阅读说明：本技术 测绘装置及方法 (Surveying and mapping device and method ) 是由 赵景辉 袁敏杰 范淼珍 毕甜甜 钟水清 于 2020-06-18 设计创作，主要内容包括：本发明公开了一种测绘装置,涉及测绘的技术领域,其技术方案的要点是：包括无人机以及设置在无人机下方的GPS定位装置,所述GPS定位装置无线连接有绘图终端,所述绘图终端接收所述GPS定位装置的位置信息并实时记录所述GPS定位装置的位置信息,所述GPS定位装置悬挂在所述无人机下方,所述绘图终端上设置有用于将所述GPS定位装置上的位置路径拟合成线性离散曲线的拟合单元。本发明解决了无人机拍照进行测绘的方法不够精准的技术问题,具有提高测绘精准度的优点。(The invention discloses a surveying and mapping device, which relates to the technical field of surveying and mapping, and the technical scheme of the surveying and mapping device is characterized in that: including unmanned aerial vehicle and the GPS positioner of setting in unmanned aerial vehicle below, GPS positioner wireless connection has drawing terminal, drawing terminal receives GPS positioner's positional information and real-time recording GPS positioner's positional information, GPS positioner hangs the unmanned aerial vehicle below, be provided with on the drawing terminal be used for with position route on the GPS positioner fits the fitting unit of linear dispersion curve. The invention solves the technical problem that the method for surveying and mapping by photographing of the unmanned aerial vehicle is not accurate enough, and has the advantage of improving the surveying and mapping accuracy.)

1. The utility model provides a mapping device, includes unmanned aerial vehicle (1) and sets up GPS positioner (3) in unmanned aerial vehicle (1) below, GPS positioner (3) wireless connection has drawing terminal, drawing terminal receives the positional information and the real-time recording of GPS positioner (3) the positional information of GPS positioner (3), its characterized in that: the GPS positioning device (3) is hung below the unmanned aerial vehicle (1), and a fitting unit used for fitting a position path on the GPS positioning device (3) into a linear discrete curve is arranged on the drawing terminal.

2. A mapping apparatus according to claim 1, characterized in that: fixedly connected with lifting rope (4) on unmanned aerial vehicle (1), GPS positioner (3) fixed connection be in on lifting rope (4).

3. A mapping apparatus according to claim 2, characterized in that: the unmanned aerial vehicle (1) is provided with a stopping component for stopping the movement of the lifting rope (4).

4. A mapping apparatus according to claim 3, characterized in that: the stop pendulum subassembly is connected including rotating two grip blocks (7) on unmanned aerial vehicle (1), two grip block (7) are located the both sides of lifting rope (4), two relative one side of grip block (7) is provided with magnet (70) of inter attraction, two one side that grip block (7) deviate from each other is provided with and is used for two stay cord (71) that grip block (7) kept away from each other.

5. A mapping apparatus according to claim 4, characterized in that: the clamping plates (7) are provided with two extending grippers (73), the grippers (73) are arc-shaped, and the bending directions of the grippers (73) on the two opposite clamping plates (7) are close to each other.

6. A mapping apparatus according to claim 1, characterized in that: be provided with camera (2) on unmanned aerial vehicle (1), camera (2) wireless connection has controlling means, controlling means is provided with the display screen that shows camera (2) and shoot the picture, the shooting direction of camera (2) is vertical downwards.

7. A mapping apparatus according to claim 6, characterized in that: a balancing device (5) is arranged between the camera (2) and the unmanned aerial vehicle (1).

8. A surveying arrangement according to any one of claims 1-7, characterized in that: be provided with the battery monitoring device who is used for monitoring battery power on unmanned aerial vehicle (1), battery monitoring device wireless connection has remote control terminal for give battery power information send remote control terminal.

9. A mapping apparatus according to claim 8, characterized in that: the battery monitoring device comprises an electric quantity monitoring unit, a semi-electric reference unit and an electric quantity comparison unit, wherein the semi-electric comparison unit receives the electric quantity monitoring unit and sends out an alarm when the current battery electric quantity is lower than half of the total electric quantity of the battery after the signal of the semi-electric reference unit, and sends the alarm information and the battery electric quantity information to the remote control terminal.

