CN208765726U - A kind of planting tree surveying and locating device based on unmanned plane - Google Patents
A kind of planting tree surveying and locating device based on unmanned plane Download PDFInfo
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- CN208765726U CN208765726U CN201820848455.2U CN201820848455U CN208765726U CN 208765726 U CN208765726 U CN 208765726U CN 201820848455 U CN201820848455 U CN 201820848455U CN 208765726 U CN208765726 U CN 208765726U
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Abstract
A kind of planting tree surveying and locating device based on unmanned plane, including unmanned plane module, hand-held terrestrial operation module, display module, locating module, mark module and ground identification module；Locating module, mark module and ground identification module are mounted in unmanned plane module；Display module is mounted in hand-held terrestrial operation module；Unmanned plane module, display module, locating module, mark module and ground identification module are connect with hand-held terrestrial operation module；Plant pit setting-out point coordinate transformation in drawing is longitude and latitude data according to the trees deployment scenarios in design plantation drawing by hand-held terrestrial operation module, is controlled unmanned plane module according to longitude and latitude data and is flown and intends layout point overhead to plant pit；Locating module positions the positioning coordinate information of unmanned plane module position, and sends it to hand-held terrestrial operation module；Mark module is used for behind unmanned plane module arrival plant pit layout point overhead, precise positioning plant pit position, transmitting setting-out label.
Description
Technical field
The utility model relates to surveying and locating field more particularly to a kind of planting tree surveying and locating dresses based on unmanned plane
It sets.
Background technique
As country constantly builds, surveying and locating still occupies significance, existing survey in construction project field
Amount setting-out technique can not meet the demand of engineering construction.Under the mode of original measurement, need in advance to open measurement work
The long planning of length.
In planting tree and afforestation project, general measure setting-out will establish measurement coordinate system and setting control point,
Setting-out coordinate points are extracted according to design drawing, carry out control point check using the full measuring instruments such as instrument, GPS, RTK of boring, it is true through checking
Determine control point coordinates it is errorless after, to plantation point implement Coordinate setting-out, using more people cooperate carry out quick lime or beat timber mark
Layout point.For extensive planting tree and afforestation project, general measure setting-out since setting out data is more, the amount of labour is big,
Efficiency is extremely low, and tradition or conventional setting-out need to set up professional surveying party and carry out, which puts into survey crew, auxiliary
The person of helping others, setting-out instrument and Work tool are more, and time-consuming for setting-out, labour and Work tool investment are more, and surveying and locating progress cannot
Meet large-scale production requirement.
Utility model content
The utility model provides a kind of planting tree surveying and locating device based on unmanned plane, by unmanned air vehicle technique with
The combination of GPS high-accuracy position system, effectively improves the operating efficiency of surveying and locating, reduce during surveying and locating labour and
The investment of Work tool reduces construction cost, improves construction speed.The utility model uses following technical scheme.
A kind of planting tree surveying and locating device based on unmanned plane, described device include unmanned plane module, hand-held
Face operation module, display module, locating module, mark module and ground identification module；
The locating module, mark module and ground identification module are mounted in the unmanned plane module；The display mould
Block is mounted in the hand-held terrestrial operation module；
The unmanned plane module, display module, locating module, mark module and ground identification module with the hand-held
The connection of terrestrial operation module；
The hand-held terrestrial operation module is according to the trees deployment scenarios in design plantation drawing, by the plant pit in drawing
Setting-out point coordinate transformation is longitude and latitude data, controls the unmanned plane module according to the longitude and latitude data and flies to plant pit and intends
Layout point overhead；
The positioning coordinate information of locating module positioning unmanned plane module position, and with sending it to hand-held
Face operation module；
The mark module is used to reach plant pit layout point overhead, precise positioning plant pit position when the unmanned plane module
Afterwards, transmitting setting-out label.
Preferably, ground identification module setting-out environment for identification, with being transferred to the hand-held by recognition result
Face operation module, the hand-held terrestrial operation module control the flying height of unmanned plane module, institute according to the recognition result
It states mark module and setting-out label is emitted according to the recognition result.
Preferably, the hand-held terrestrial operation module includes data conversion module, and the data conversion module is by drawing
In plant pit setting-out point coordinate transformation be longitude and latitude data.
Preferably, the setting-out of the mark module transmitting is labeled as laser labelling.
Preferably, the setting-out of the mark module transmitting is labeled as throw mark in kind.
Preferably, the hand-held terrestrial operation module includes error calculating module, and the error calculating module calculates institute
The error between plant pit layout point coordinate and unmanned plane module positioning coordinate is stated, it is described hand-held when error is met the requirements
Formula terrestrial operation module controls the mark module emission mark signal.
