CN212099343U - Engineering investigation unmanned aerial vehicle system based on satellite positioning navigation - Google Patents

Abstract

The utility model discloses an engineering reconnaissance unmanned aerial vehicle system based on satellite positioning navigation, including unmanned aerial vehicle main part, support arm, screw, undercarriage, conveyer, sampling device, power, monitoring devices, workstation. The unmanned aerial vehicle main part is inside including navigation orientation module, environmental detection module, measurement lofting module, reconnaissance work monitoring module, wireless communication module, transportation module, sampling module, text image recognition module, flight control module, anticollision protection module, power module, memory, lose and retrieve the module. The utility model discloses an advanced location navigation technique, remote sensing image technique, radar technique, flight control technique, image voice conversation technique of taking photo by plane in real time, wisdom reconnaissance technique, text image recognition technique, wireless transmission technique combine together geotechnical engineering reconnaissance and high new technology, realize reconnaissance automatic measure laying-out, coordinate elevation rete, rig navigation warning, reconnaissance operating mass progress is rectified, multiple important functions such as automatic transportation and sample, human-computer interaction, text image are automatic and unmanned aerial vehicle loses and retrieve.

Description

Engineering investigation unmanned aerial vehicle system based on satellite positioning navigation

Technical Field

The utility model relates to a geotechnical engineering reconnaissance technical field especially relates to an engineering reconnaissance unmanned aerial vehicle system based on satellite positioning navigation.

Background

In geotechnical engineering investigation, especially in the field of industrial and civil engineering investigation, drilling sampling and in-situ testing are still the most popular investigation means. At the present stage, the geotechnical engineering investigation field still has a relatively original working mode, and still gives priority to manual operation and carrying modes in the aspects of measurement lofting, drilling, sampling, in-situ testing, cataloging, sampling and the like.

In the aspect of drilling measurement lofting, technicians need to design a drilling plane position diagram in advance and arrange measurement personnel to perform lofting and marking. Drilling rig personnel need look for the drilling mark by oneself in the work progress, sometimes also probably because of external cause, the mark loses, needs to arrange survey crew to enter the field again lofting.

In the aspect of field management, technicians still take on-site inspection and spot check as main parts, and when the span of a field is large and drilling machines are multiple, the situations of insufficient physical strength and the like caused by greatly shortened hole inspection time and great energy consumption can occur, phenomena such as counterfeiting can occur sometimes, and the control of surveying field quality and progress is seriously influenced. In addition, the increase of the management personnel will also increase the corresponding management cost, and a better management effect cannot be achieved. Sometimes a technical leader is required to undertake the investigation of multiple projects simultaneously. Therefore, it is urgently needed to develop a tool capable of assisting technicians in measurement and reconnaissance field management, and realize functions of automatic measurement lofting, coordinate elevation retest, drilling rig navigation reminding, reconnaissance work quality progress correction, automatic transportation and sampling, man-machine interaction, text image automatic identification, submission of reconnaissance reports, unmanned aerial vehicle loss finding and the like.

