the extrusion cavity 406, the extrusion head 418 moves to extrude the extrusion cavity 406, one end of the extrusion cavity 406 is provided with a slide way 407 communicated with the extrusion cavity 406, and a sealing plate 408 is arranged in the slide way 407 to be attached to the outer surface of the slide way;
a pulling rope 409 is provided between the sealing plate 408 and the adjustment frame 402 to pull the adjustment frame 402.
In this embodiment, the extension and contraction of the carriage 405 can be performed along with the length of the extension arm 201 during use, and the sealing plate 408 can be pushed to move to change the position of the pulling rope 409 to adjust the position of the adjusting frame 402 by extruding the extrusion cavity 406 inside the carriage 405, and when the angle position of the adjusting frame 402 is changed by pulling the pulling rope 409, the laser emission angle can be changed, so that the size projected on the road surface can be changed.
In one embodiment, the adjustment assembly 400 further comprises:
an attitude sensor 401 fixed inside the adjustment frame 402 and detecting an inclination angle of the adjustment frame 402;
a driving device 404 fixed inside the rotary table 700, wherein a cam 415 is sleeved outside the driving device 404, and the cam 415 forms extrusion to an extrusion head 418;
a guide groove 414 formed in the carriage 405, wherein a slidable slider 410 is disposed in the guide groove 414, the slider 410 is attached to the guide groove 414, a guide hole 411 is formed at one end of the slider 410 extending to the outside of the guide groove 414, and the pulling rope 409 passes through the guide hole 411, and the guide hole 411 forms a support for the pulling rope 409;
electromagnetic block 412 is fixed on the inner wall of guide groove 414, and pulls slider 410 by electromagnetic force.
In this embodiment, the pulling force of the pulling rope 409 can be adjusted by sliding the slider 410 to change, so that the initial angle position of the adjusting frame 402 can be changed according to different pulling positions, the angle of the adjusting frame 402 can be changed by rotating the extrusion head 418 by the cam 415 after the pulling position of the pulling rope 409 is adjusted by the slider 410, and a larger swinging angle of the adjusting frame 402 can be obtained in the adjusting process.
The electromagnetic block 412 is energized to adjust the height position of the sliders 410, and the angle of the two sliders 410 can be adjusted after the change of the pulling angle position of the pulling rope 409.
In one embodiment, the adjustment assembly 400 further comprises:
the arc-shaped groove 416 is formed in the lower portion of the extension arm 201, an arc-shaped block 417 is arranged in the arc-shaped groove 416, the arc-shaped block 417 extends into the arc-shaped groove 416 and contacts the arc-shaped block 417, the ball 413 is embedded in the inner side of the arc-shaped block 417, the ball 413 rotates relative to the arc-shaped block 417, and the ball 413 is attached to the inner wall of the arc-shaped groove 416.
In one embodiment, the arc-shaped groove 416 is configured to limit the swing distance of the arc-shaped block 417, the arc-shaped groove 416 limits the swing angle of the arc-shaped block 417, and due to the arrangement of the turntable 700, the position of the carriage 405 is adjusted after the servo motor 800 drives the turntable 700 to rotate, and the projection assembly 300 is partially mounted inside the mounting frame 305, and the angular position of the projection assembly 300 can be driven to change after the turntable 700 rotates, so as to change the projection on the ground.
Wherein, in order to reduce friction generated by the arcuate block 417 during rotation, the balls 413 can reduce the seal of the arcuate block 417 with the arcuate slot 416 during rotation.
In one embodiment, projection assembly 300 includes:
the mounting frame 305 is mounted inside the adjusting frame 402, and the arc laser transmitter 301 and the linear laser transmitter 302 are mounted inside the mounting frame 305 extending towards the extension arm 201;
the phase type laser ranging sensor 303 is fixed on the inner side of the rotary table 700, and the phase type laser ranging sensor 303 is perpendicular to the ground in the unmanned aerial vehicle hovering state;
a laser emitter assembly mounted inside a carriage 405 provided in the middle of the body 100;
the acquisition assembly 500 includes:
the image acquisition camera 501 is arranged at the lower part of the machine body 100, and the image acquisition camera 501 is obliquely arranged;
the wide-angle camera 502 is arranged at the bottom of the rotary table 700 and is vertical to the ground;
the laser recognition camera 503 is mounted on one side of the wide-angle camera 502 and is used for collecting laser shapes.
In this embodiment, the carriage 405 can integrally drive the position of the mounting frame 305 to move in the extending process, so that the arc-shaped laser emitter 301 and the linear laser emitter 302 change the angle position, thereby changing the projection angle in the using process, and the laser emitting component 304 can adjust the extension angle of the laser emitter after swinging, that is, the laser emitting component 304 can be used to extend to the road edge position, the laser emitting component 304, the arc-shaped laser emitter 301 and the linear laser emitter 302 form triangular extension through the height of the phase-type laser ranging sensor 303 perpendicular to the ground, and the height and the laser emitting angle of the unmanned aerial vehicle are used to form the detection of the specification of the road position.