The beneficial effects of the utility model are: manual measurement setting-out is promoted to automatic measurement setting-out by (1), by this reality
With novel, using the high-precision location technology of GPS, traditional man-hour manually hand-held RTK equipment is looked for into a setting-out, is promoted to digitlization, automatic
Surveying and locating.(2) there is unmanned plane characteristics, the separate unit unmanned planes such as rapid flight, precise positioning, spot hover, module carrying to exist
Achievable point position mark is worked while setting-out, surveying and locating workflow is optimized, reduces the throwing of labour, material
Enter, effectively increases the operating efficiency of surveying and locating work.(3) guarantee the plantation progress of trees: the data of layout point can shift to an earlier date
It is handled by interior work, the process for optimizing surveying and locating, has striven for the time for afforestation progress, ensure that project progress.
Detailed description of the invention
Fig. 1 is unmanned plane surveying and locating apparatus structure schematic diagram.
Fig. 2 is unmanned plane mark module markers work schematic illustration.
Fig. 3 is unmanned control device schematic diagram.
Description of symbols: 1, unmanned plane module；2, hand-held terrestrial operation module；3, display module；4, locating module；
5, mark module；6, ground identification module；7, setting-out marks.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1 to Figure 3, a kind of planting tree surveying and locating device based on unmanned plane, including unmanned plane module 1,
Hand-held terrestrial operation module 2, display module 3, locating module 4, mark module 5 and ground identification module 6.Locating module 4, mark
Note module 5 and ground identification module 6 are mounted on 1 piece of unmanned plane mould, and display module 3 is mounted in hand-held terrestrial operation module 2
On.Unmanned plane module 1, display module 3, locating module 4, mark module 5 and ground identification module 6 with hand-held terrestrial operation
Module 2 connects.
Unmanned plane module 1, unmanned plane module is to have high-precision positioning function and hovering function in the utility model
The electronic unmanned plane of rotary wind type, the cruise duration of single flight are about 50 minutes or so, subsidiary three pieces of reserve batteries.
Hand-held ground remote control module 2 is radio robot.Flight of the hand-held ground remote control module for unmanned plane is grasped
Control (main auxiliary operation, unmanned plane during flying is mainly based on path programming, automatic flight)；Flight progress can be controlled at any time,
Immediately modification flying height, change of flight route, and operate flight and the work such as rotated in place, maked a return voyage, landed, re-measured.Hand
It holds formula terrestrial operation module and is equivalent to central controller, receive the data of other modules and control the operation of other modules.It is hand-held
Formula terrestrial operation module can be hand held mobile terminals.Hand-held terrestrial operation module is according to the trees in design plantation drawing
Deployment scenarios, are longitude and latitude data by the plant pit setting-out point coordinate transformation in drawing, control unmanned plane according to longitude and latitude data
Module is flown to plant pit layout point.Design plantation drawing is digitlization drawing, includes the information such as plant pit layout point position in drawing,
Hand-held terrestrial operation module extracts the location information in drawing, is longitude and latitude data by plant pit setting-out point coordinate transformation.
Hand-held terrestrial operation module includes data conversion module, and data conversion module is by the plant pit setting-out point coordinate transformation in drawing
For longitude and latitude data.Hand-held terrestrial operation module includes error calculating module, and error calculating module calculates plant pit layout point and sits
Error between mark and unmanned plane module positioning coordinate, when error is met the requirements, hand-held terrestrial operation module control label
Module emission mark signal.
Locating module 4 is that high-precision GPS locating module using airborne version satellite positioning receiver has high accuracy positioning
Function can obtain location information, be equipped on unmanned plane center top.The positioning of locating module positioning unmanned plane module position
Coordinate information, and it is conducted into hand-held terrestrial operation module.
The setting-out environment for identification of ground identification module 6, is transferred to hand-held terrestrial operation module for recognition result, holds
Formula terrestrial operation module controls the flying height of unmanned plane module according to recognition result, and mark module is selected according to recognition result
Mark putting mode.Ground identification module is carried out based on incuding ground surface object according to its geometrical characteristic and physical features
Induction and analysis, so that it is determined that the material, shape, size of object on ground, spatial position and correlation etc., are transmitted in nobody
The included GPS navigation system of machine ensures the safety of surveying and locating to draft reasonable flying height and barrier evacuation automatically.