Some patents for surveying, mapping, field management and sampling by using unmanned aerial vehicles appear in China, but most of the functions of the patents only stay in the aspects of single aerial photography, sampling and the like. The unmanned aerial vehicle is still lack in the aspects of measurement lofting, material transportation, sampling, flight control, field man-machine interaction management, text recognition, loss finding and the like, so that the application of the unmanned aerial vehicle in geotechnical engineering investigation is difficult to implement.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an engineering investigation unmanned aerial vehicle system and reconnaissance mapping method based on satellite positioning navigation in order to overcome not enough among the above-mentioned technique. The automatic survey lofting can be carried out before the reconnaissance, the operating condition of reconnaissance job site is effectively, nimble patrolled and reconnaissance, and the reconnaissance quality is improved, the reconnaissance efficiency is improved, and the management and control are in time carried out.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an engineering reconnaissance unmanned aerial vehicle system based on satellite positioning navigation, includes unmanned aerial vehicle main part, support arm, screw, undercarriage, conveyer, sampling device, power, monitoring devices, workstation. The unmanned aerial vehicle main part is inside including navigation orientation module, environmental detection module, measurement lofting module, reconnaissance work monitoring module, wireless communication module, transportation module, sampling module, text image recognition module, flight control module, anticollision protection module, power module, memory, lose and retrieve the module. Solar module and protection casing are installed on unmanned aerial vehicle main part outside upper portion. The navigation positioning module is connected with the RTK and the power supply through wires, the measurement lofting module is connected with the positioning navigation module, the environment detection module is connected with the navigation positioning module and the wireless communication module, the survey work monitoring module is connected with the navigation positioning module, the wireless communication module and the workstation, the survey work monitoring module comprises an outer camera, a loudspeaker, a microphone and wires, the wireless communication module is connected with the environment detection module, the drilling machine work monitoring module, the drilling machine wireless communication module, the workstation and the cloud server, the transportation module is connected with a transportation device, the transportation device comprises a transportation box frame, a second connecting rod, a transportation box buckle, a third connecting rod, a transportation box frame lug, a transportation signal wire and a transportation box, the transportation box frame is connected with the second connecting rod and the third connecting rod, and the second connecting rod is connected with the undercarriage, the undercarriage is connected with a first connecting rod, the first connecting rod is connected with an unmanned aerial vehicle main body, the transportation buckle is connected with a transportation box, the other end of the third connecting rod is fixedly connected with the undercarriage, the transportation box frame bumps are connected with a transportation box frame, the number of the transportation box frame bumps is four, the transportation signal wire is connected with a transportation module processor, and the sampling module comprises a pulley block guide rail, a second pulley block, a second locking pulley, a sampling coil, a sampling mechanical claw, a sampling signal wire, a first storage box, a second storage box and a mechanical claw motor; the pulley block guide rail is connected with a third connecting rod, the second pulley block is installed on the pulley block guide rail, the second locking pulley is arranged on the outermost side of the second pulley block, the sampling coil is installed on the outer side of the second pulley block, the sampling gripper is connected with the gripper motor, the other end of the gripper is connected with a sampling lead, the other end of the sampling lead is connected with a sampling module processor, the first storage box and the second storage box are respectively installed on two sides in the transport box, and the text image recognition module is connected with the wireless communication module and the memory; the text image recognition module comprises an inner camera and a text image processor, the inner camera is mounted at the top of the inner side of the transport case, the flight control module is connected with the navigation positioning module and the wireless communication module, the flight control module comprises a propeller, a micro-electromechanical gyroscope and a gravity sensor, the propeller is mounted on the upper parts of the ends of four supporting arms, the micro-electromechanical gyroscope and the gravity sensor are mounted in the main body of the unmanned aerial vehicle, the anti-collision protection module comprises four protection plates and a protection cover, the protection plates are respectively arranged at the tail ends of the four supporting arms, the protection plates are connected with telescopic rods, the telescopic rods are mounted in the sleeves of the supporting arms, the protection cover is mounted above the solar cell module, the other end of the power module is connected with a lithium cell, and the lithium cell is mounted above, the memory is connected with the reconnaissance work monitoring module and the text image recognition module, and the loss retrieving module is connected with the navigation positioning module, the wireless communication module and the power supply module.

Preferably, the navigation positioning module can be provided with a simple GPS or RTK measuring instrument, and the measuring instrument can select a Beidou positioning system or a GPS positioning system; the selected RTK instrument is a southern company, and the measurement precision reaches within 5 cm;

preferably, the environment detection module is provided with a radar;

preferably, the measuring lofting module is connected with a printer and a lofting gun; the printer is a pocket printer and can quickly print drilling serial numbers, the lofting gun is connected with the printer and is used for quickly manufacturing measurement marks and inserting the measurement marks into the ground;

preferably, the outer camera, the loudspeaker and the microphone are connected and fixed with the lower side of one of the supporting arms, the sight line of the camera is not shielded, and the camera adopts a high-definition camera and can automatically rotate by 360 degrees;

preferably, the maximum volume of the speaker is 100 dB;

preferably, the reconnaissance work monitoring module is connected with the high-definition camera, the loudspeaker and the microphone through wires and can acquire aerial images and audio signals in real time;

preferably, the investigation work monitoring module can recognize the number of rock soil samples and the total footage of the rock soil core through human-computer interaction or automatically, can record and analyze states of drilling machine tapping, sampling, standard penetration test, cone dynamic penetration test and the like in real time, and has the functions of error correction and reminding;

preferably, the sampling device is installed in a box body of the transportation module, the pulley block guide rail is made of high-quality metal materials, the pulley block is in a hanging and sliding mode, and the pulley is made of metal nylon double-in-one materials, so that smooth movement of the pulley block is guaranteed;

