CN210797286U - High-speed railway pier unmanned aerial vehicle airborne lofting system - Google Patents
High-speed railway pier unmanned aerial vehicle airborne lofting system Download PDFInfo
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- CN210797286U CN210797286U CN201921298708.4U CN201921298708U CN210797286U CN 210797286 U CN210797286 U CN 210797286U CN 201921298708 U CN201921298708 U CN 201921298708U CN 210797286 U CN210797286 U CN 210797286U
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Abstract
The utility model discloses a high-speed railway pier unmanned aerial vehicle machine carries lofting system, including the ground control station, the measuring unit, unmanned aerial vehicle and lofting frock are provided with prism and lofting point mark device on the lofting frock, and the on-vehicle controller of lofting frock, unmanned aerial vehicle's load module and flight control navigation module, measuring unit all control station wireless communication with ground and are connected. The utility model discloses an unmanned aerial vehicle remote control laying-out, greatly reduced laying-out personnel's labour and the laying-out degree of difficulty, and the laying-out degree of accuracy is high, has guaranteed the quality of high-speed railway pier construction.
Description
Technical Field
The utility model relates to a high-speed railway construction field specifically is a high-speed railway pier unmanned aerial vehicle machine carries laying-out system.
Background
Along with the increasing expansion of the application field of the unmanned aerial vehicle and the improvement of the demand, the development of the computer technology and the navigation technology is mature, the unmanned aerial vehicle has more intelligent control, better load and endurance, at present, the unmanned aerial vehicle has successful application cases in the aspects of pesticide spraying and package distribution, and is an aircraft with wider application range and higher application value. If combine unmanned aerial vehicle technique and engineering construction, will possess wide prospect.
In the construction and construction process of the high-speed railway pier, lofting is the most basic work and the technical work with the largest workload, the precision requirement is high, errors are prone to occurring, particularly when lofting is conducted on the pier cap and the pad stone at the top of the high-speed railway pier, measuring personnel are required to climb to the top surface of the pier cap one by one to conduct lofting, the workload is large, the labor is particularly heavy, the efficiency is low, and the safety risk is large.
In recent years, the continuous investment in the field of national infrastructure is followed, the construction scale of the industry is also increased year by year, the demand of scale expansion on measurement technicians is increased, however, the configuration of the technicians is not as good as before nowadays, and after the scale expansion, the site of a technician fault appears, and the site lacks experienced basic level construction lofting personnel, so that the risk of quality accidents in bridge construction is increased, common quality accidents comprise that the elevation control of the base stones is not right, the beam erection is directly influenced, the lofting position of the base stones is not right, the eccentric stress of the structure is caused, and the service life is influenced.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a high-speed railway pier unmanned aerial vehicle machine carries laying-out system, adopts unmanned aerial vehicle remote control laying-out, greatly reduced laying-out personnel's labour and the laying-out degree of difficulty, and the laying-out degree of accuracy is high, has guaranteed the quality of high-speed railway pier construction.
The technical scheme of the utility model is that:
an unmanned aerial vehicle-mounted lofting system for a high-speed railway bridge pier comprises a ground control station, a measuring unit, an unmanned aerial vehicle and a lofting tool; the ground control station comprises a flight control system and a measurement control system, the measurement unit comprises a total station, and the total station is in wireless communication connection with the measurement control system; the unmanned aerial vehicle is internally provided with an airborne power supply module, a load module, a flight control navigation module and a GPS module, the GPS module is connected with the flight control navigation module, the load module and the flight control navigation module are both connected with the airborne power supply module for power supply, and the load module and the flight control navigation module are both in wireless communication connection with a flight control system; the lofting tool comprises a frame, wheels connected to the bottom end of the frame, a vehicle-mounted controller fixed on the frame, a vehicle-mounted power supply module, a 360-degree all-dimensional measuring prism and a lofting point marking device; unmanned aerial vehicle pass through the clamp and put with frame central point and be connected, on-vehicle power module's power supply input be connected with on-vehicle power module, on-vehicle controller be connected the power supply with on-vehicle power module's power supply output, the driving motor of lofting point mark device, wheel all be connected with on-vehicle controller, on-vehicle controller and measurement control system carry out wireless communication and be connected.
