阅读说明：本技术 一种测绘古建筑顶面用无人机装置及测绘方法 (Unmanned aerial vehicle device for surveying and mapping top surface of ancient building and surveying and mapping method ) 是由 董文澎 姜诚华 赵雅琦 秦茂轩 蔡雨玲 陈锦锋 万衡 曹权 刘虎 刘振勇 谭冬莲 于 2021-09-17 设计创作，主要内容包括：本发明提供了一种测绘古建筑顶面用无人机装置,包括无人机和测绘装置,所述测绘装置包括固定台、连接柱、壳体、相机和测距传感器,所述固定台与所述无人机的下部固定连接,所述连接柱与所述固定台的下端面连接,所述壳体与所述连接柱的底部连接,所述壳体内固定有测距传感器和相机。本发明还提供了无人机装置的测试方法。本发明提供的测绘古建筑顶面用无人机装置,可进行快速自动调焦,不需要额外调整无人机的角度和高度,大幅度提高了测量效率,并保证了拍摄的清晰度,具有更好的动态测量优势。(The invention provides an unmanned aerial vehicle device for surveying and mapping a top surface of an ancient building, which comprises an unmanned aerial vehicle and a surveying and mapping device, wherein the surveying and mapping device comprises a fixed table, a connecting column, a shell, a camera and a ranging sensor, the fixed table is fixedly connected with the lower part of the unmanned aerial vehicle, the connecting column is connected with the lower end surface of the fixed table, the shell is connected with the bottom of the connecting column, and the ranging sensor and the camera are fixed in the shell. The invention also provides a test method of the unmanned aerial vehicle device. The unmanned aerial vehicle device for surveying and mapping the top surface of the historic building can be used for quickly and automatically focusing, the angle and the height of the unmanned aerial vehicle do not need to be additionally adjusted, the measurement efficiency is greatly improved, the shooting definition is ensured, and the unmanned aerial vehicle device has a better dynamic measurement advantage.)

1. The utility model provides an unmanned aerial vehicle device for survey and drawing ancient building top surface, a serial communication port, including unmanned aerial vehicle and mapping device, mapping device includes fixed station, spliced pole, casing, camera and range finding sensor, the fixed station with unmanned aerial vehicle's lower part fixed connection, the spliced pole with the lower terminal surface of fixed station is connected, the casing with the bottom of spliced pole is connected, the casing internal fixation has range finding sensor and camera.

2. The unmanned aerial vehicle device for mapping ancient building top surface of claim 1, wherein the fixed station is a cuboid, the connecting column is cylindrical, and the housing is a cuboid.

3. The unmanned aerial vehicle device for surveying and mapping ancient building top surface of claim 2, characterized in that, be provided with the bolt hole on the fixed station, the fixed station passes through bolted connection with the unmanned aerial vehicle.

4. The unmanned aerial vehicle device for surveying and mapping ancient building top surface of claim 2, wherein both ends of the casing are open structures, the front end surface and the upper end surface of the casing are semi-open, the lower end surface of the casing is provided with two round holes, and the rear end surface of the casing is provided with one round hole.

5. The unmanned aerial vehicle device for mapping ancient building top surface of claim 4, wherein the power cord of said camera is connected with said unmanned aerial vehicle through the round hole of the rear end face of said shell.

6. The unmanned aerial vehicle device for mapping ancient building roofs of claim 1, wherein said ranging sensor is a wireless laser ranging sensor.

7. The unmanned aerial vehicle device for mapping ancient building roofs of claim 6, wherein said camera is connected with said ranging sensor through a data line, said camera configured to auto-focus distance measured by said ranging sensor.

8. The unmanned aerial vehicle device for mapping ancient building roofs of claim 6, wherein said ranging sensor includes a wireless receiver and a computer.

9. The unmanned aerial vehicle device for mapping ancient building roofs of claim 8, wherein said wireless receiver receives data of said ranging sensor through GPRS and radio station modes.

10. The method for testing the unmanned aerial vehicle device for mapping the top surface of an ancient architecture according to any one of claims 1 to 9, wherein the method comprises the steps of:

securing the mapping device with the drone;

connecting the serial port of the distance measuring sensor with the computer;

installing a driving program on the computer to drive a serial port;

and the serial port is used for testing the distance measuring sensor, and the communication work of the distance measuring sensor is realized after the testing is finished.