preferably, the mechanical gripper is made of high-quality aluminum alloy, the maximum power of the gripping motor is 100W, and the mechanical gripper can continuously grip rock and soil samples and work for 5 hours;

preferably, the first storage box and the second storage box are made of ABS engineering plastic materials;

preferably, the sampling device can be used for sampling by using a mechanical claw in the air, and can also be used for manually sampling after being landed on the ground;

preferably, the number of the landing gear is one, the landing gear is composed of 4 lifting rods, two lifting feet are arranged on two sides of the landing gear respectively, 2 protruding blocks are arranged in the middle of two sides of the transportation frame respectively and matched with grooves on the outer sides of special transportation boxes, and the transportation boxes can be pushed into the transportation box frame easily;

preferably, the number of the buckles is 8, and the buckles are respectively arranged in 4 directions of the top of the transportation module and used for firmly clamping the container;

preferably, the transport box comprises an outer box body and an inner box, the bottom of the outer box body can be automatically opened and closed from the middle, the inner box is connected with the top of the outer box body through a wire, and the transport box can be slowly lowered to the ground after the bottom of the outer box body is opened; the transport box can lower the material to the ground in the air;

preferably, the text image recognition module can automatically recognize and read the collected information of the cataloguing paper through an inner camera;

preferably, the micro-electromechanical gyroscope can calculate the flight direction, angle, acceleration and angular speed of the unmanned aerial vehicle in real time; the gravity sensor can measure the integral gravity center of the unmanned aerial vehicle at any time and transmit the gravity center position to the flight control module at any time;

preferably, the support arm is a hollow material in which a fender retractor can be stored;

preferably, the protection plate is made of a rubber material and can be contracted into the supporting arm; the protective cover is made of transparent high-grade plastic materials, the light transmittance is 95%, and rainwater can be shielded; the protective mask can be flexibly picked and mounted;

preferably, the solar cell module is a crystalline Australian solar module, the endurance time is 1 hour, the number of the lithium batteries is 8, and each support arm is provided with 2 lithium batteries; the capacity of the lithium battery is 50000mAh, and the endurance time is 8 hours;

preferably, the measurement lofting module, the transportation module and the sampling module can be detached at any time;

preferably, the memory adopts an 8TB patriotic large-capacity hard disk, and the hard disk can be updated and maximally supports 16TB capacity;

preferably, the workstation can be assumed by a computer, a mobile phone or a tablet computer;

preferably, the cloud database is connected with the wireless communication module and the workstation and can synchronously upload and download survey work monitoring data;

preferably, the lost retrieving module can transmit positioning data at any time, and when the unmanned aerial vehicle is stolen or breaks down in flight, the unmanned aerial vehicle can be retrieved through a mobile phone;

preferably, the unmanned aerial vehicle main part is equipped with USB or HDMI interface to and WIFI and bluetooth device, be used for transmission data.

Compared with the prior art, the utility model provides an engineering reconnaissance unmanned aerial vehicle system based on satellite positioning navigation possesses following beneficial effect:

1. the engineering investigation unmanned aerial vehicle system based on satellite positioning navigation has the functions of global positioning, real-time monitoring, online and offline data synchronization, aerial image and voice communication through the mutual cooperation of the navigation positioning module, the environment detection module, the drilling machine work monitoring module, the wireless communication module, the network database and the cloud server module;

2. the utility model discloses possess long-range real-time management rig work function. Through setting up satellite positioning module, rig work monitoring module, utilize unmanned aerial vehicle RTK, micro-electromechanical gyroscope, gravity inductor, outer camera, speaker (megaphone), microphone, realize rig operating condition automatic monitoring and field management, plan rig working line, in time check information such as drilling hole number, drilling classification, depth of approach, final hole time, sample, normal position test. The unmanned aerial vehicle can inform the workstation in time after discovering the abnormal condition, and the technical personnel can control and guide the working direction of the drilling machine in real time. The utility model can effectively improve the quality and management level of surveying and mapping field work, adapt to the new trend and change of the current surveying work, shorten the surveying period, reduce the surveying cost and have wide use value;

3. the utility model discloses possess the stable automatically regulated function of flight and keep away dangerous function. Through setting up the built-in radar of environment detection module, unmanned aerial vehicle can automatic identification barrier at flight in-process to initiatively around flying. By arranging the flight control module, the unmanned aerial vehicle can automatically calculate the integral gravity center, the flight acceleration and the angular velocity by utilizing the micro-electromechanical gyroscope and the gravity sensor, so that the flight state can be automatically adjusted, and the flight safety is ensured;

