CN108303703A - The unmanned plane laser ranging system and distance measuring method of building site monitoring construction floor height - Google Patents

Abstract

The UAV laser ranging device for monitoring the height of the construction floor on the construction site. The top of the main body of the UAV in this application has a top motor mounting seat, and the main rotor motor is installed on the top motor mounting seat. There are main rotor blades, and there are 4 side brackets outside the main body of the drone, and there are side rotor motors at the outer end of the side brackets, the shaft of the side rotor motors is upward, and the shaft outside of the side rotor motors is equipped with Side rotor blades, the bottom of the UAV body has a rangefinder mounting seat, the upper part of the laser rangefinder is installed in the rangefinder mounting seat, the supporting frame is provided under the UAV body, and the support frame There is a circular drop slot in the center, and the support frame is connected with the bottom frame through a support rod. After the invention is adopted, it can replace the traditional construction site detection tool, and the four-rotor plus the main rotor can ensure the stability of the measurement, thereby greatly improving the detection efficiency, reducing the labor cost, and improving the operation safety.

Description

UAV laser ranging device and ranging method for monitoring construction storey height on construction site

technical field

The invention relates to the field of building structures, in particular to an unmanned aerial vehicle laser ranging device and a ranging method for monitoring the height of a construction floor on a construction site.

Background technique

With the further development of my country's building informatization, the country proposes the construction of Industry 4.0 in 2020, and the country vigorously advocates the automation and periodicization of building construction. Traditional construction site detection tools are too dependent on manpower, and the accuracy of detection data is not enough. Faced with various problems in line with the rapid and steady development of the modern construction industry, they can no longer meet the needs of modern construction. The construction industry detects intelligent tools on construction sites. Currently blank. The problems caused by the current artificial construction site inspection tools are as follows: 1. The labor cost is high. Because the traditional construction site inspection tools require workers to go to the first site to measure and have a lot of data, it takes a long time for the workers to measure the numerous inspection data. 2. The risk factor is high, and some traditional high-rise inspection data also need to be measured by workers. The inspection of high-rise buildings has brought many safety hazards, which is not conducive to the safety of workers; 3. Affecting the building construction cycle, the traditional construction site inspection is to check the quality of the construction part after the construction has reached a certain stage, but through the workers to test, it will inevitably affect the normal operation of the next construction period and the progress of the project At the same time, some workers participated in the inspection, which will inevitably affect the number of people in further construction.

Contents of the invention

In order to solve the above-mentioned existing problems, the present invention provides a UAV laser ranging device and a ranging method for monitoring the construction floor height on the construction site, which can replace the traditional construction site detection tools after adoption, and the four-rotor plus the main rotor can ensure the accuracy of the measurement. Stability, thereby greatly improving detection efficiency, reducing labor costs, and improving operational safety. Seat, side support, side rotor motor, side rotor blade, main rotor motor, main rotor blade, range finder mounting seat, laser range finder, underframe, support frame and support rod, the main body of the drone is Circular, the top of the main body of the UAV has a top motor mounting seat, a main rotor motor is installed on the top motor mounting seat, and a main rotor blade is installed on the outside of the rotating shaft of the main rotor motor. There are 4 side brackets on the outside, side rotor motors are arranged at the outer end of the side brackets, the shaft of the side rotor motors faces upwards, side rotor blades are installed on the outside of the shaft of the side rotor motors, and the bottom of the main body of the drone There is a rangefinder mounting seat, the upper part of the laser rangefinder is installed in the rangefinder mounting seat, and a support frame is provided under the main body of the drone. There is a circular landing slot in the center of the support frame, and the support frame passes through The support rod is connected with the bottom frame.

As a further improvement of the present invention, the laser rangefinder includes a rangefinder housing, a semiconductor laser, a lens 1, a signal processor, a lens 2 and a linear CCD array, and the rangefinder housing has a semiconductor laser, a lens 1, Signal processor, lens two and linear CCD array, described signal processor connects semiconductor laser and linear CCD array by connection line, described semiconductor laser front side is equipped with lens one, described linear CCD array front side is equipped with lens two, The laser range finder of the present invention can adopt the above structure.

As a further improvement of the present invention, there is also a balance sensor and an early warning device in the rangefinder housing, and the early warning device is a flashing light or a buzzer. In order to achieve accurate measurement, a balance sensor is also set in the rangefinder. If it is unbalanced, it can be given an early warning through the early warning device, which can use a flashing light or a buzzer.