The image acquisition camera 501 is arranged to acquire road images, the wide-angle camera 502 is used for detecting the bottom of the unmanned aerial vehicle, and the view projection points are used as base points to extend outwards, so that data acquisition of the surrounding road specification and size can be performed according to the view projection points.
In one embodiment, the detection end 900 includes:
a detection head 901, which is mounted on the inner side of the extension arm 201, wherein a reflection plate 902 is arranged at a position corresponding to the detection head 901, and the detection head 901 faces the reflection plate 902 vertically;
the receiving end 903 is positioned at one end of the detecting head 901, which is directed to the reflecting plate 902.
In this embodiment, the detecting head detects the extension length of the extension arm 201, after the extension arm 201 extends outwards, the signal can be emitted by the detecting head 901 and reflected by the reflecting plate 902, and the receiving end 903 can detect the extension distance of the extension arm 201 after receiving the signal.
The embodiment of the invention also provides a city road landscape design survey method which is used for the unmanned aerial vehicle survey device and comprises the following steps:
step one: planning a survey path, and planning a moving survey route of the unmanned aerial vehicle according to a required survey road;
step two: landscape specification planning, namely hovering in a region required to carry out landscape construction, and adjusting the angle of the projection assembly 300 through the adjustment assembly 400 to adjust the landscape construction region;
step three: the landscape specification measurement, which is to calculate the detail size of the landscape and the road size according to the height of the unmanned plane and the projection angle of the projection assembly 300;
step four: and planning the landscape specification, and obtaining the optimal landscape construction area by changing the landscape coverage area.
In summary, the technical solution disclosed in the above embodiment of the present invention has at least the following advantages:
1. when the road information is acquired, the image can be projected on the ground through simulating the landscape specification in the process of acquiring the image through the projection assembly 300 capable of carrying out laser projection, the dimension specification of the road under the landscape simulation can be calculated, and the influence of the landscape on the road under a certain specification can be calculated.
2. The invention utilizes the projection assembly 300 capable of adjusting the angle in the use process, utilizes the different angles of the projection assembly 300 to adjust the landscape specifications, utilizes the different angles of the projection assembly 300 to adjust the angle position, and utilizes the cooperation of the linear laser and the curve laser to form the combination of different landscape specifications, so as to be applied to different positions of roads.
3. According to the invention, the adjusting assembly 400 capable of controlling the angle of the projection assembly 300 is configured, and when the device is used, the laser planned landscape specification size can be calculated by controlling the laser emission angle and the existing height of the unmanned aerial vehicle, so that the landscape is planned according to the different laser angles, and the calculation of the actual road interference area in the road is performed.
4. When the laser projection is adjusted, the expansion wings 200 can be used for extending outwards from the machine body 100 to change the laser emission position, so that the landscape size can be adjusted by changing the laser position according to the length position of the laser emission extension, and the size and specification of the road can be calculated more accurately after the image acquisition is carried out.
Although the present invention has been described in connection with the above embodiments, it should be understood that the invention is not limited thereto, but may be variously modified and modified by those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is accordingly defined by the appended claims.
Claims (8)
1. Unmanned aerial vehicle surveys device based on urban road view design, its characterized in that includes:
the bottom of the machine body is provided with a landing gear;
the expansion wings are positioned at the outer side of the engine body propeller and can stretch and adjust the length, the rotary table is arranged at the lower part of the engine body and is rotatably arranged at the lower part of the engine body, the servo motor for driving the rotary table is arranged at the bottom of the engine body, the servo motor drives the rotary table to rotate, and the inner side of the expansion wings is provided with a detection end;
the adjusting component is arranged on the inner side of the rotary table and is consistent with the extension angle of the extension wing, the adjusting component extends to the inner side of the extension wing, the extension wing and the adjusting component synchronously extend, the lower part of the adjusting component is provided with the projection component, and the lower part of the rotary table and the lower part of the machine body are provided with the acquisition components for image acquisition;
the projection assembly comprises an arc laser emitter for projecting arc laser and a linear laser emitter for projecting linear laser, the arc laser emitter and the linear laser emitter are combined to form a landscape occupied area, and the arc laser emitter and the linear laser emitter are matched with the machine body to realize the survey of the landscape occupied area;
the adjustment assembly includes:
the sliding frame can be inserted into the rotating table in a sliding manner, the extending direction of the sliding frame is consistent with that of the extension arm, an adjusting frame is arranged at one end of the sliding frame extending to the outer side of the rotating table, and the adjusting frame can be arranged on the inner side of the sliding frame in a swinging manner;
the connector is positioned at the outer side of the adjusting frame and extends to the inside of the sliding frame, and the adjusting frame rotates around the connector;
the extrusion cavity is arranged in the sliding frame, an extrusion head is arranged in the extrusion cavity, the extrusion head moves to extrude the extrusion cavity, one end of the extrusion cavity is provided with a slideway communicated with the extrusion cavity, and a sealing plate is arranged in the slideway and is attached to the outer surface of the sliding groove;
the traction rope is arranged between the sealing plate and the adjusting frame to form traction on the adjusting frame;
the attitude sensor is fixed in the adjusting frame and detects the inclination angle of the adjusting frame;
the driving device is fixed in the rotary table, a cam is sleeved outside the driving device, and the cam forms extrusion to the extrusion head;
the guide groove is formed in the sliding frame, a sliding block is arranged in the guide groove and is attached to the guide groove, a guide hole is formed in one end of the sliding block extending to the outer side of the guide groove, and the traction rope penetrates through the guide hole to form a support for the traction rope;
the electromagnetic block is fixed on the inner wall of the guide groove and forms the traction to the sliding block by means of electromagnetic force.