10. A method of mapping, characterized by: the surveying and mapping device according to any one of claims 1-9, comprising the steps of flying the unmanned aerial vehicle (1) around the edge of the field to be surveyed for a circle, recording the path flown by the unmanned aerial vehicle (1) by means of the GPS positioning device (3) suspended under the unmanned aerial vehicle (1), recording the path flown by the unmanned aerial vehicle (1) on a plotting terminal, fitting the curve obtained by the plotting terminal to a linear dispersion curve, and extracting the obtained curve to obtain the profile of the area to be surveyed.

Technical Field

The invention relates to the technical field of surveying and mapping, in particular to a surveying and mapping device and method.

Background

Surveying and mapping, namely measurement and mapping, is based on computer technology, photoelectric technology, network communication technology, space science and information science, takes a global navigation satellite positioning system (GNSS), Remote Sensing (RS) and a Geographic Information System (GIS) as technical cores, selects existing characteristic points and boundary lines on the ground, obtains figure and position information reflecting the current situation of the ground by a measuring means, and is used for engineering construction, planning and design and administrative management.

In the survey and drawing work, need measure the area size of surveyed region, the method of calculating the area in the surveyed region in the survey and drawing of current is through unmanned aerial vehicle shoot at the position that awaits measuring, through the reduction of image recognition technology through the scale, draws out the profile on ground, then calculates the area.

In order to obtain a more accurate measurement area, in the prior art, the unmanned aerial vehicle flies at the edge of the measured area, and the profile of the measured area is obtained through the flight route of the unmanned aerial vehicle, so that the area of the measured area is obtained.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to: provided is a mapping method capable of obtaining a more accurate profile of a region to be measured.

The above-mentioned technical purpose is realized through following technical scheme, including unmanned aerial vehicle and the GPS positioner of setting in unmanned aerial vehicle below, GPS positioner wireless connection has drawing terminal, drawing terminal receives GPS positioner's positional information and real-time recording GPS positioner's positional information, GPS positioner hangs the unmanned aerial vehicle below, last being provided with of drawing terminal is used for with position route on the GPS positioner fits the fitting unit of linear dispersion curve.

Through the technical scheme, the measuring terminal moves around the area to be measured, the position information of the measuring terminal is sent to the drawing terminal in real time, the movement path of the measuring terminal is drawn on the drawing terminal, the outline drawing work in the drawing is completed, the position information is detected and recorded through the GPS positioning device, the path curve of the GPS positioning device is fitted into a linear dispersion curve through the fitting unit so as to obtain the outline of the area to be measured, because the unmanned aerial vehicle is not easy to keep the unmanned aerial vehicle right above the boundary line at the edge of the area to be measured all the time in the remote control process, the unmanned aerial vehicle is easy to swing in the flight process, when the unmanned aerial vehicle swings left and right, the GPS positioning device can be enabled to do pendulum movement in a way of being suspended by the GPS positioning device, the movement path obtained after the unmanned aerial vehicle deviates towards one direction is deviated towards one direction, the GPS positioning device moves back and forth towards two directions by making pendulum motion, and after the motion route is fitted into a linear discrete curve through the fitting unit, the deviation of the two directions is compromised to be closer to the edge of an actual measured area in the middle of the path.

Further, fixedly connected with lifting rope on the unmanned aerial vehicle, GPS positioner fixed connection be in on the lifting rope.

Through the technical scheme, set up the lifting rope on the unmanned aerial vehicle, and connect GPS positioner on the lifting rope, route skew appears at unmanned aerial vehicle, because the setting of lifting rope, GPS positioner will lag behind unmanned aerial vehicle's motion and skew, when operating unmanned aerial vehicle, correct after the operator in time discovers the route skew, the unmanned aerial vehicle position has already been corrected when GPS positioner has not come and carried out the skew, so GPS positioner's skew angle is less, GPS positioner's the range of pendulum motion will be less than the range of the actual skew of unmanned aerial vehicle afterwards, GPS positioner receives that unmanned aerial vehicle rocks the influence that produces and is few, final route after the fitting unit fitting obtains linear dispersion curve is more accurate.

Further, be provided with the camera on the unmanned aerial vehicle, camera wireless connection has controlling means, controlling means is provided with the display screen that shows the camera and shoot the picture, the shooting direction of camera is vertical downwards.

Through above-mentioned technical scheme, during the operation unmanned aerial vehicle, watch the display screen, can watch the picture under unmanned aerial vehicle, let the central line of camera and the sideline coincidence in surveyed region, just can guarantee that unmanned aerial vehicle flies along the sideline in surveyed region, consequently can let the survey and drawing route more accurate.

