CN114355971A - Unmanned aerial vehicle lofting device and method - Google Patents
Unmanned aerial vehicle lofting device and method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle lofting device and method, which comprises the following steps: handbook, unmanned aerial vehicle, GPS receiver lofting module and plumb lofting label. The method comprises the steps that a GPS mobile station receiver in a GPS receiver lofting module is communicated with a handbook to obtain position information of a current target lofting point position, and accordingly, distance and direction relation data of an unmanned aerial vehicle and the current target lofting point are calculated and sent to the handbook; unmanned aerial vehicle's control module is according to the unmanned aerial vehicle that shows in the handbook and the distance and the position relation data of current target lofting point, and control unmanned aerial vehicle flies toward target lofting point position under navigation module's navigation to when unmanned aerial vehicle flies directly over to target lofting point position, control unmanned aerial vehicle will plumb bob lofting label release makes it insert under the action of gravity target lofting point position, and coordinate data acquire portably, instrument convenient operation.
Description
Technical Field
The invention relates to the technical field of measurement lofting, in particular to an unmanned aerial vehicle lofting device and method.
Background
With the development of science and technology, the national standards for beautiful environments are gradually improved, so that in industrial and civil construction in China, projects for water environment treatment and ecological restoration and transformation are gradually increased. The measurement lofting runs through the whole construction stage, and plays a vital role in a plurality of aspects such as geological exploration, expropriation, landform information acquisition and the like in the early construction stage. In the current measurement lofting process, technicians generally adopt instruments such as a total station instrument and an RTK instrument to perform measurement lofting, and for the field technicians such as silt, marsh and the like, the field technicians cannot enter a construction area to perform measurement lofting, a rendezvous method is generally adopted to determine point location information, so that the determined point location error is large, and the construction progress is influenced.
Disclosure of Invention
In view of the above, the invention provides an unmanned aerial vehicle lofting device and method, and aims to solve the problems that the existing unmanned aerial vehicle lofting has large positioning error and is easy to influence the construction progress.
In one aspect, the present invention provides an unmanned aerial vehicle lofting apparatus, including: the system comprises a handbook, an unmanned aerial vehicle, a GPS receiver lofting module and a plumb lofting label; wherein,
a GPS mobile station receiver in the GPS receiver lofting module is connected with the unmanned aerial vehicle; the plumb lofting tag is hung below the unmanned aerial vehicle;
the mobile phone book is characterized in that position information of each point location to be lofted is stored in the mobile phone book, and a GPS mobile station receiver is communicated with the mobile phone book and used for acquiring the position information of a current target lofting point location, calculating distance and azimuth relation data of the unmanned aerial vehicle and the current target lofting point, and sending the distance and azimuth relation data to the mobile phone book;
unmanned aerial vehicle has navigation module and control module, control module basis unmanned aerial vehicle that shows in the handbook with the distance and the position relation data of current target lofting point, control unmanned aerial vehicle is in fly toward under navigation module's the navigation target lofting point position, and when unmanned aerial vehicle flies to the target lofting point position directly over, control unmanned aerial vehicle will plumb bob lofting label release makes it insert under the action of gravity the target lofting point position.
Further, among the above-mentioned unmanned aerial vehicle lofting device, still include: a load support; wherein,
the unmanned aerial vehicle GPS mobile station in the GPS receiver lofting module and the plumb lofting label set gradually in the top, the middle part and the lower part of load support.
Further, among the above-mentioned unmanned aerial vehicle lofting device, the load support includes: the supporting rods are obliquely arranged, and the first bottom support, the second bottom support and the third bottom support are sequentially arranged among the supporting rods at intervals along the horizontal direction from top to bottom; wherein,
a clamping channel is formed in the first bottom support and used for being clamped with the unmanned aerial vehicle;
the second bottom support is provided with the GPS mobile station receiver;
and a clamping mechanism is arranged on the third bottom support and used for clamping the plumb lofting label.
Further, among the above-mentioned unmanned aerial vehicle lofting device, first collet includes: the first bracket, the annular fastener and a plurality of first connecting pieces; wherein,
the annular fastener is connected with the first bracket through each first connecting piece.