As a further improvement of the present invention, there is an elastic clip on both sides of the housing of the rangefinder, and movable clips can be provided to prevent the rangefinder from falling.

As a further improvement of the present invention, the support frame is a parallel measuring ring containing liquid, the shell of the support frame is transparent, and there are 3-4 support rods. There are threads on the outside of the support rods, and a steel ball is set on each support rod. According to the structure of the rotor UAV, the present invention has a special stable connection device. It can be judged whether the UAV is in the The horizontal position can be adjusted without adjusting the position of the steel ball.

As a further improvement of the present invention, there is a circle of flexible pads at the bottom of the chassis, and the design of the flexible pads can reduce the vibration caused by landing and thus improve the service life of the equipment.

As a further improvement of the present invention, there is an infrared position sensor at the bottom of each side rotor motor, and in order to get to the designated position faster, it can be positioned by four infrared position sensors.

The invention provides a side distance method of a laser ranging device for a construction site that monitors the height of a construction floor, and the specific steps are as follows:

1) Use the remote control to control the drone to take off. After take-off, adjust the position of the steel balls on each support rod, and observe the liquid in the parallel measuring ring containing the liquid to judge whether it is in a stable position;

2) After it is basically stable, use the remote control to control the flight status of the drone to the laser ranging position, and set it through the infrared position sensor. After the laser rangefinder is ready to reach the position, it will start to work;

3) After the laser rangefinder starts to work, control the drone through the remote control to adjust it smoothly after it is in place. There is a balance sensor in the laser rangefinder. If it is not stable, it can be warned by the early warning device. The semiconductor laser is turned on to emit laser light, and the laser light is emitted to the measured position, then reflected to the lens inside the device, and then transmitted to the signal processor through the chip in the drone;

4) After the distance measurement is completed, the laser is turned off, and the drone is controlled by the remote control to move and land or continue to fly for other distance measurement.

The UAV laser ranging device and ranging method for monitoring the construction floor height of the construction site of the present invention mainly have three parts, one is the UAV intelligent control device, and the flight position of the whole device is controlled by the UAV intelligent control device and the position to be measured, and then compared with the expected construction data of the project to achieve real-time monitoring of the construction project. The second part is a stable connection device, through which the laser ranging at the lower end of the drone can be automatically adjusted Whether the device is in a horizontal position, so as to ensure the accuracy of the monitored data. This part can also play a role in buffering and reducing the damage to the device when the device falls to the ground. At the same time, the connecting device can be disassembled. If it is used for a period of time If it is damaged by wear and tear, it can be removed by rotating the internal thread and replaced with a new one. The third part is the laser distance measuring device. This part emits laser light through a semiconductor laser after the positioning point obtained by the intelligent control part of the drone. The laser is emitted to The measured position point is then reflected to the lens inside the device, then transmitted to the signal processor, and then the obtained data is fed back to the ground.

Description of drawings

Fig. 1 is a schematic diagram of the present invention;

Fig. 2 is a working principle diagram of the laser ranging device of the present invention;

Fig. 3 is a work flowchart of the present invention;

Graphical description:

1. The main body of the drone; 2. The top motor mount; 3. The side bracket; 4. The side rotor motor; 5. The side rotor blade; 6. The main rotor motor; 7. The main rotor blade; 8. The range finder Mounting seat; 9. Laser rangefinder; 9-1. Rangefinder housing; 9-2. Semiconductor laser; 9-3. Lens one; 9-4. Signal processor; 9-5. Lens two; 9 -6. Linear CCD array; 9-7. Elastic card; 9-8. Balance sensor; 9-9. Early warning device; 10. Infrared position sensor; Rod; 14, steel ball.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

The invention provides an unmanned aerial vehicle laser ranging device and a ranging method for monitoring construction floor heights for construction sites. After adoption, it can replace traditional construction site detection tools. The use of four rotors and main rotors can ensure the stability of measurement, thereby greatly improving detection. Efficiency, reduced labor costs, and improved operational safety.