Further, a balancing device is arranged between the camera and the unmanned aerial vehicle.

Through the technical scheme, the angle of the camera relative to the vertical direction is unchanged through the balancing device, the initial angle is adjusted, the unmanned aerial vehicle can fly in the process, the camera keeps shooting direction vertically downward, the camera is not prone to deviation of the angle caused by the inclination of the unmanned aerial vehicle, and if the camera angle deviates, the unmanned aerial vehicle cannot be kept right above the edge of the detected area.

Further, be provided with on the unmanned aerial vehicle and be used for stopping the pendulum subassembly that stops of lifting rope motion.

Through above-mentioned technical scheme, through the setting of stopping the pendulum subassembly, meaningless swing appears in survey and drawing device working process GPS positioner, swing or the swing that the wind blows and lead to when unmanned aerial vehicle just started promptly, or other reasons, when the necessary swing that produces in unmanned aerial vehicle working process, carry out the temporary fixation with GPS positioner through stopping the pendulum subassembly, reduce GPS positioner's swing and to finally record the influence of route.

Further, the pendulum stopping assembly is connected including rotating two grip blocks on the unmanned aerial vehicle, two the grip block is located the both sides of lifting rope, two relative one side of grip block is provided with the magnet of inter attraction, two one side that the grip block deviates from each other is provided with and is used for two the stay cord that the grip block was kept away from each other.

Through the technical scheme, the lifting rope is clamped through the two clamping plates, so that the GPS positioning device on the lifting rope stops swinging, the lifting rope can be more conveniently and conveniently folded, and other modes such as folding up the lifting rope are more convenient. If pack up the lifting rope, then need more time, with the lifting rope direction unmanned aerial vehicle's the GPS positioner's that leads to that rocks swing simultaneously, at the better calm weather of weather conditions, the less or more professional condition that can guarantee that unmanned aerial vehicle flies according to the regional edge of being surveyed of regional area that is surveyed, put down the grip block, let the grip block clip GPS positioner, measure, need not to use the fitting unit to fit into the dispersion curve, reduce operating procedure, the effect that is suitable for a plurality of scenes has.

Furthermore, hand grips extend from two sides of the clamping plates, the hand grips are arc-shaped, and the bending directions of the hand grips on the two opposite clamping plates are close to each other.

Through the technical scheme, the lifting rope can be clamped easily when the lifting rope swings through the hand grab, the situation that the lifting rope is not clamped between the two clamping plates due to the fact that the lifting rope swings too much is avoided, and the lifting rope swinging is clamped and fixed by the clamping plates through the hand grab.

Further, be provided with the battery monitoring device who is used for monitoring battery power on the unmanned aerial vehicle, battery monitoring device wireless connection has remote control terminal for give battery power information send remote control terminal.

Through the technical scheme, monitor the electric quantity of unmanned aerial vehicle battery through battery monitoring device, avoid because unmanned aerial vehicle's duration is not enough, cause unmanned aerial vehicle survey and drawing half just not have the electricity, lead to unmanned aerial vehicle's speed decline tenesmus even, because the region of awaiting measuring is great, if unmanned aerial vehicle does not have the electricity midway and can't go, it is more troublesome, lose easily, break, monitor through battery monitoring device, in time recall unmanned aerial vehicle when the electric quantity is not enough, charge.

Furthermore, the battery monitoring device comprises an electric quantity monitoring unit, a semi-electric reference unit and an electric quantity comparison unit, wherein the semi-electric comparison unit receives the electric quantity monitoring unit and sends an alarm when the current battery electric quantity is lower than half of the total electric quantity of the battery after the signal of the semi-electric reference unit, and sends alarm information and battery electric quantity information to the remote control terminal.

Through above-mentioned technical scheme, through the comparison of half electric reference unit and electric quantity monitor cell, learn whether the electric quantity is enough, send the warning to remote control terminal when the electric quantity is not enough, and then can let remote control terminal in time learn the electric quantity not enough and react, recall the unmanned aerial vehicle and charge.

Another technical object of the present invention is to provide a surveying and mapping method, which improves the surveying and mapping accuracy.

