CN213677165U

CN213677165U - Novel survey and drawing unmanned aerial vehicle

Info

Publication number: CN213677165U
Application number: CN202023023156.1U
Authority: CN
Inventors: 杜超
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-07-13
Anticipated expiration: 2030-12-14

Abstract

The utility model discloses a novel surveying and mapping unmanned aerial vehicle, which comprises an unmanned aerial vehicle for flight surveying and mapping and a binocular camera, wherein the binocular camera is connected to the front end of the unmanned aerial vehicle; the binocular camera is provided with two cameras which are distributed in a crossed manner and inclined downwards; the laser radar is connected to the bottom of the unmanned aerial vehicle; the flight control system of the unmanned aerial vehicle comprises a processor, an IMU module and a GNSS module; the processor is respectively connected with the binocular camera, the laser radar, the IMU module and the GNSS module; the processor is used for combining and processing the GNSS data of the GNSS module and the IMU data of the IMU module to obtain the track data. The utility model discloses a survey and drawing unmanned aerial vehicle is integrated mapping, laser scanning, GNSS location and IMU inertial navigation system technique in survey and drawing unmanned aerial vehicle of an organic whole. The method has the advantages of high speed, high precision and comprehensive three-dimensional information. The binocular camera is matched with the laser radar, and camera shooting collection data matched with the laser collection data can be obtained.

Description

Novel survey and drawing unmanned aerial vehicle

Technical Field

The utility model relates to a survey and drawing technical field, concretely relates to novel survey and drawing unmanned aerial vehicle.

Background

The unmanned aerial vehicle airborne LIDAR technology has the advantages of low cost and flexibility, and is commonly used in mapping. The laser radar system can rapidly and accurately detect the geographic data information of various regions, and can perform topographic map surveying and mapping in difficult regions.

Notice for CN207365962U discloses a survey and drawing unmanned aerial vehicle, including organism and horn, horn one end is connected with the organism, and the horn other end is provided with driving motor, the last paddle that is provided with of driving motor still includes: the laser radar is arranged below the machine body; the camera device is arranged below the machine body and is arranged at an interval with the laser radar; and RTKs which are at least two and are installed on at least one of the machine body and the machine arm, wherein the distance between every two adjacent RTKs is more than or equal to 20 cm, and the RTKs are used for accurate positioning.

Adopt the unmanned aerial vehicle of traditional RTK collection mode, its survey and drawing precision still remains to improve.

SUMMERY OF THE UTILITY MODEL

In order to overcome the technical defect, the utility model provides a novel survey and drawing unmanned aerial vehicle.

In order to solve the above problem, the utility model discloses realize according to following technical scheme:

a novel survey and drawing unmanned aerial vehicle, including the unmanned aerial vehicle that is used for flight survey and drawing, still include:

the binocular camera is connected to the front end of the unmanned aerial vehicle; the binocular camera is provided with two cameras which are distributed in a crossed manner and inclined downwards;

the laser radar is connected to the bottom of the unmanned aerial vehicle;

the flight control system of the unmanned aerial vehicle comprises a processor, an IMU module and a GNSS module; the processor is respectively connected with the binocular camera, the laser radar, the IMU module and the GNSS module;

unmanned aerial vehicle is many rotor unmanned aerial vehicle, and unmanned aerial vehicle includes a plurality of horn and screw riser, the horn is used for linking up unmanned aerial vehicle and screw riser, set up the bar hole that top-down runs through on the horn.

The processor is used for correlating and storing the GNSS data of the GNSS module and the IMU data of the IMU module to obtain the track data.

Preferably, the included angle formed by the main optical axes of the two cameras and the horizontal plane is an acute angle, and the included angle between the main optical axes of the two cameras is 70-120 degrees.

Preferably, be provided with an integrated interface at unmanned aerial vehicle's front end, the top of binocular camera is provided with the integrated joint with the integrated interface of accordant connection, integrated joint is connected with the integration interface is detachable.

Preferably, the binocular camera is provided with two memories independent of each other, one of the memories being used for storing the position data output by the processor, and the other memory being used for storing the camera data in association with the position data.

Preferably, the binocular camera and the laser radar are arranged in tandem.

Preferably, the flight control system of the unmanned aerial vehicle further comprises a wireless communication assembly connected with the processor, and the wireless communication assembly is used for wirelessly communicating with the ground static GNSS base station.