Further, among the above-mentioned unmanned aerial vehicle lofting device, fixture includes: a plurality of openable clamping pieces; wherein,
and the clamping end of each clamping piece capable of being opened and closed is surrounded to form a pore channel for placing the plumb lofting label.
Further, among the above-mentioned unmanned aerial vehicle lofting device, the plumb lofting label includes: the omnibearing prism, the supporting rod and the plumb are connected; wherein,
the omnidirectional prism is detachably connected above the supporting rod; the plumb bob is detachably connected below the supporting rod.
Further, in the unmanned aerial vehicle lofting device, the omnibearing prism is connected with the supporting rod through a screw rod; the plumb bob is connected with the supporting rod through a screw rod.
Further, among the above-mentioned unmanned aerial vehicle lofting device, branch is extending structure.
The unmanned aerial vehicle lofting device is communicated with a handbook through a GPS mobile station receiver in a GPS receiver lofting module to obtain the position information of a current target lofting point position, calculates the distance and azimuth relation data of the unmanned aerial vehicle and the current target lofting point according to the position information, and sends the distance and azimuth relation data to the handbook; unmanned aerial vehicle's control module is according to the unmanned aerial vehicle that shows in the handbook and the distance and the position relation data of current target lofting point, and control unmanned aerial vehicle flies toward target lofting point position under navigation module's navigation to when unmanned aerial vehicle flies directly over to target lofting point position, control unmanned aerial vehicle will plummet lofting label release makes it insert under the action of gravity target lofting point position, coordinate data acquire portably, and instrument convenient operation has improved the lofting precision greatly when improving the lofting precision.
On the other hand, the invention also provides an unmanned aerial vehicle lofting method, which comprises the following steps:
step 1, after a GPS mobile station receiver in a GPS receiver lofting module is checked, connecting the GPS mobile station receiver with an unmanned aerial vehicle, and suspending a plumb lofting label below the unmanned aerial vehicle;
and 4, controlling the unmanned aerial vehicle to fly to the target lofting point position under the navigation of the navigation module by a control module of the unmanned aerial vehicle according to the distance and the azimuth relation data between the unmanned aerial vehicle and the current target lofting point displayed in the handbook, and controlling the unmanned aerial vehicle to release the plumb bob lofting label when the unmanned aerial vehicle flies to the position right above the target lofting point position, so that the plumb bob lofting label is inserted into the target lofting point position under the action of gravity, and lofting of the current lofting point position is completed.
Further, in the above unmanned aerial vehicle lofting method, after step 4, the method further includes: and after lofting is finished, checking the current lofting point position by using a total station.
According to the unmanned aerial vehicle lofting method provided by the invention, the direction and distance information of the point location in RTK measurement lofting are input into the unmanned aerial vehicle control module, the unmanned aerial vehicle moves the load support loaded with the GPS mobile station receiver to the position location to be lofted by using the unmanned aerial vehicle navigation positioning device through the point location information, and then the unmanned aerial vehicle is accurately positioned through the RTK handbook and the unmanned aerial vehicle control module, so that the unmanned aerial vehicle coordinate data acquisition program is simplified, the lofting mark is set, and the lofting label is fixed at the target lofting point location, so that the lofting point location is clearer, and the construction accuracy is favorably improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle lofting device provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a handbook in the lofting device of the unmanned aerial vehicle according to the embodiment of the invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle control module in the unmanned aerial vehicle lofting device provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a load support in the lofting device of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a plumb lofting label in the unmanned aerial vehicle lofting device provided by the embodiment of the invention;
fig. 6 is a schematic flow chart of the unmanned aerial vehicle lofting method provided by the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment of the device is as follows:
referring to fig. 1, the lofting device of the unmanned aerial vehicle 2 according to the embodiment of the present invention includes: the system comprises a handbook 1, an unmanned aerial vehicle 2, a GPS receiver lofting module and a plumb lofting label 4; the GPS mobile station receiver 3 in the GPS receiver lofting module is connected with the unmanned aerial vehicle 2; the plumb lofting label 4 is suspended below the unmanned aerial vehicle 2; the handbook 1 stores position information of each point location to be lofted, and the GPS mobile station receiver 3 is communicated with the handbook 1 to obtain the position information of the current target lofting point, calculate the distance and the azimuth relation data between the unmanned aerial vehicle 2 and the current target lofting point and send the distance and azimuth relation data to the handbook 1; unmanned aerial vehicle 2 has navigation module and control module 21, control module 21 basis unmanned aerial vehicle 2 that shows in the handbook 1 with the distance and the position relation data of current target lofting point, control unmanned aerial vehicle 2 is in fly down to the navigation of navigation module (not shown in the figure) target lofting point location, and when unmanned aerial vehicle 2 flies to the target lofting point location directly over, control unmanned aerial vehicle 2 will plumb lofting label 4 releases, makes it insert under the action of gravity target lofting point location.