Mark module 5 is used for behind unmanned plane module arrival plant pit layout point overhead, precise positioning plant pit position, and transmitting is put
Sample label 7.Mark module is divided into Laser emission label and throw mark in kind, is equipped on uav bottom, the transmitting of the device
Direction is vertically downward.Laser beam emitting device and delivery device in kind are in close state in unmanned plane during flying, when unmanned plane is outstanding
It is stopped at plant pit setting-out point and when error meets design requirement, the knot that hand-held ground remote control module is identified according to ground identification module
Fruit issues instruction, makes corresponding dispensing to Different Ground environment and marks, which just needs to open, and carries out implementation mark to point
Note can choose different mark patterns according to the result that ground identification module identifies, such as Laser emission label or throwing in kind
Label carrys out throw mark.When ground identification module recognize setting-out ground be softer material (such as dirt floor) when, label
Laser emission label can be used in module, and ground underworker carries out piling label to laser labelling point, in order to which the later period digs cave work
The progress of work.When ground identification module recognize setting-out ground be harder material (such as cement flooring) when, mark module can
Using throw mark in kind, underworker is not needed at this time and carries out piling label, mark module can launch pigment in anchor point
It is marked, in order to which the later period digs the progress of cave work, human cost can be reduced at this time.When dispensing material object is marked,
Hand-held terrestrial operation module can control the flying height of unmanned plane module according to recognition result, close so that unmanned plane reaches
Physical identification dispensing is carried out after suitable height again, guarantees the accuracy launched.
Real-time progress situation of the display module 3 to show unmanned plane setting-out controls setting-out process convenient for manipulator's macroscopic view.
The display module of the present embodiment uses common smart phone, and implementation method is to develop a simple cell phone application, and APP is by one
Serial setting-out coordinate points are shown on mobile phone screen by patterned fashion (dot).During unmanned plane during flying, take
The real-time positioning of the GPS positioning module of load, and the coordinate information positioned in real time is wirelessly transmitted to mobile phone terminal APP, in APP to scheme
The form of case is shown.During unmanned plane during flying setting-out, APP records the information such as unmanned plane setting-out points, speed, and root
Reasonable mission planning is made according to progress situation.The coordinate of setting-out coordinate points and unmanned plane positioning can be checked by display module
Error controls unmanned plane during flying, it is made to reach setting-out coordinate points.
Cruise control module mainly relies on existing unmanned plane flight control technique to support.Existing flight control technique includes that gyroscope (flies
Row posture perception), accelerometer, earth induction flies control, and baroceptor (the rough control of hovering height), ultrasonic sensor is (low
Empty high precision control or avoidance), light stream sensor (hovering horizontal position accurately determines) and control circuit composition.It is existing
The main function of flight control technique be exactly to automatically keep the normal flight posture of aircraft.It keeps stablizing, to avoid because of scanning frequency
The caused each sensing element surveying and locating error of degree fluctuation increases, being capable of whole record flight path and parameters.In conjunction with GPS
The data of location information module and cruise control module obtain setting-out dot position information, and flight is to the position and hovers over setting-out
Right above point, mark module is enabled by ground remote control station and carries out ground dispensing label to setting-out point, completes layout point label.
A kind of planting tree surveying and locating method based on unmanned plane, comprising:
Step 1, ground identification module identify setting-out environment, sends recognition result to hand-held ground remote control module,
The identification of setting-out environment includes material, shape, size, spatial position and the correlation of the object in identification setting-out environment.
Step 2, hand-held ground remote control module receive recognition result, to arrange feelings according to the trees in design plantation drawing
Condition, is longitude and latitude data by the plant pit setting-out point coordinate transformation in drawing, controls nothing according to recognition result and longitude and latitude data
Man-machine module, which is flown, intends setting-out overhead to plant pit.
Step 3, hand-held ground remote control module receive the positioning coordinate information of unmanned plane module, calculate plant pit layout point coordinate
Error between the positioning coordinate of unmanned plane module sends marking of control signal and setting-out environment when error is met the requirements
Recognition result；When error is unsatisfactory for requiring, the position of unmanned plane module is adjusted, repeats step 3.Wherein, if unmanned plane mould
Block positions coordinate (x, y) and the distance of plant pit layout point coordinate (x1, y1) horizontal direction is less than setting-out allowable error δ, i.e. (x-
X1) ^2+(y-y1) ^2≤δ ^2, then judge that unmanned plane module arrives at layout point.