4. the utility model discloses possess automatic measure laying-out, automatic transportation and reach ground sample function in the air. By arranging the measurement lofting module, the automatic measurement lofting of the unmanned aerial vehicle is realized by utilizing a satellite positioning navigation system and a lofting device arranged below the transportation frame, so that the measurement cost is saved; by arranging the transportation module and the sampling modulus, the unmanned aerial vehicle can automatically transport various materials and automatically take and transport rock and soil samples in the air, and can also interact with each other by man-machine, after the unmanned aerial vehicle lands on the ground and collects the rock and soil samples, the rock and soil samples are uniformly installed in an unmanned aerial vehicle transportation box and are taken off by the unmanned aerial vehicle and then transported to a designated place;

5. the utility model discloses can be according to actual need, the reasonable selection function is equipped with. The measurement lofting module, the transportation module and the sampling module can be detached at any time. Technicians can determine whether to install the modules and the devices according to actual requirements of each stage so as to save the weight of the airplane body, reduce the flight resistance and the electric energy consumption and improve the flight speed;

6. the utility model discloses possess text image recognition function. After the recording paper is received, geological recording information can be automatically identified through the camera and the text image identification module, and the internal work time is shortened;

7. the utility model discloses possess the image playback function of taking photo by plane. By arranging the storage, the wireless communication module and the output interface, the unmanned aerial vehicle can automatically store aerial images, technicians can acquire aerial image files in real time and can copy and play back the aerial images at the later stage to review and analyze the previous work;

8. the utility model discloses possess anticollision safeguard function. Through setting up the guard plate, with its and telescopic link and support arm connection, can prevent that unmanned aerial vehicle from suffering the striking in flight, improve unmanned aerial vehicle's security. By arranging the protective cover, the effect of protecting the unmanned aerial vehicle is achieved when the unmanned aerial vehicle is used in rainy days;

9. the part that does not relate to among the device all is the same with prior art or can adopt prior art to realize, the utility model discloses an advanced location navigation technique, remote sensing image technique, radar technology, real-time image voice conversation technique, wireless transmission technique of taking photo by plane combine together geotechnical engineering reconnaissance and high and new technology, realize functions such as rig automatic navigation rectifying a deviation, human-computer interaction remote management, automatic sampling transportation.

Drawings

Fig. 1 is a schematic side view of an engineering investigation unmanned aerial vehicle system based on satellite positioning and navigation provided by the present invention;

fig. 2 is a schematic diagram of a module architecture of an engineering investigation unmanned aerial vehicle system based on satellite positioning and navigation according to the present invention;

fig. 3 is a schematic view of a top view structure of the unmanned aerial vehicle provided by the present invention;

fig. 4 is a schematic view of the main structure of the unmanned aerial vehicle provided by the present invention;

fig. 5 is a schematic structural diagram of a measurement lofting module provided by the present invention;

fig. 6 is a schematic structural diagram of a sampling module and a transportation module (before sampling) according to the present invention;

fig. 7 is a schematic structural diagram of a sampling module and a transportation module (in sampling) according to the present invention;

fig. 8 is a schematic view of a working plane of the unmanned aerial vehicle provided by the present invention;

in the figure: 1. an unmanned aerial vehicle main body; 2. a support arm; 3. a landing gear; 31. lifting and lowering feet; 32. a first connecting rod; 4. a navigation positioning module; 41. RTK; 42. a SIM socket; 5. an environment detection module; 51. a radar; 6. a measurement lofting module; 61. measuring a lofting wire; 62. a first pulley block; 63. a first locking pulley; 64. a printer; 65. a paper outlet; 66. a lofting gun; 67. setting out the small flag; 7. a survey work monitoring module; 71. an outer camera; 72. a speaker; 73. a microphone; 74. monitoring a signal conductor; 8. a wireless communication module; 9. a transport module; 91. a second connecting rod; 92. a transport case is buckled; 93. a third connecting rod; 94. a transport box rack; 95. a fourth connecting rod; 96. a material transport signal line; 97. a transport box frame projection; 98. a transport box rack tray; 99. a transport case; 10. a sampling module; 101. a pulley block guide rail; 102. a second pulley block; 103. a second locking pulley; 104. a sampling coil; 105. a sampling gripper; 106. a sampling signal conductor; 107. a first storage box; 108. a second storage box; 109. a gripper motor; 11. a text image recognition module; 111. an inner camera; 112. a text recognition signal line; 12. a flight control module; 121. a propeller; 122. a micro-electromechanical gyroscope; 123. a flight control wire; 124. a gravity sensor; 13. an anti-collision protection module; 131. a telescopic rod; 132. a protection plate; 133. a protective cover; 14. a power supply module; 141. a solar cell module; 142. a lithium battery; 143. a power supply lead; 15. a memory; 151. a USB interface; 152. an HDMI interface; 16. a workstation; 161. a cloud database; 17. the recovery module is lost.