The frame comprises two cross beams, two longitudinal connecting beams and four lofting point mark mounting beams, the two cross beams and the two longitudinal beams are connected with each other to form a rectangular frame structure, the two longitudinal connecting beams are connected between the two cross beams, the four lofting point mark mounting beams are respectively connected with four corners of the rectangular frame structure, an undercarriage of the unmanned aerial vehicle is connected with the middle parts of the two longitudinal connecting beams through a hoop, the vehicle-mounted controller and the vehicle-mounted power supply module are fixed at the middle parts of the two longitudinal connecting beams, the 360-degree all-dimensional measuring prisms are two and are respectively connected with the middle parts of the two longitudinal beams through prism rods, the number of the lofting point mark devices is four, the lofting point mark mounting beams are of an L-shaped structure, and one ends of the lofting point mark mounting beams are connected with corresponding corners of the rectangular frame structure, the lofting point marking device is connected to the other end of the lofting point marking mounting beam, and the number of the wheels is four, and the wheels are respectively connected to four corners of the rectangular frame structure.
The total station selects a high-precision ATR automatic total station; the wheels are Maclam wheels.
The vehicle-mounted controller comprises a single chip microcomputer, a vehicle-mounted wireless communication module and a speed adjusting module, wherein the vehicle-mounted wireless communication module and the speed adjusting module are respectively connected with the single chip microcomputer, driving motors of wheels are all connected with the speed adjusting module, the vehicle-mounted wireless communication module is in wireless communication connection with a measurement control system, and a control end of the lofting point marking device is connected with the single chip microcomputer.
The lofting point marking device comprises a lifting motor and a marking stamp, wherein the control end of the lifting motor is connected with an on-vehicle controller, the output shaft of the lifting motor faces downwards vertically, and the marking stamp is connected to the bottom end of the output shaft of the lifting motor.
And the prism rods of the two 60-degree all-directional measuring prisms are provided with double-shaft tilt angle sensors, and each double-shaft tilt angle sensor is connected with a vehicle-mounted controller.
The utility model has the advantages that:
(1) the utility model discloses a lofting system adopts unmanned aerial vehicle remote control lofting, and the lofting process is full-automatic, avoids the lofting personnel to climb to the pier top surface and carries out the circumstances of lofting, has reduced the labour and the degree of difficulty of lofting, and has improved the security of lofting construction;
(2) the utility model discloses a setting-out frock is the automobile body structure, and the setting-out frock has realized millimeter level's moving accuracy, through accurate removal numerical value, realizes the purpose of high-efficient setting-out;
(3) the utility model integrates the prism and the lofting point marking device, and realizes two operations of lofting and lofting point marking of the total station, thereby greatly improving the lofting efficiency;
(4) the utility model discloses an automatic lofting, real time monitoring adjustment lofting, the lofting degree of accuracy is high with the precision, has avoided the poor problem of original artifical lofting accuracy.
Drawings
Fig. 1 is a schematic block diagram of the airborne lofting system of the utility model, wherein "- -" is a power supply link and "- -" is a communication link.
Fig. 2 is the utility model discloses the connection structure schematic diagram of unmanned aerial vehicle and lofting frock.
Fig. 3 is a schematic structural diagram of the lofting tool of the present invention.