Specifically, the handbook 1 is a handheld ground operation device connected with the GPS receiver through bluetooth, and position information (X, Y coordinates) of the to-be-lofted point is stored therein. In practice, before lofting, the coordinates on the drawing need to be processed through a computer, the dat format file is converted into the csv format file, the processed data file is imported into the RTK handbook 1 for standby, and for lofting of a single point location, the RTK handbook 1 can be directly input for lofting.
More specifically, referring to fig. 2, the handbook 1 has a display screen 11 and a keyboard area 12, the keyboard area can input the coordinates of the to-be-lofted point location, and the display screen can display the position information of the unmanned aerial vehicle 2, the distance between the unmanned aerial vehicle 2 and the current target lofting point, and the position relation data.
Referring to fig. 3, the control module 21 of the drone 2 is provided with a drone orientation control button 211, a keyboard button 212, a plumb loft tab control button 213, and a display 214; wherein, plumb loft label control button 213 can be connected with the actuating mechanism electricity that hangs the plumb loft label in unmanned aerial vehicle 2 below to under control module 21's control, start or close actuating mechanism, in order to realize the fixed and release to plumb loft label 4. The operator can input the distance and the orientation relation between the unmanned aerial vehicle 2 and the target lofting point position into the control module 21 through the keyboard button 212 of the control module.
The GPS receiver lofting module 3 comprises a GPS reference station receiver (not shown in the figure) and a GPS mobile station receiver 3 which are used together; wherein, GPS reference station receiver is located subaerial, and GPS mobile station receiver 3 links to each other with unmanned aerial vehicle 2 to acquire unmanned aerial vehicle 2's positional information through GPS reference station receiver. In practice, the GPS reference station receiver may be mounted in a fixed location with an open field of view for receiving satellite data.
GPS mobile station receiver 3 with 1 communication of handbook for acquire the positional information of current target lofting point position, and calculate unmanned aerial vehicle 2 with the distance and the position relation data of current target lofting point, and with this distance and position relation data send to handbook 1, handbook 1 shows unmanned aerial vehicle 2 and the distance and the position relation data of current target lofting point, and operating personnel is according to the data that should show, control unmanned aerial vehicle 2 through unmanned aerial vehicle 2's control module 21 and fly to current target lofting point position with presetting the flight path, and in-process, operating personnel can be according to unmanned aerial vehicle 2's the flight path of real-time demonstration on the handbook 1, finely tune unmanned aerial vehicle 2's flight path through control module 21, with the reduction error, thereby guarantee the precision of lofting. The phonebook 1 may communicate with the GPS mobile station receiver 3 via bluetooth. Because GPS mobile station receiver 3 can fix a position out unmanned aerial vehicle 2's positional information in real time, it transmits unmanned aerial vehicle 2's positional information for hand book 1, consequently, hand book 1 can show unmanned aerial vehicle 2's flight trajectory.
The plumb lofting label 4 is provided with a plumb, has a certain weight, and can be inserted into a target lofting point position under the self gravity, so that a clear lofting mark is formed.
Referring to fig. 4, in the present embodiment, the method further includes: a load support 5; wherein, unmanned aerial vehicle 2, GPS mobile station in the GPS receiver lofting module with plumb lofting label 4 set gradually in top, middle part and the lower part of load support 5.