The technical purpose is realized through the following technical scheme, the surveying and mapping method is applied to the surveying and mapping device and comprises the following steps that the unmanned aerial vehicle flies for a circle around the edge of a measured field, the route flown by the unmanned aerial vehicle is recorded through the GPS positioning device hung below the unmanned aerial vehicle, the route flown by the unmanned aerial vehicle is recorded on a drawing terminal, a curve obtained by the drawing terminal is fitted into a linear discrete curve, and the obtained curve is extracted to obtain the outline of the measured area.

Through the technical scheme, through flying unmanned aerial vehicle around the ground of being surveyed a week, and then fly a week around the ground of being surveyed with GPS positioner, draw through drawing terminal, obtain the drawing picture on the drawing board, obtain the profile in the region that awaits measuring through the reduction of scale, accomplish surveying and mapping work, it is more accurate to shoot relatively, and it is more convenient, need not push away image processing work a large amount of, and the scale is more accurate than the scale of picture.

In conclusion, the invention has the following technical effects:

1. the GPS positioning device can perform pendulum motion in a hanging mode through the GPS positioning device, a motion path obtained after the unmanned aerial vehicle deviates in one direction is deviated in one direction, the GPS positioning device performs pendulum motion to move back and forth in two directions, and after a motion route is fitted into a linear dispersion curve through a fitting unit, the deviation in the two directions is about to the edge of an actual measured area in the middle of the path;

2. the unmanned aerial vehicle is provided with a lifting rope, the GPS positioning device is connected to the lifting rope, when the unmanned aerial vehicle has route deviation, the GPS positioning device can deviate after lagging the movement of the unmanned aerial vehicle due to the arrangement of the lifting rope, when the unmanned aerial vehicle is operated, the route deviation is found in time and then corrected, and when the GPS positioning device does not reach the deviation, the position of the unmanned aerial vehicle is corrected, so that the deviation angle of the position of the GPS positioning device is smaller, the amplitude of the pendulum movement of the GPS positioning device is smaller than the amplitude of the actual deviation of the unmanned aerial vehicle, the GPS positioning device has little influence on the unmanned aerial vehicle after receiving the shaking, and the final route after obtaining the linear dispersion curve through the fitting of the fitting unit is more accurate;

3. through the arrangement of the pendulum stopping component, when the necessary swinging is generated in the working process of the unmanned aerial vehicle, the GPS positioning device is temporarily fixed through the pendulum stopping component, so that the influence of the swinging of the GPS positioning device on the final measured route is reduced;

3. detect the unmanned aerial vehicle electric quantity through battery monitoring device, avoid appearing the unmanned aerial vehicle condition of losing that the power failure caused midway.

Drawings

FIG. 1 is a schematic structural view of embodiment 1;

fig. 2 is a schematic diagram of a swing process of the unmanned aerial vehicle;

FIG. 3 is a schematic diagram comparing two ways of fixing the GPS positioning device on the unmanned aerial vehicle and suspending the device by a lifting rope;

FIG. 4 is a graph showing the effect of comparing the way in which the GPS positioning device in experiment 1 is fixed on the unmanned aerial vehicle and suspended by a lifting rope;

FIG. 5 is a comparative experimental diagram of the GPS positioning device in experiment 2.1 being fixed on the unmanned aerial vehicle and being suspended by a lifting rope;

FIG. 6 is an enlarged view of portion B of FIG. 5;

FIG. 7 is a comparative experimental diagram of the GPS positioning device in experiment 2.2 being fixed on the unmanned aerial vehicle and being suspended by a lifting rope;

FIG. 8 is an enlarged view of the portion C of FIG. 7;

FIG. 9 is an enlarged view of portion A of FIG. 1;

fig. 10 is a flowchart of the operation of the battery monitoring apparatus in embodiment 1;

FIG. 11 is a flowchart of a mapping method in example 1;

FIG. 12 is a schematic view of a display screen showing a reference line;

FIG. 13 is a schematic structural view of example 2;

FIG. 14 is an enlarged view of section D of FIG. 13;

FIG. 15 is a schematic view showing a state where a pinch plate is spread in embodiment 2;

fig. 16 is an enlarged view of a portion E in fig. 15.

Reference numerals: 1. an unmanned aerial vehicle; 2. a camera; 20. a counterweight ring; 3. a GPS positioning device; 4. a lifting rope; 5. a balancing device; 50. a first connecting ring; 51. a second connection ring; 6. a display screen; 60. a reference line; 7. a clamping plate; 70. a magnet; 71. pulling a rope; 72. a reel; 73. a gripper; 74. a through groove; 75; an electric motor.

Detailed Description