Figure 4 is the utility model discloses unmanned aerial vehicle carries the structure schematic diagram of laying out of a pattern frock on high-speed railway pier.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, an unmanned aerial vehicle on-board lofting system for a high-speed railway bridge pier comprises a ground control station 1, a measuring unit 2, an unmanned aerial vehicle 3 and a lofting tool 4;
the ground control station 1 comprises a flight control system 11 and a measurement control system 12, the measurement unit 2 comprises a high-precision ATR automatic total station 21, and the high-precision ATR automatic total station 21 is in wireless communication connection with the measurement control system 12;
the unmanned aerial vehicle 3 is internally provided with an onboard power supply module 31, a load module 32, a flight control navigation module 33 and a GPS module 34, the GPS module 34 is connected with the flight control navigation module 33, the load module 32 and the flight control navigation module 33 are both connected with the onboard power supply module 31 for power supply, and the load module 32 and the flight control navigation module 33 are both in wireless communication connection with the flight control system 11;
the lofting tool 4 comprises a frame, four wheels 45 connected to the bottom end of the frame, a vehicle-mounted controller 46 fixed on the frame, a vehicle-mounted power supply module 47, two 360-degree omnibearing measuring prisms 48 and four lofting point marking devices 49; the frame is composed of two cross beams 41, two longitudinal beams 42, two longitudinal connecting beams 43 and four lofting point mark mounting beams 44, the two cross beams 41 and the two longitudinal beams 42 are connected with each other to form a rectangular frame structure, the two longitudinal connecting beams 43 are connected between the two cross beams 41, four wheels 45 are respectively connected with four corners of the rectangular frame structure, the four lofting point mark mounting beams 44 are respectively connected with the four corners of the rectangular frame structure, an undercarriage of the unmanned aerial vehicle 3 is connected with the middle parts of the two longitudinal connecting beams 43 through clamps, a vehicle-mounted controller 46 and a vehicle-mounted power supply module 47 are fixed at the middle parts of the two longitudinal connecting beams 43, two 360-degree all-directional measuring prisms 48 are respectively connected with the middle parts of the two longitudinal beams 42 through prism rods, the lofting point mark mounting beams 44 are L-shaped structures, one ends of the lofting point mark mounting beams 44 are connected with the, lofting point marking device 49 is connected on the other end of lofting point mark installation roof beam 44, the power supply input end of on-vehicle power module 47 is connected with on-vehicle power module 31, lofting point marking device 49 is including elevator motor and mark seal, elevator motor's output shaft is vertical downwards, the mark seal is connected in the bottom of elevator motor output shaft, when the lofting worker adorns lofting location on the pier, elevator motor drive mark seal stretches out downwards, lofting point mark is carried out with pier top end face, on-vehicle controller 46 is connected the power supply output end of on-vehicle power module 47 and is supplied power, the control end of lofting point marking device 49 elevator motor, the driving motor of wheel 45 all is connected with on-vehicle controller 46, on-vehicle controller 46 carries out wireless communication with measurement control system 12 and is connected.
The four wheels 45 are all Miclam wheels, the motion is flexible, the wheels can rotate in all directions, and the accuracy of the lofting tool in positioning is greatly improved; the vehicle-mounted controller 46 comprises a single chip microcomputer, a vehicle-mounted wireless communication module and a speed adjusting module which are respectively connected with the single chip microcomputer, driving motors of the wheels 45 are all connected with the speed adjusting module (PID controller) to achieve adjustment of the posture direction and the position of the lofting tool, the vehicle-mounted wireless communication module is in wireless communication connection with the measurement control system 12, and a control end of a lifting motor of the lofting point marking device is connected with the single chip microcomputer to achieve control and driving.
The upper surface of the pier is not an ideal horizontal plane, and when the lofting tool 4 falls on the upper surface of the pier, the lofting tool 4 can incline, so that the prism rod can incline, and a position error is generated; the two 60-degree omnibearing measuring prisms 48 are provided with two-axis tilt sensors 410 on their prism rods, each of which is connected with the vehicle-mounted controller 46, the two-axis tilt sensors 410 detect the tilt angle, and the vehicle-mounted controller 46 performs compensation correction on the actually measured coordinate to obtain the correct value.