Specifically speaking, load support 5 can link to each other with unmanned aerial vehicle 2 through the fastener to carry GPS mobile station receiver 3 in unmanned aerial vehicle 2, and, can set up fixture on the load support 5, be used for providing the hanging point for plumb lofting label 4. Set up load support 5, volatile disequilibrium's problem when can effectively avoiding 2 laying-out devices of unmanned aerial vehicle to fly.
With continued reference to fig. 4, the load bracket 5 includes: a plurality of obliquely arranged support rods 51, and a first bottom support 52, a second bottom support 53 and a third bottom support 54 which are sequentially arranged between the support rods 51 at intervals along the horizontal direction from top to bottom; a clamping channel is formed in the first bottom support 52 and used for being clamped with the unmanned aerial vehicle 2; the GPS mobile station receiver 3 is arranged on the second bottom bracket 52; the third bottom support 54 is provided with a clamping mechanism 6 for clamping the plumb lofting label 4.
Specifically, each support bar 51 may form an inverted trapezoidal frame structure with a first shoe 52, a second shoe 53, and a third shoe 54 welded to the upper, middle, and lower portions of the inverted trapezoidal frame structure, respectively. The vertical spacing of the first, second and third mounting brackets 52, 53, 54 may be determined by practical considerations and is not intended to be limiting.
The first shoe 52 includes: a first bracket 521, a loop fastener 522 and a plurality of first connecting members 523; the loop fastener 522 is connected to the first bracket 521 through each of the first connecting members 523. The first bracket 521 may be a frame formed by connecting a plurality of first rods 5211, a ring-shaped fastener 522 is located at the center of the first bracket 521 and fixed to the first bracket 521 by respective connecting members, and each of the first connecting members 523 may be arranged along opposite corners of the first bracket to form a cross structure.
The second shoe 53 may include: a second bracket 531, a fixed disk 532, and a plurality of second connectors 533; the fixed disk 532 is connected to the second bracket 531 through the second connecting members 533, and the second connecting members 533 may be disposed along opposite corners of the second bracket 531 to form a cross structure. The GPS mobile station receiver 3 may be attached above the fixed disk by a screw.
The third bottom support 54 may be a hollow ring structure, and a motor (not shown) is disposed on two sides of the inner cavity of the ring structure, and the motor may be used as a driving mechanism for the clamping mechanism 6.
The chucking mechanism 6 includes: a plurality of openable clips 61; wherein, the clamping end of each openable clamping piece 61 is enclosed to form a hole a for placing the plumb lofting label 4. In this embodiment, the opening and closing manner of the clip is not limited.
In a specific embodiment of this embodiment, the clamping mechanism 6 is composed of two arc-shaped clamping pieces, the two clamping pieces are respectively accommodated in the inner cavity of the third bottom support 54, and the abutting portions of the two clamping pieces are respectively provided with an opposite arc-shaped notch so as to enclose a containing hole of the plumb lofting label 4 in the vertical direction; the third shoe 54 has a corresponding notch in the side wall near the center to provide an opening and closing path for the clip. The corresponding two motors that are provided with in the inner chamber of first collet 52, the output shaft of two motors links to each other with the clamping piece that corresponds respectively to drive clamping piece clockwise or anticlockwise rotation, thereby realize two clamping pieces leave and move in opposite directions mutually, finally realize opening and shutting of clamping piece, with the realization tight and release of clamp to plumb lofting label 4.
Referring to fig. 5, the plumb loft label 4 includes: the omnibearing prism 41, the supporting rod 42 and the plumb bob 43 are connected; wherein, the omnidirectional prism 41 is detachably connected above the supporting rod 42; the plumb bob 43 is detachably attached below the strut.
Preferably, the support rod 42 is of a telescopic structure, and when the placed position is soft in soil or is a shallow water area, the support rod can be elongated so that the lofting mark is obviously convenient for later data acquisition. The omnibearing prism is connected with the supporting rod through a screw rod, so that the omnibearing prism can be matched with a total station for use after lofting is finished, and the lofting precision can be checked; the plumb bob is connected with the supporting rod through the screw rod, so that the whole plumb bob lofting label 4 can be ensured to freely droop, and is automatically fixed at a point position to be lofted under the action of gravity.