Technical Field

The invention relates to the technical field of surveying and mapping, in particular to an unmanned aerial vehicle device for surveying and mapping a top surface of an ancient building and a surveying and mapping method.

Background

The unmanned aerial vehicle aerial survey is powerful supplement of the traditional measuring means, has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range and the like, can obtain high-resolution images in regions which are difficult to reach, and has obvious advantages. With the development of unmanned aerial vehicles and digital camera technologies, the digital aerial photography technology based on the unmanned aerial vehicle has shown unique advantages, and the combination of the unmanned aerial vehicle and aerial photogrammetry has become a brand-new development direction in the surveying and mapping field. The unmanned aerial vehicle aerial photography can be widely applied to the aspects of national major engineering construction, disaster emergency and treatment, territorial surveillance, resource development and the like, and particularly has wide prospects in the aspects of basic surveying and mapping, land resource investigation and monitoring, dynamic monitoring of land utilization, acquisition of emergency disaster relief surveying and mapping data and the like.

At present, ordinary unmanned aerial vehicle when complicated environment topography is surveyed and drawing, in order to guarantee its accurate rate, need survey and drawing repeatedly it, lead to inefficiency, consume energy more, most of time waste in adjustment unmanned aerial vehicle angle and height.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the unmanned aerial vehicle device for the ancient building top surface, and the surveying and mapping efficiency under the complex environment is improved.

The unmanned aerial vehicle device for the top surface of the historic building comprises an unmanned aerial vehicle and a surveying and mapping device, wherein the surveying and mapping device comprises a fixed table, a connecting column, a shell, a camera and a ranging sensor, the fixed table is fixedly connected with the lower part of the unmanned aerial vehicle, the connecting column is connected with the lower end face of the fixed table, the shell is connected with the bottom of the connecting column, and the ranging sensor and the camera are fixed in the shell.

Preferably, the fixed station is the cuboid, the spliced pole is cylindrical, the casing is the cuboid.

Preferably, be provided with the bolt hole on the fixed station, the fixed station with unmanned aerial vehicle passes through bolted connection.

Furthermore, the two ends of the shell are of an open structure, the front end face and the upper end face of the shell are of a semi-open type, the lower end face of the shell is provided with two round holes, and the rear end face of the shell is provided with a round hole.

Further, the power cord of camera pass through the round hole of the rear end face of casing with unmanned aerial vehicle connects.

Further, the ranging sensor is a wireless laser ranging sensor.

Further, the camera is connected with the ranging sensor through a data line, and the camera is configured to automatically focus by a distance measured by the ranging sensor.

Further, the ranging sensor comprises a wireless receiver and a computer.

Further, the wireless receiver receives the data of the ranging sensor through GPRS and radio modes.

The invention provides a test method of an unmanned aerial vehicle device for surveying and mapping ancient building top surfaces, which is characterized by comprising the following steps:

securing the mapping device with the drone;

connecting the serial port of the distance measuring sensor with the computer;

installing a driving program on the computer to drive a serial port;

and the serial port is used for testing the distance measuring sensor, and the communication work of the distance measuring sensor is realized after the testing is finished.

Compared with the prior art, the invention has the following beneficial effects:

according to the unmanned aerial vehicle device for surveying and mapping the top surface of the historic building, provided by the invention, the top surface of the historic building is surveyed and photographed through the ranging sensor and the camera, the focal length of the camera is adjusted according to the distance measured by the ranging sensor, the rapid automatic focusing can be carried out, the angle and the height of the unmanned aerial vehicle do not need to be additionally adjusted, the measuring efficiency is greatly improved, the shooting definition is ensured, and the unmanned aerial vehicle device has a better dynamic measurement advantage.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle device for surveying and mapping a top surface of an ancient building, according to an embodiment of the present invention;

fig. 2 is a front view of an unmanned aerial vehicle device for surveying and mapping a top surface of an ancient building, provided by an embodiment of the invention;

FIG. 3 is a top view of an unmanned aerial vehicle apparatus for mapping a top surface of an ancient building, according to an embodiment of the present invention;

fig. 4 is a left side view of the unmanned aerial vehicle device for surveying and mapping the top surface of the ancient building, which is provided by the embodiment of the invention.