A lofting method of an unmanned aerial vehicle-mounted lofting system for high-speed railway bridge piers specifically comprises the following steps:
(1) erecting a high-precision ATR automatic total station 21 at a position with a higher terrain, carrying out pre-flight inspection and pre-flight test on an unmanned aerial vehicle 3 according to pre-flight inspection items of the unmanned aerial vehicle, then connecting a lofting tool 4 with the unmanned aerial vehicle 3 through a clamp (see figure 2), carrying out operation test on the lofting tool at a ground control station, finally carrying out GPS calibration on the unmanned aerial vehicle, collecting coordinates of a 360-degree all-dimensional measurement prism 48 on the lofting tool by using the high-precision ATR automatic total station 21, and further calculating absolute coordinates of the position of the unmanned aerial vehicle 3; the high-precision ATR automatic total station 21 is set by adopting a three-dimensional coordinate measuring method, and specifically comprises a total station elevation measuring method and a total station three-dimensional backward intersection measuring method;
the calculation of the absolute coordinates of the position of the drone 3 operates as: after the unmanned aerial vehicle 3 is started, in a static state, the geodetic coordinates obtained by measurement of the GPS module 34 are converted into coordinates in a projection coordinate system, the measurement control system 12 of the ground control station 1 controls the high-precision ATR automatic total station 21 to collect the coordinates of the 360-degree all-directional measurement prism 48 on the lofting tool 4, the absolute coordinates of the positions of the two 360-degree all-directional measurement prisms 48 are obtained, and then the absolute coordinates of the central position of the unmanned aerial vehicle are calculated according to the geometric relationship between the 360-degree all-directional measurement prism 48 and the center of the unmanned aerial vehicle 3;
(2) newly building a task on the ground control station 1, automatically reading station setting information of the high-precision ATR automatic total station 21 by the flight control system 11, and simulating and calculating a visible pier number according to the set lofting maximum distance and pier body height information; in the options of the visual inspection, the program can calculate the azimuth angle and the zenith distance of each pier position and control the high-precision ATR automatic total station 21 to perform prism-free distance measurement, when the measured distance is smaller than the calculated theoretical distance, namely the distance measurement infrared rays of the high-precision ATR automatic total station 21 hit a barrier in the middle, the pier is judged to be invisible, otherwise the pier is visible, after the visual inspection option is passed, the visible pier number is selected according to the working requirement, the flight control system 11 calculates the flight path, the flight height, the flight speed and the azimuth data according to the pier number information, then the unmanned aerial vehicle 3 is started to fly to a first target pier according to the flight path through the wireless communication network, the monitoring picture returned by the unmanned aerial vehicle load module 32 is monitored in real time during the flight, when the onboard GPS positioning point of the unmanned aerial vehicle is in the tolerance range, the unmanned aerial vehicle 3 lands and stops on the top surface of the target pier 5;
(3) the high-precision ATR automatic total station 21 automatically aims at the 360-degree all-directional measuring prism 48 on the lofting tool 4 and measures a numerical value, the vehicle-mounted controller of the lofting tool 4 drives the wheels 45 to move according to a target deviation value to adjust the position, the high-precision ATR automatic total station 21 collects data of the 360-degree all-directional measuring prism 48 again, if the deviation value of the collected data of the 360-degree all-directional measuring prism 48 and the designed prism data is within a set lofting error value, the lofting target is located, and if the deviation value is not within the error, the position of the 360-degree all-directional measuring prism 48 is finely adjusted again;
(4) after the lofting tool 4 is in place on the target pier 5, lofting and marking are carried out on the target pier 5 by four lofting point marking devices 49 on the lofting tool 4, and four necessary point marking of one pier is completed at the same time when the target pier is in place;
(5) after the lofting mark is completed, the unmanned aerial vehicle 3 is restarted, the target pier 5 which moves to the next lofting according to the flight path repeats the steps (3) and (4) to perform lofting, and after all the target piers 5 which need to be lofted are completely lofted, the unmanned aerial vehicle 3 returns to the flying starting point according to the flight path.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a high-speed railway pier unmanned aerial vehicle machine carries lofting system which characterized in that: the system comprises a ground control station, a measuring unit, an unmanned aerial vehicle and a lofting tool; the ground control station comprises a flight control system and a measurement control system, the measurement unit comprises a total station, and the total station is in wireless communication connection with the measurement control system; the unmanned aerial vehicle is internally provided with an airborne power supply module, a load module, a flight control navigation module and a GPS module, the GPS module is connected with the flight control navigation module, the load module and the flight control navigation module are both connected with the airborne power supply module for power supply, and the load module and the flight control navigation module are both in wireless communication connection with a flight control system; the lofting tool comprises a frame, wheels connected to the bottom end of the frame, a vehicle-mounted controller fixed on the frame, a vehicle-mounted power supply module, a 360-degree all-dimensional measuring prism and a lofting point marking device; unmanned aerial vehicle pass through the clamp and put with frame central point and be connected, on-vehicle power module's power supply input be connected with on-vehicle power module, on-vehicle controller be connected the power supply with on-vehicle power module's power supply output, the driving motor of lofting point mark device, wheel all be connected with on-vehicle controller, on-vehicle controller and measurement control system carry out wireless communication and be connected.