The unmanned aerial vehicle lofting device provided by the invention is mainly suitable for lofting the point positions of the plots with poor geological conditions such as silt and shallow water areas.
The theory of operation of this embodiment unmanned aerial vehicle lofting device does: storing the position of the target lofting point (i.e., X, Y coordinate values) in the handbook; a GPS mobile station receiver on the unmanned aerial vehicle acquires the current position of the unmanned aerial vehicle through a GPS base station receiver; the handbook is communicated with a GPS mobile station receiver on the unmanned aerial vehicle, and the current position of the unmanned aerial vehicle can be displayed; directly inputting (or calling and inputting) the position (namely X, Y coordinate value) of a target lofting point recorded in advance on the handbook, wherein the GPS mobile station can also obtain the position information of the target point in the handbook at the moment and calculate the distance and the azimuth relation between the unmanned aerial vehicle and the target lofting point; then, flight data of the unmanned aerial vehicle are displayed on the handbook, and the data (distance and azimuth relation) is manually input into a control module of the unmanned aerial vehicle through a keyboard button of the control module; control module can control unmanned aerial vehicle and fly toward target lofting point under navigation of navigation module, can pass through control module fine setting childhood when the actual flight track that shows unmanned aerial vehicle on the handbook has the deviation with preset flight track, treats that unmanned aerial vehicle fixes a position accurate back, can release plumb bob lofting label to target lofting point position through control module.
As is apparent from the above description, the unmanned aerial vehicle lofting device provided in this embodiment communicates with the handbook through the GPS mobile station receiver in the GPS receiver lofting module to obtain the position information of the current target lofting point location, and accordingly calculates the distance and orientation relationship data between the unmanned aerial vehicle and the current target lofting point, and sends the distance and orientation relationship data to the handbook; unmanned aerial vehicle's control module is according to the unmanned aerial vehicle that shows in the handbook and the distance and the position relation data of current target lofting point, and control unmanned aerial vehicle flies toward target lofting point position under navigation module's navigation to when unmanned aerial vehicle flies directly over to target lofting point position, control unmanned aerial vehicle will plummet lofting label release makes it insert under the action of gravity target lofting point position, coordinate data acquire portably, and instrument convenient operation has improved the lofting precision greatly when improving the lofting precision.
The method comprises the following steps:
the invention provides an unmanned aerial vehicle lofting method, which comprises the following steps:
and step S1, after the GPS mobile station receiver in the GPS receiver lofting module is checked, connecting the GPS mobile station receiver with the unmanned aerial vehicle, and hanging the plumb lofting label below the unmanned aerial vehicle.
Specifically, before measurement lofting, the GPS reference station receiver is erected at a fixed position with a wide view field and convenient data receiving, data information of the reference station and the mobile station is set through a handbook, and the GPS mobile station receiver is checked at a known control point through a centering rod. The GPS mobile station receiver is connected with the GPS receiver through a screw after being checked, and the load support is connected with the unmanned aerial vehicle through a fastener. And fixing the plumb lofting label on the clamping mechanism.
And step S2, the handbook obtains the position information of the current target lofting point position, communicates with the GPS mobile station receiver and displays the current position of the unmanned aerial vehicle.
Specifically, before measurement, data preparation work is required. For batch point location lofting, the coordinates on the graph paper need to be processed by a computer before lofting, the dat format file is converted into the csv format file, and the processed data file is imported into the RTK handbook for standby. For single point location lofting, an RTK handbook can be directly input for lofting.
And step S3, the GPS mobile station receiver acquires the position information of the current target lofting point position in the handbook, calculates the distance and the azimuth relation between the unmanned aerial vehicle and the current target lofting point position, and sends the distance and azimuth relation data to the handbook.
Specifically, the position of the target lofting point is directly input or the position of the target lofting point which is input in advance is called on the handbook, and the GPS mobile station receiver can also obtain the position information of the target point in the handbook at the moment, calculate the distance and the azimuth relation between the unmanned aerial vehicle and the target point, and simultaneously display the flight data of the unmanned aerial vehicle on the handbook.