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.

Example (b):

referring to fig. 1-8, an engineering investigation unmanned aerial vehicle system based on satellite positioning navigation includes unmanned aerial vehicle main part 1, support arm 2, screw 121, undercarriage 3, conveyer 9, sampling device 10, power 14, monitoring devices 7, workstation 16. The unmanned aerial vehicle main part 1 is inside including navigation orientation module 4, environmental detection module 5, measurement lofting module 6, reconnaissance work monitoring module 7, wireless communication module 8, transportation module 9, sampling module 10, text image recognition module 11, flight control module 12, anticollision protection module 13, power module 14, memory 15, lose and retrieve module 17. The solar cell module 141 and the protective cover 133 are mounted on the upper portion of the outer side of the main body 1 of the unmanned aerial vehicle. When the lithium battery 142 is used up, the solar battery assembly 141 is used under the sunshine condition, and the risk of the unmanned aerial vehicle crash damage caused by electric energy consumption is reduced. The navigation positioning module 4 is connected with the RTK41 and the power supply 14 through a lead 143, the clear height of the unmanned aerial vehicle is 80cm, and when the height is measured, the height of the unmanned aerial vehicle can be subtracted by 80cm from the height of the RTK41, so that the ground height under the unmanned aerial vehicle can be obtained; after the unmanned aerial vehicle flies to a preset coordinate, the navigation positioning module 4 sends an instruction to the measurement lofting module 6, the measurement lofting module 6 starts a lofting device, the printer 64 and the lofting gun 66 are opened, the printer 64 quickly prints a drilling number, and the lofting gun 66 quickly makes a measurement mark and inserts the measurement mark into the ground; the environment detection module 5 is connected with the navigation positioning module 4 and the wireless communication module 8, after the unmanned aerial vehicle starts to monitor the drilling machine, the radar 51 can be started by the environment detection module 5, the obstacles in the field are found out, and the navigation positioning module 4 is utilized to provide the drilling machine with coordinate information and driving routes through the wireless communication module 8.

The utility model discloses in: the unmanned aerial vehicle investigation work monitoring module 7 is connected with the navigation positioning module 4, the wireless communication module 8 and the workstation 16, and the investigation work monitoring module 7 starts a high-definition camera 71, a loudspeaker 72, a microphone 73 and a wire 74 which are arranged below the supporting arm 2, so that all drilling machines in the site can be patrolled; because the utility model discloses set up camera 71 and have certain distance from the unmanned aerial vehicle main part, so 360 ° aerial photograph and video recording of unmanned aerial vehicle are not influenced, in addition, if the technical staff finds the investigation quality problem in the unmanned aerial vehicle inspection process, can shout through microphone 73, the maximum volume of speaker 72 is 100dB, satisfies in the investigation field work needs; after the exploration operation is started, the unmanned aerial vehicle opens an exploration work monitoring module 7, the unmanned aerial vehicle or a technician can identify the number of rock soil samples and the total footage of the rock soil core through human-computer interaction or automatically, and the exploration work monitoring module can record and analyze states of drilling machine tapping, sampling, standard penetration test, cone dynamic penetration test and the like in real time and correct and remind the drilling machine;

the utility model discloses in: the drone allows for transport functions. When paper materials are required to be distributed to a drilling machine cataloger, the transportation module 9 is opened, the transportation module 9 sends an instruction to the transportation device 90, and as the transportation box frame 94, the second connecting rod 91, the third connecting rod 93, the transportation box frame bump 97 and the like are basically fixedly connected, in the actual operation process, the transportation box 99 is pushed into the transportation box frame 94 carefully according to the transportation box frame bump 97, the transportation box 99 is guaranteed to be safely supported by the transportation box frame tray 98, the transportation box buckle 92 can be buckled down, so that a protection device is arranged at the lower part of the transportation box, four side surfaces and the top of the transportation box 99 can be guaranteed to be fixed, and the transportation box 99 is prevented from falling off due to the falling of the buckle 92; the transport box 99 comprises an outer box body and an inner box, the bottom of the outer box body can be automatically opened and closed from the middle, the inner box is connected with the top of the outer box body through a wire, and when the bottom of the outer box body is opened, the inner box can be slowly put to the ground; the transport box can lower the material to the ground in the air;