Preferably, the drone is a quad-rotor drone.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a survey and drawing unmanned aerial vehicle is integrated mapping, laser scanning, GNSS location and IMU inertial navigation system technique in survey and drawing unmanned aerial vehicle of an organic whole. The method has the advantages of high speed, high precision and comprehensive three-dimensional information. The binocular camera is matched with the laser radar, and camera shooting collection data matched with the laser collection data can be obtained.

2. The GNSS module is used to obtain GNSS data (spatial location data) of the drone, and the IMU module is used to generate IMU data of the drone. The unmanned aerial vehicle obtains the two data, and then performs combined processing on the GNSS data and the IMU data output by the GNSS module to obtain more accurate track state information, wherein the accuracy is superior to RTK.

Drawings

The following detailed description of embodiments of the invention is provided with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of the surveying and mapping unmanned aerial vehicle of the present invention;

fig. 2 is a schematic view of the assembly of the integrated interface and the integrated joint of the present invention;

FIG. 3 is a block diagram of the flight control system of the present invention;

fig. 4 is a schematic structural view of the binocular camera of the present invention;

in the figure:

10-a binocular camera;

20-laser radar;

30-a processor;

40-an IMU module;

50-a GNSS module;

60-wireless communication components.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

As shown in fig. 1-4, the utility model discloses a novel survey and drawing unmanned aerial vehicle's preferred structure.

As shown in fig. 1, the surveying and mapping unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle for flying according to a preset surveying and mapping route. Unmanned aerial vehicle includes the unmanned aerial vehicle main part, carries on binocular camera 10 and laser radar 20 in the unmanned aerial vehicle main part. Binocular camera 10 carries on at unmanned aerial vehicle's front end, lidar 20 carries on in unmanned aerial vehicle's bottom, and both range settings around them, binocular camera and lidar set up in same level.

As shown in fig. 3, the flight control system of the drone (also referred to as drone flight control in the art, which is a core processing system of the drone) includes a processor 30, an IMU module 40, a GNSS module 50, and a wireless communication component 60. The processor 30 is connected to the binocular camera 10, the lidar 20, the IMU module 40, the GNSS module 50, and the wireless communication module 60, respectively.

The GNSS module 50 may be provided with a GNSS antenna on top of the drone.

The utility model discloses a survey and drawing unmanned aerial vehicle is integrated mapping, laser scanning, GNSS location and inertial navigation system technique in the mapping technique of an organic whole of taking photo by plane. The method has the advantages of high speed, high precision and comprehensive three-dimensional information. The binocular camera 10 and the laser radar 20 cooperate to acquire image pickup data matching the laser scanning data.

The GNSS module 50 and the IMU module 40 are well known in the art, and are not described herein. Specifically, the GNSS module 50 is configured to obtain spatial position data (GNSS data) of the drone, and the IMU module 40 is configured to generate IMU data of the drone. The processor 30 is configured to associate and store the GNSS data and the IMU data generated in real time, so as to obtain the track data. After the surveying and mapping are completed, the GNSS data and the IMU data in the track data are coupled to obtain accurate track data (mainly including position information and attitude information), and the accurate track data may be smoothed to obtain more accurate position and attitude information of the lidar 20 and the binocular camera 10 at the time of surveying and mapping. Thereby improving the accuracy of the mapping data.

The unmanned aerial vehicle is provided with a storage element for storing flight path data and scanning data of the laser radar, and the storage element is connected with the processor.

Preferably, the wireless communicator processor 30 is connected to a wireless communication module 60, and the wireless communication module 60 is configured to wirelessly communicate with a terrestrial static GNSS base station. The utility model discloses can also carry out difference processing with the help of the position data of the static GNSS basic station in ground and the position data of GNSS, after confirming the flight orbit of aerial survey in-process, carry out the coupling processing of IMU data again.

As shown in fig. 4, another improvement of the utility model is that the unmanned aerial vehicle is equipped with two mesh cameras, two mesh cameras 10 are provided with two cameras that are crosswise and distribute and the downward sloping. Specifically, as shown in fig. 4, an included angle β formed between the main optical axes of the two cameras and the horizontal plane is an acute angle, and an included angle α between the main optical axes of the two cameras is 70 degrees to 120 degrees.

The straight line passing through the two spherical centers of the thin lens is called a main optical axis and is also called a main axis. A reference line in an optical system such as a camera lens along which it has a degree of rotational symmetry. The main optical axis is common general knowledge and not overrepresented.