And step S4, controlling the unmanned aerial vehicle to fly to the target lofting point under the navigation of the navigation module by a control module of the unmanned aerial vehicle according to the distance and orientation relation data between the unmanned aerial vehicle and the current target lofting point displayed in the handbook, and controlling the unmanned aerial vehicle to release the plumb bob lofting label when the unmanned aerial vehicle flies right above the target lofting point, so that the plumb bob lofting label is inserted into the target lofting point under the action of gravity, and lofting of the current lofting point is completed.
Particularly, after the control module of unmanned aerial vehicle can adjust suitable height with the load support, release plummet lofting label makes it can be under the action of gravity free fall to target lofting position just.
In the above embodiment, after the step 4, the method further includes: and after lofting is finished, checking the current lofting point position by using a total station.
Particularly, usable total powerstation passes through the all-round prism on the plummet lofting label and checks the position of putting after the position lofting is accomplished, has effectively solved prior art because of measuring the prism far away, and the stadia is great makes the great problem of measurement lofting result error, has effectively improved the lofting precision.
The specific implementation steps of the lofting process of the present invention are described in detail below:
preparing data:
for batch point location lofting, the coordinates on the graph paper need to be processed by a computer before lofting, the dat format file is converted into the csv format file, and the processed data file is imported into the RTK handbook for standby. For single point location lofting, an RTK handbook can be directly input for lofting.
Instrument preparation
Before measurement lofting, the GPS reference station receiver is erected at a fixed position with a wide visual field and convenient data receiving, data information of the GPS reference station and the GPS mobile station is set through a handbook, and the GPS mobile station receiver is checked at a known control point through a centering rod. The mobile station receiver is connected with the GPS receiver bracket through a screw rod after being checked, and the load bracket is connected with the unmanned aerial vehicle through a fastener. And fixing the plumb lofting label on the clamping mechanism.
Measuring lofting
When the measurement lofting is carried out, lofting is carried out on the point position to be lofted through a middle point lofting program of a handbook:
1. selecting the number of the point to be lofted, and lofting;
2. acquiring the distance and the direction information from the position of the unmanned aerial vehicle to a target point;
3. inputting the obtained distance and azimuth data through a control module of the unmanned aerial vehicle, starting the unmanned aerial vehicle to reach a target position after the unmanned aerial vehicle obtains the azimuth data, and finely adjusting the unmanned aerial vehicle through the control module by an operator according to the point location error in the handbook until the error is within an allowable range;
4. adjusting the load support to a proper height through the unmanned aerial vehicle control module;
5. after the unmanned aerial vehicle is accurately positioned, a clamping mechanism control button on the control module is pressed, a clamping piece of the clamping mechanism automatically contracts, the vertical lofting label droops along the direction of the plumb line, and the vertical lofting label is firmly fixed in a soil layer under the action of gravity.
6. Under the condition that the requirement on the spot location lofting precision is relatively high, after lofting is finished, the total station is erected at another control point through the omnibearing prism on the upper part of the vertical lofting label, and the lofted spot location can be checked.
The method embodiments and the related parts of the above device embodiments can be referred to each other, and are not described herein again.
In conclusion, the unmanned aerial vehicle lofting method provided by the invention has the advantages that the direction and distance information of the point location in RTK measurement lofting are input into the unmanned aerial vehicle control module, the unmanned aerial vehicle moves the load support loaded with the GPS mobile station receiver to the position location to be lofted by utilizing the unmanned aerial vehicle navigation positioning device through the point location information, and then the unmanned aerial vehicle is accurately positioned through the RTK handbook and the unmanned aerial vehicle control module, so that the unmanned aerial vehicle coordinate data acquisition program is simplified, the lofting mark is set, and the lofting label is fixed at the target lofting point location, so that the lofting point location is clearer, and the construction accuracy is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An unmanned aerial vehicle lofting device, its characterized in that includes: the system comprises a handbook, an unmanned aerial vehicle, a GPS receiver lofting module and a plumb lofting label; wherein,
a GPS mobile station receiver in the GPS receiver lofting module is connected with the unmanned aerial vehicle; the plumb lofting tag is hung below the unmanned aerial vehicle;
the mobile phone book is characterized in that position information of each point location to be lofted is stored in the mobile phone book, and a GPS mobile station receiver is communicated with the mobile phone book and used for acquiring the position information of a current target lofting point location, calculating distance and azimuth relation data of the unmanned aerial vehicle and the current target lofting point, and sending the distance and azimuth relation data to the mobile phone book;
unmanned aerial vehicle has navigation module and control module, control module basis unmanned aerial vehicle that shows in the handbook with the distance and the position relation data of current target lofting point, control unmanned aerial vehicle is in fly toward under navigation module's the navigation target lofting point position, and when unmanned aerial vehicle flies to the target lofting point position directly over, control unmanned aerial vehicle will plumb bob lofting label release makes it insert under the action of gravity the target lofting point position.