the important function of the utility model is sampling and sample sending, and the sampling module 10 comprises a pulley block guide rail 101, a second pulley block 102, a second locking pulley 103, a sampling coil 104, a sampling gripper 105, a sampling signal wire 106, a first storage box 107, a second storage box 108 and a gripper motor 109; the sampling device 10 is arranged in a box 99 of the transportation module 10, the second pulley block 102 is arranged on a pulley block guide rail 101, the pulley block guide rail 101 is made of high-quality metal materials, the pulley block 102 is in a hanging and sliding mode, the pulleys are made of metal nylon double-in-one materials, and the smooth of the pulley blocks 102 can be ensured by adopting the combined structure and the safe materials; the pulley block guide rail 101 is fixedly connected with the third connecting rod 93, so that the rolling of the pulleys can be ensured, and the pulley block guide rail 101 cannot be deformed; the second locking pulley 103 is arranged on the outermost side of the second pulley block 102, when a technician stops placing a rock and soil sample in the storage box, the second locking pulley 103 is used for clamping the second pulley block 102, when the technician needs to take a sample again, the second locking pulley 103 can be opened, the sampling coil 104 is arranged on the outer side of the second pulley block 102, when the sampling coil recovers a lead, the mechanical claw is lifted, otherwise, the mechanical claw is descended, the sampling mechanical claw 105 is connected with the mechanical claw motor 109, the mechanical claw 105 is made of high-quality aluminum alloy, the maximum power of the grabbing motor 109 is 100W, the rock and soil sample can be grabbed continuously for 5 hours, and efficient sampling operation can be guaranteed through the design; technicians can observe the load conditions of the first storage box and the second storage box through the inner camera 111 and reasonably load samples through the pulley guide rail; the sampling device 10 can be used for sampling either in the air using the gripper 105 or manually after landing on the ground.

The utility model discloses in: the unmanned aerial vehicle connects the text image recognition module 11, the wireless communication module 8 and the memory 15; the text image recognition module 11 calls an inner camera 111 arranged at the top of the inner side of the transport box 99 and a text image processor 113 in the unmanned aerial vehicle main body 1, performs text recognition on the shot recording paper, and stores the character recognition in the memory 15; in the working process of the unmanned aerial vehicle, due to the fact that materials are fed and sampling randomness is achieved, the test quantity stored in the first storage box and the test quantity stored in the second storage box are different, the machine body of the unmanned aerial vehicle is unbalanced, the flight control module 12 is started by the unmanned aerial vehicle at the moment, the micro-electromechanical gyroscope 122 and the gravity sensor 124 are opened by the flight control module 12, the rotating speed and the angle of the four propellers 121 are adjusted, the speed and the direction can be adjusted, when the unmanned aerial vehicle encounters an obstacle, if the obstacle cannot be avoided timely, the unmanned aerial vehicle can be protected by the protection plate 132 and the protection cover 133 of the anti-collision protection module 13, the protection plate 132 is respectively arranged at the tail ends of the four support arms 2, when the unmanned aerial vehicle does not need to be protected, the protection plate 132 is made of rubber materials, the protection plate 132 can be contracted into the telescopic; the protective cover 133 is arranged above the solar cell module 141, is made of transparent high-grade plastic, has the light transmittance of 95 percent and can shield rainwater; when the protective cover 133 is not needed, the protective cover can be flexibly taken off; the other end of the power module 14 is connected with 8 lithium batteries 142, and each support arm is provided with 2 lithium batteries 142; the capacity of the lithium battery 142 is 50000mAh, and the endurance time is 8 hours; when the solar power supply is exhausted, the lithium battery plays a role in protecting driving and navigation; the data of the survey work monitoring module and the text image recognition can be stored in time by using the memory 15, and the lost retrieving module 17 is connected with the navigation positioning module 4, the wireless communication module 8 and the power supply module 14. The workstation can be borne by a computer, a mobile phone or a tablet computer; when the unmanned aerial vehicle is stolen or breaks down in flight, the module 17 can be retrieved by losing and using the mobile phone.