2. The high-speed railway pier unmanned aerial vehicle airborne lofting system of claim 1, characterized in that: the frame comprises two cross beams, two longitudinal connecting beams and four lofting point mark mounting beams, the two cross beams and the two longitudinal beams are connected with each other to form a rectangular frame structure, the two longitudinal connecting beams are connected between the two cross beams, the four lofting point mark mounting beams are respectively connected with four corners of the rectangular frame structure, an undercarriage of the unmanned aerial vehicle is connected with the middle parts of the two longitudinal connecting beams through a hoop, the vehicle-mounted controller and the vehicle-mounted power supply module are fixed at the middle parts of the two longitudinal connecting beams, the 360-degree all-dimensional measuring prisms are two and are respectively connected with the middle parts of the two longitudinal beams through prism rods, the number of the lofting point mark devices is four, the lofting point mark mounting beams are of an L-shaped structure, and one ends of the lofting point mark mounting beams are connected with corresponding corners of the rectangular frame structure, the lofting point marking device is connected to the other end of the lofting point marking mounting beam, and the number of the wheels is four, and the wheels are respectively connected to four corners of the rectangular frame structure.
3. The high-speed railway pier unmanned aerial vehicle airborne lofting system of claim 1, characterized in that: the total station selects a high-precision ATR automatic total station; the wheels are Maclam wheels.
4. The high-speed railway pier unmanned aerial vehicle airborne lofting system of claim 1, characterized in that: the vehicle-mounted controller comprises a single chip microcomputer, a vehicle-mounted wireless communication module and a speed adjusting module, wherein the vehicle-mounted wireless communication module and the speed adjusting module are respectively connected with the single chip microcomputer, driving motors of wheels are all connected with the speed adjusting module, the vehicle-mounted wireless communication module is in wireless communication connection with a measurement control system, and a control end of the lofting point marking device is connected with the single chip microcomputer.
5. The high-speed railway pier unmanned aerial vehicle airborne lofting system of claim 1, characterized in that: the lofting point marking device comprises a lifting motor and a marking stamp, wherein the control end of the lifting motor is connected with an on-vehicle controller, the output shaft of the lifting motor faces downwards vertically, and the marking stamp is connected to the bottom end of the output shaft of the lifting motor.
6. The high-speed railway pier unmanned aerial vehicle airborne lofting system of claim 2, characterized in that: and the prism rods of the two 60-degree all-directional measuring prisms are provided with double-shaft tilt angle sensors, and each double-shaft tilt angle sensor is connected with a vehicle-mounted controller.
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| CN201921298708.4U CN210797286U (en) | 2019-08-12 | 2019-08-12 | High-speed railway pier unmanned aerial vehicle airborne lofting system |
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| CN201921298708.4U CN210797286U (en) | 2019-08-12 | 2019-08-12 | High-speed railway pier unmanned aerial vehicle airborne lofting system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110409313A (en) * | 2019-08-12 | 2019-11-05 | 中铁四局集团第五工程有限公司 | A kind of high-speed railway bridge pier unmanned aerial vehicle onboard setting-out system and its setting out method |
| CN111982079A (en) * | 2020-06-30 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Intelligent lofting robot for high-speed railway ballastless track base |
| CN113753249A (en) * | 2021-09-07 | 2021-12-07 | 北京华航航空服务有限公司 | Safety device of aviation aircraft |
-
2019
- 2019-08-12 CN CN201921298708.4U patent/CN210797286U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110409313A (en) * | 2019-08-12 | 2019-11-05 | 中铁四局集团第五工程有限公司 | A kind of high-speed railway bridge pier unmanned aerial vehicle onboard setting-out system and its setting out method |
| CN110409313B (en) * | 2019-08-12 | 2024-02-06 | 中铁四局集团第五工程有限公司 | High-speed railway pier unmanned aerial vehicle loading and lofting system and lofting method thereof |
| CN111982079A (en) * | 2020-06-30 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Intelligent lofting robot for high-speed railway ballastless track base |
| CN113753249A (en) * | 2021-09-07 | 2021-12-07 | 北京华航航空服务有限公司 | Safety device of aviation aircraft |
| CN113753249B (en) * | 2021-09-07 | 2023-09-22 | 北京华航航空服务有限公司 | Safety device of aviation aircraft |
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