2. The unmanned aerial vehicle lofting device of claim 1, further comprising: a load support; wherein,
the unmanned aerial vehicle GPS mobile station in the GPS receiver lofting module and the plumb lofting label set gradually in the top, the middle part and the lower part of load support.
3. The unmanned aerial vehicle lofting apparatus of claim 2, wherein the load support comprises: the supporting rods are obliquely arranged, and the first bottom support, the second bottom support and the third bottom support are sequentially arranged among the supporting rods at intervals along the horizontal direction from top to bottom; wherein,
a clamping channel is formed in the first bottom support and used for being clamped with the unmanned aerial vehicle;
the second bottom support is provided with the GPS mobile station receiver;
and a clamping mechanism is arranged on the third bottom support and used for clamping the plumb lofting label.
4. An unmanned aerial vehicle lofting apparatus according to claim 3, wherein the first shoe comprises: the first bracket, the annular fastener and a plurality of first connecting pieces; wherein,
the annular fastener is connected with the first bracket through each first connecting piece.
5. The unmanned aerial vehicle lofting device of claim 3, wherein the gripper mechanism comprises: a plurality of openable clamping pieces; wherein,
and the clamping end of each clamping piece capable of being opened and closed is surrounded to form a pore channel for placing the plumb lofting label.
6. The unmanned aerial vehicle lofting apparatus of claim 1, wherein the plumb loft tag comprises: the omnibearing prism, the supporting rod and the plumb are connected; wherein,
the omnidirectional prism is detachably connected above the supporting rod; the plumb bob is detachably connected below the supporting rod.
7. The unmanned aerial vehicle lofting device of claim 6, wherein the omnidirectional prism is connected with the strut by a screw; the plumb bob is connected with the supporting rod through a screw rod.
8. The unmanned aerial vehicle lofting device of claim 6, wherein the struts are telescoping structures.
9. An unmanned aerial vehicle lofting method is characterized by comprising the following steps:
step 1, after a GPS mobile station receiver in a GPS receiver lofting module is checked, connecting the GPS mobile station receiver with an unmanned aerial vehicle, and suspending a plumb lofting label below the unmanned aerial vehicle;
step 2, the handbook obtains the position information of the current target lofting point location, communicates with a GPS mobile station receiver and displays the current position of the unmanned aerial vehicle;
step 3, the GPS mobile station receiver acquires the position information of the current target lofting point position in the handbook, calculates the distance and the azimuth relation between the unmanned aerial vehicle and the current target lofting point position and sends the distance and azimuth relation data to the handbook;
and 4, controlling the unmanned aerial vehicle to fly to the target lofting point position under the navigation of the navigation module by a control module of the unmanned aerial vehicle according to the distance and the azimuth relation data between the unmanned aerial vehicle and the current target lofting point displayed in the handbook, and controlling the unmanned aerial vehicle to release the plumb bob lofting label when the unmanned aerial vehicle flies to the position right above the target lofting point position, so that the plumb bob lofting label is inserted into the target lofting point position under the action of gravity, and lofting of the current lofting point position is completed.
10. The unmanned aerial vehicle lofting method of claim 9, wherein after the step 4, further comprising:
and after lofting is finished, checking the current lofting point position by using a total station.
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