Step 4, mark module receive marking of control signal and recognition result, according to marking of control signal and recognition result,
Emit setting-out label.After marking of control signal, that is, setting-out instruction issues, unmanned plane mark module mounted opens work, the mould
Root tuber is not marked rationally according to ground environment.It can choose different label shapes according to the result that ground identification module identifies
Formula, as Laser emission label or throw mark in kind or different material objects carry out throw mark.When ground, identification module is recognized
When the ground of setting-out is softer material (such as dirt floor), Laser emission label, ground underworker is can be used in mark module
Piling label is carried out to laser labelling point, in order to which the later period digs the progress of cave work.When ground, identification module recognizes setting-out
When ground is harder material (such as cement flooring), throw mark in kind is can be used in mark module, does not need underworker at this time
Carrying out piling label, mark module can launch pigment in anchor point to be marked, in order to which the later period digs the progress of cave work, this
When can reduce human cost.Launch material object be marked when, hand-held terrestrial operation module can according to recognition result come
The flying height of unmanned plane module is controlled, so that unmanned plane carries out physical identification dispensing after reaching suitable height again, guarantees to throw
The accuracy put.
Step 5 repeats step 1-4, carries out setting-out to other plant pit layout points.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (6)
1. a kind of planting tree surveying and locating device based on unmanned plane, described device includes hand-held terrestrial operation module and shows
Show module, which is characterized in that described device further includes unmanned plane module, locating module, mark module and ground identification module；
The locating module, mark module and ground identification module are mounted in the unmanned plane module；The display module is taken
It is loaded in the hand-held terrestrial operation module；
The unmanned plane module, display module, locating module, mark module and ground identification module with the hand-held ground
Operation module connection；
The hand-held terrestrial operation module is according to the trees deployment scenarios in design plantation drawing, by the plant pit setting-out in drawing
Position coordinate is converted into longitude and latitude data, controls the unmanned plane module according to the longitude and latitude data and flies and intends setting-out to plant pit
Point overhead；
The positioning coordinate information of locating module positioning unmanned plane module position, and send it to hand-held ground behaviour
Make module；
The mark module is used for behind unmanned plane module arrival plant pit layout point overhead, precise positioning plant pit position, hair
Penetrate setting-out label.
2. a kind of planting tree surveying and locating device based on unmanned plane according to claim 1, which is characterized in that described
Recognition result is transferred to the hand-held terrestrial operation module by ground identification module setting-out environment for identification, described hand-held
Formula terrestrial operation module controls the flying height of unmanned plane module according to the recognition result, and the mark module is according to the knowledge
Other result transmitting setting-out label.
3. a kind of planting tree surveying and locating device based on unmanned plane according to claim 1, which is characterized in that described
Hand-held terrestrial operation module includes data conversion module, and the data conversion module is by the plant pit setting-out position coordinate in drawing
It is converted into longitude and latitude data.
4. a kind of planting tree surveying and locating device based on unmanned plane according to claim 1, which is characterized in that described
The setting-out of mark module transmitting is labeled as laser labelling.
5. a kind of planting tree surveying and locating device based on unmanned plane according to claim 1, which is characterized in that described
The setting-out of mark module transmitting is labeled as throw mark in kind.
6. a kind of planting tree surveying and locating device based on unmanned plane according to claim 1-5, feature
It is, the hand-held terrestrial operation module includes error calculating module, and the error calculating module calculates the plant pit setting-out
Error between point coordinate and unmanned plane module positioning coordinate, when error is met the requirements, the hand-held terrestrial operation
Module controls the mark module emission mark signal.
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| CN201820848455.2U CN208765726U (en) | 2018-06-01 | 2018-06-01 | A kind of planting tree surveying and locating device based on unmanned plane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110485743A (en) * | 2019-08-28 | 2019-11-22 | 王丁 | A method of can replace artificial engineering unwrapping wire |
| CN110553633A (en) * | 2018-06-01 | 2019-12-10 | 中国电建集团华东勘测设计研究院有限公司 | Tree planting measurement lofting device and method based on unmanned aerial vehicle |
| CN113514045A (en) * | 2021-06-23 | 2021-10-19 | 深圳市度彼电子有限公司 | Intelligent calibration method, system, equipment and storage medium |
| CN114355971A (en) * | 2021-12-09 | 2022-04-15 | 中国一冶集团有限公司 | Unmanned aerial vehicle lofting device and method |
-
2018
- 2018-06-01 CN CN201820848455.2U patent/CN208765726U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110553633A (en) * | 2018-06-01 | 2019-12-10 | 中国电建集团华东勘测设计研究院有限公司 | Tree planting measurement lofting device and method based on unmanned aerial vehicle |
| CN110485743A (en) * | 2019-08-28 | 2019-11-22 | 王丁 | A method of can replace artificial engineering unwrapping wire |
| CN113514045A (en) * | 2021-06-23 | 2021-10-19 | 深圳市度彼电子有限公司 | Intelligent calibration method, system, equipment and storage medium |
| CN114355971A (en) * | 2021-12-09 | 2022-04-15 | 中国一冶集团有限公司 | Unmanned aerial vehicle lofting device and method |
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