The working principle is as follows: in the work of the utility model, when reconnaissance is needed, firstly, CAD map information is guided into the unmanned aerial vehicle, then the measurement lofting module 6 is utilized to loft on site, the unmanned aerial vehicle opens the printer 64 and the lofting gun 66 according to the drawing information and the navigation positioning module 4, lofts each drill hole and inserts marks; after the lofting is finished, the unmanned aerial vehicle opens radar 51 device, for the rig seeks the best route, the rig back of taking one's place, unmanned aerial vehicle then begins patrol and spot check, discovers quality or progress problem, and unmanned aerial vehicle reconnaissance work monitoring module 7 carries out automatic calculation to report technical staff. Then, the unmanned aerial vehicle sends the material to an operation field according to the coordinates provided by the navigation satellite module 4, and daily management is realized by the newly-added flexible sampling module (10) and the sample sending device (9).

In conclusion, according to the surveying and mapping method of the unmanned aerial vehicle for engineering survey based on navigation positioning, through the navigation satellite module 4, the RTK41, the radar 51, the measurement lofting module 6, the survey work monitoring module 7, the wireless communication module 8, the transportation module 9, the sampling module 10, the text image recognition module 11, the flight control module 12, the anti-collision module 13 and the loss retrieving module 17, the technical problems that automatic measurement lofting cannot be performed in the traditional unmanned aerial vehicle survey, the unmanned aerial vehicle calls, the survey work quality and progress are corrected, sampling, sample sending, text automatic recognition and the like are solved, and the safety problems that the unmanned aerial vehicle is easy to encounter obstacles, is easy to crash or crash and the transport case falls are solved.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (13)

1. The utility model provides an engineering reconnaissance unmanned aerial vehicle system based on satellite positioning navigation, a serial communication port, including unmanned aerial vehicle main part, support arm, screw, undercarriage, conveyer, sampling device, power, monitoring devices, workstation, unmanned aerial vehicle main part is inside including navigation orientation module, environmental detection module, measurement lofting module, reconnaissance work monitoring module, wireless communication module, transport module, sampling module, text image recognition module, flight control module, crashproof protection module, power module, memory, lose and retrieve the module.

2. An engineering investigation drone system based on satellite positioning navigation, according to claim 1, characterized in that the navigation positioning module (4) comprises RTK (41), SIM card (42).

3. An engineering survey drone system based on satellite positioning navigation, according to claim 1, characterised in that the environment detection module (5) comprises a radar (51).

4. The satellite positioning navigation-based engineering survey unmanned aerial vehicle system of claim 1, wherein the measurement lofting module comprises a measurement lofting wire (61), a first pulley block (62), a first locking pulley (63), a printer (64), a paper outlet (65), a lofting gun (66), and a lofting flag (67).

5. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the investigation work monitoring module comprises an outer camera (71), a loudspeaker (72), a microphone (73), and a monitoring signal wire (74).

6. The system of claim 1, wherein the wireless communication module (8) is connected to the workstation (16) and the cloud database (161).

7. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the transportation module (9) comprises a second connecting rod (91), a transportation box buckle (92); third connecting rod (93), transport case frame (94), fourth connecting rod (95), material transportation signal line (96), transport case frame lug (97), transport case frame tray (98), transport case (99).

8. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the sampling module (10) comprises a pulley block guide rail (101), a second pulley block (102), a second locking pulley (103), a sampling coil (104), a sampling gripper (105), a sampling signal wire (106), a first storage box (107), a second storage box (108), and a gripper motor (109).

9. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the text image recognition module (11) comprises an inner camera (111) and a text recognition signal line (112).

10. The system of claim 1, wherein the flight control module (12) comprises 4 propellers (121), a micro-electromechanical gyroscope (122), a flight control wire (123), and a gravity sensor (124).

11. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the collision avoidance module (13) comprises a telescopic rod (131), a protection plate (132), and a protection cover (133).

12. The satellite positioning navigation-based engineering investigation unmanned aerial vehicle system of claim 1, wherein the power module (14) comprises a solar battery assembly (141), a lithium battery (142), and a power lead (143).

13. The system of claim 1, wherein the lost recovery module (17) is connected to the NAPS and the power supply module (14).

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