Regarding the contained angle beta that the inclination of camera formed, under this inclination, the shooting angle of two cameras does not influence the formation of image effect yet, and the slope is shot, and the picture that shows can show more positions of image object, is favorable to subsequent survey and drawing modeling.

Through the two cameras which are obliquely arranged downwards and outwards, the included angle alpha formed by the intersection of the main optical axes of the two cameras which are obliquely arranged outwards is 70 degrees less than alpha 120 degrees, and the structure has wide shooting range and can be adjusted properly. The coverage rate of each group of pictures shot by the two cameras in the image overlapping area can achieve the shooting effect of other multi-view cameras and panoramic cameras. And further, the image processing amount is reduced, and the image processing errors are greatly reduced, so that the reliability and the accuracy of aerial surveying and mapping are improved.

As shown in fig. 3, in this embodiment, preferably, an integrated interface is disposed at the front end of the unmanned aerial vehicle, and an integrated joint that is detachably connected to the integrated interface is disposed at the top of the binocular camera 10. The integrated joint and the integrated interface are mechanically connected and electrically connected, and are used for installing the binocular camera 10 and also used for electrically connecting the binocular camera 10 to the unmanned aerial vehicle. This technique is well known in the art. The specific technical means can be seen in the DJI SKYPORT technology of the unmanned plane in Xinjiang, and is a standard interface for connecting the load and the unmanned plane, which is not described too much herein.

In the optimization of installation connection, the traditional mixed and disorderly wire connection is removed, and the integrated joint can provide stable and synchronous signal interaction, so that each group of shot pictures correspond to the information (such as position and attitude data, POS information and the like obtained by coupling) of the processor 30 one by one, the matching accuracy is improved, and the mapping data is accurate.

Further, in order to associate the picture of the camera with the position information, it is conventionally adopted to write the position information and the like into the corresponding picture. Due to signal and data transmission problems, for example, when data transmission is abnormal, the camera takes a picture, and the corresponding position information is abnormal due to transmission, so that the picture is not successfully written into the position data. The camera takes the next photo, and the previous position data is written into the next photo, so that the accuracy of the data is influenced.

To this end, the binocular camera 10 of the present invention is provided with two memories independent of each other, one of the memories is used for storing the track data outputted from the processor 30, and the other memory is used for storing the camera data associated with the track data. The utility model discloses omitted the step of writing in the photo with information, directly stored two sets of data that correspond respectively because two kinds of data are related, even data transmission is unusual, can not mismatch yet, can not write in the photo with error message, reduce the post processing volume, improve the reliability that data match.

In one implementation, the mapping drone is a quad-rotor drone, which includes four sets of rotor assemblies, the rotor assemblies including a horn and a propeller helicopter, the horn for engaging the drone and the propeller helicopter. Be provided with the bar hole that top-down run through on the horn, through designing the bar hole, strengthen the structural strength of horn, on the other hand reduces the area size of the upper and lower surface of horn to reduce the resistance of going up and down.

The propeller helicopter comprises a shell, a motor arranged in the shell and a propeller in driving connection with the motor.

Other structures of the novel surveying and mapping unmanned aerial vehicle described in the embodiment are referred to in the prior art.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a novel survey and drawing unmanned aerial vehicle, includes the unmanned aerial vehicle that is used for flight survey and drawing, its characterized in that still includes:

the laser radar is connected to the bottom of the unmanned aerial vehicle;

2. Novel surveying and mapping drone according to claim 1, characterized in that:

the included angle formed by the main optical axes of the two cameras and the horizontal plane is an acute angle, and the included angle between the main optical axes of the two cameras is 70-120 degrees.

3. Novel surveying and mapping drone according to claim 2, characterized in that:

be provided with an integrated interface at unmanned aerial vehicle's front end, the top of binocular camera is provided with the integrated joint with the integrated interface of accordant connection, integrated joint is connected with the integration interface is detachable.

4. Novel surveying and mapping drone according to claim 1, characterized in that:

the binocular camera is provided with two mutually independent memories, wherein one memory is used for storing the flight path data output by the processor, and the other memory is used for storing the camera shooting data associated with the flight path data.

5. A new type of unmanned aerial vehicle for surveying and mapping according to any of claims 1 to 4, characterized in that:

the binocular camera and the laser radar are arranged in a front-back mode and are arranged on the same level.

6. A new type of unmanned aerial vehicle for surveying and mapping according to any of claims 1 to 4, characterized in that:

unmanned aerial vehicle is four rotor unmanned aerial vehicle.