In the figure:

1-unmanned aerial vehicle;

2-a groove;

3-a fixed table;

4-bolt holes;

5-connecting the column;

6-a shell;

7-a circular hole on the rear end face;

8-a wire;

9-a camera;

10-a ranging sensor;

11-lower end face round hole;

12-data line.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in figure 1, the unmanned aerial vehicle device for surveying and mapping the top surface of the historic building comprises an unmanned aerial vehicle 1 and a surveying and mapping device, wherein a groove 2 is formed in the lower portion of the unmanned aerial vehicle 1, and the surveying and mapping device is fixed at the groove 2 of the unmanned aerial vehicle 1. Surveying and mapping device includes fixed station 3, spliced pole 5, casing 6, camera 9 and range finding sensor 10, and in this embodiment, fixed station 3 is the cuboid, and spliced pole 5 is cylindrical, and casing 6 is the cuboid. Four bolt holes 4 are formed in the fixing table 3, the bolt holes 4 are symmetrically distributed around the center of the fixing table 3, and the fixing table 3 is fixedly connected with the groove 2 through bolts. The spliced pole 5 is connected with the lower terminal surface of fixed station 3, and casing 6 is connected with the bottom of spliced pole 5, and casing 6 is the level setting, and the longest size of casing 6 is in the horizontal direction promptly, and makes spliced pole 5 be located the horizontal center department of casing 6. A range sensor 10 and a camera 9 are fixedly arranged inside the housing 6.

As shown in fig. 2, 3 and 4, the two ends of the housing 6 are open, and the front end face and the upper end face of the housing 6 are semi-open, that is, the closed area of the front end face and the upper end face occupies only half of the end face, as described in the direction of the view shown in fig. 2. Two lower end face round holes 11 are formed in the lower end face of the shell 6, and a shooting part of the camera 9 and a distance measuring part of the distance measuring sensor 10 are respectively opposite to the lower end face round holes 11 so as to shoot and measure distances. The rear end face of casing 6 is opened has a rear end face round hole 7, and the electric wire 8 of camera 9 passes rear end face round hole 7 and is connected to unmanned aerial vehicle 1.

In this embodiment, the distance measuring sensor 10 is a wireless laser distance measuring sensor. The distance measuring sensor 10 is internally provided with a lithium battery, adopts the phase method laser distance measuring technology, utilizes the frequency of a radio wave band to perform amplitude modulation on a laser beam and measure the phase delay generated by the back and forth of modulated light once, and then converts the distance represented by the phase delay according to the wavelength of the modulated light, namely, the time required by the back and forth measurement of the light is measured by an indirect method. The distance measuring sensor 10 is provided with a wireless receiver and a computer which are matched with the distance measuring sensor, and the wireless receiver can adopt GPRS and radio station modes to receive data transmitted by the distance measuring sensor 10; the computer can debug the ranging sensor 10 and perform communication work, and can perform 3D modeling on data received by the wireless receiver through modeling software.

The camera 9 is provided with a memory card inside for storing the photographed video and images. The camera 9 is connected to the distance measuring sensor 10 via a data line 12, and the camera 9 performs auto-focusing by the distance measured by the distance measuring sensor 10. The distance measuring sensor 10 measures by the phase method laser distance measuring technology, transmits the measured data and parameters to the wireless receiver through the antenna thereof, and simultaneously transmits the measured data and parameters to the camera 9 through the data line 12, and obtains the corresponding focal distance through the Gaussian optical formula 1/u +1/v ═ 1/f. In the formula, u is the object distance, namely the data measured by the distance measuring sensor 10; v is the distance of the camera 9, related to the internal structure of the camera 9; f is the focal length. After the focal length is obtained, the camera 9 can be quickly focused at any time, the angle and the height of the unmanned aerial vehicle 1 can be adjusted without extra operation of an operator, the measurement efficiency can be greatly improved, and the dynamic measurement advantage is better. And finally, connecting the port of the wireless receiver with a computer, so that the obtained data can be displayed on the computer in real time, and simultaneously carrying out 3D modeling through modeling software.

The specific implementation process of this embodiment is as follows: fixing the surveying and mapping device and the unmanned aerial vehicle 1 at a groove 2 of the unmanned aerial vehicle 1 through bolts; connecting a serial port of the distance measuring sensor 10 with a computer; installing a proper driving program in the computer to drive the serial port; the serial port debugging assistant tests the distance measuring sensor 10 and realizes the communication work of the distance measuring sensor 10 after the test is finished.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.