2. The unmanned aerial vehicle survey apparatus based on urban road landscape design of claim 1, wherein the expansion wings comprise:
the extension arm is positioned at the lower part of the engine body propeller and is contained in the engine body, one section of extension arm extending to the inside of the engine body is provided with a plug rod, the plug rod extends to the inside of the engine body, and the plug rod is used for positioning extension of the extension arm;
the sliding electromagnetic plate is fixed in the machine body, two ends of the sliding electromagnetic plate are respectively provided with a positioning magnetic block and a reverse electromagnetic plate, the positioning magnetic blocks are fixed on the inner side of the extension arm, and the reverse electromagnetic plate can be sleeved at one end of the inserted link, which is far away from the extension arm, in a sliding way;
the compression spring is sleeved on the outer side of the inserted link to form a support for the reverse electromagnetic plate.
3. The unmanned aerial vehicle survey apparatus based on urban road landscape design of claim 2, wherein the expansion wings further comprise:
the control board is positioned at the inner side of the machine body at the lower part of the extension arm, a control electromagnetic plate is arranged at the inner side of the control board, and the control board forms a columnar bulge to extend into the machine body and forms connection between the control board and the machine body through a torsion spring;
the control plate is supported by the torsion spring to be inclined.
4. The unmanned aerial vehicle survey apparatus of claim 3, wherein the adjustment assembly further comprises:
the arc-shaped groove is formed in the lower portion of the extension arm, the arc-shaped block is arranged in the arc-shaped groove, the arc-shaped block extends to the inside of the arc-shaped groove and contacts the arc-shaped block, the ball is embedded in the inner side of the arc-shaped block, the ball rotates relative to the arc-shaped block, and the ball is attached to the inner wall of the arc-shaped groove.
5. The unmanned aerial vehicle survey apparatus of claim 4, wherein the arcuate slot limits the angle of oscillation of the arcuate block, and the servomotor rotates the turntable to adjust the position of the carriage.
6. The unmanned aerial vehicle survey apparatus of claim 5, wherein the projection assembly comprises:
the mounting frame is mounted inside the adjusting frame, and the arc-shaped laser transmitters and the linear laser transmitters are mounted inside the mounting frame extending towards the extension arm;
the phase type laser ranging sensor is fixed on the inner side of the rotary table, and is perpendicular to the ground in a hovering state of the unmanned aerial vehicle;
the laser emitter component is arranged in a sliding frame arranged in the middle of the machine body;
the collection assembly includes:
the image acquisition camera is arranged at the lower part of the machine body and is obliquely arranged;
the wide-angle camera is arranged at the bottom of the rotary table and is vertical to the ground;
the laser identification camera is arranged on one side of the wide-angle camera and used for collecting laser shapes.
7. The unmanned aerial vehicle survey apparatus based on urban road landscape design of claim 6, wherein the detection end comprises:
the detection head is arranged on the inner side of the extension arm, a reflecting plate is arranged at a corresponding position of the detection head, and the detection head faces the reflecting plate vertically;
the receiving end is positioned at one end of the detection head, which is shot to the reflecting plate.
8. Urban road landscape design survey method for an unmanned aerial vehicle survey device according to any one of claims 1 to 7, comprising the steps of:
step one: planning a survey path, and planning a moving survey route of the unmanned aerial vehicle according to a required survey road;
step two: landscape specification planning, namely hovering in a region required to carry out landscape construction, and adjusting the landscape construction region by adjusting the angle of the projection component through the adjustment component;
step three: the landscape specification is measured, and the detail dimension of the landscape and the dimension of the road are calculated according to the height of the unmanned aerial vehicle and the projection angle of the projection assembly;
step four: and planning the landscape specification, and obtaining the optimal landscape construction area by changing the landscape coverage area.
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| KR101744662B1 (en) * | 2016-11-30 | 2017-06-09 | 주식회사 지오스토리 | System for classifying halophytes using hyper-spectral imaging |
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| CN210681178U (en) * | 2019-08-05 | 2020-06-05 | 范锐朋 | Unmanned aerial vehicle survey and drawing photographic balancing unit |
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