As an embodiment of the structure of the present invention, the present invention provides a UAV laser ranging device for monitoring construction floor heights on construction sites, including a UAV main body 1, a top motor mount 2, a side bracket 3, a side rotor motor 4, a side Rotor blade 5, main rotor motor 6, main rotor blade 7, range finder mounting seat 8, laser range finder 9, underframe 11, support frame 12 and support rod 13, described UAV main body 1 is a circle Shape, the top of the UAV main body 1 has a top motor mount 2, the top motor mount 2 is equipped with a main rotor motor 6, and the outer side of the shaft of the main rotor motor 6 is equipped with a main rotor blade 7, so There are four side brackets 3 on the outside of the main body 1 of the drone. There are side rotor motors 4 at the outer ends of the side brackets 3. The shafts of the side rotor motors 4 are facing upwards. The rotor blade 5, the bottom of the UAV main body 1 has a rangefinder mounting seat 8, the upper part of the laser rangefinder 9 is installed in the rangefinder mounting seat 8, and the supporting frame below the UAV main body 1 12. The center of the support frame 12 has a circular drop groove, and the support frame 12 is connected to the bottom frame 11 through a support rod 13 .

As a specific embodiment of the structure of the present invention, the present invention provides an unmanned aerial vehicle laser ranging device for monitoring the construction floor height as shown in FIG. 1 and FIG. Bracket 3, side rotor motor 4, side rotor blade 5, main rotor motor 6, main rotor blade 7, range finder mount 8, laser range finder 9, underframe 11, support frame 12 and support rod 13, The main body 1 of the drone is circular, and the top of the main body 1 of the drone has a top motor mounting seat 2, and a main rotor motor 6 is installed on the top motor mounting seat 2, and the outer side of the rotating shaft of the main rotor motor 6 is The main rotor blade 7 is installed, and there is an infrared position sensor 10 at the bottom of each side rotor motor 4. In order to get to the designated position faster, it can be positioned by 4 infrared position sensors. The outside of the main body 1 of the drone There are 4 side supports 3, the side rotor motor 4 is arranged at the outer end of the side support 3, the shaft of the side rotor motor 4 is upward, and the side rotor vane 5 is installed outside the shaft of the side rotor motor 4, the There is a rangefinder mount 8 at the bottom of the main body 1 of the drone, and the upper part of the laser rangefinder 9 is installed in the rangefinder mount 8. The laser rangefinder 9 includes a rangefinder housing 9-1, a semiconductor Laser 9-2, mirror one 9-3, signal processor 9-4, mirror two 9-5 and linear CCD array 9-6, said rangefinder housing 9-1 has semiconductor laser 9-2, mirror One 9-3, signal processor 9-4, lens two 9-5 and linear CCD array 9-6, said signal processor 9-4 is connected with semiconductor laser 9-2 and linear CCD array 9-6 through connection line, A lens one 9-3 is installed on the front side of the semiconductor laser 9-2, and a lens two 9-5 is installed on the front side of the linear CCD array 9-6. The laser rangefinder of the present invention can adopt the above structure, and the rangefinder There is an elastic clip 9-7 on both sides of the meter housing 9-1. In order to prevent the rangefinder from falling, a movable clip can be set. There is also a balance sensor 9-8 in the rangefinder casing 9-1. And early warning device 9-9, described early warning device 9-9 is flashing light or buzzer, in order to reach accurate measurement, balance sensor is also set in rangefinder and if unbalanced after opening, then can carry out early warning by early warning device, early warning The device can use a flashlight or a buzzer. The supporting frame 12 is provided under the main body of the drone. The center of the supporting frame 12 has a circular landing groove. There is a circle of flexible pads at the bottom of the bottom frame 11, and the design of the flexible pads can reduce the vibration caused by landing so as to improve the service life of the equipment. The support frame 12 is a parallel measuring ring containing liquid, and the shell of the support frame 12 is transparent. There are 3-4 supporting rods 13, and the supporting rods 13 equiangularly circle the center line of the supporting frame 12 for a week. The supporting rods 13 are externally threaded, and each supporting rod 13 is covered with a steel ball 14. The rotor UAV structure is designed with a special stable connection device. It can be judged whether the UAV is in a horizontal position through the parallel measurement ring containing liquid. If it is not adjusted by adjusting the position of the steel ball, it can be adjusted. all.

As a specific embodiment of the method of the present invention, the present invention provides a side distance method of a UAV laser ranging device for monitoring the construction floor height as shown in Figure 3, and the specific steps are as follows:

1) Control the UAV to take off through the remote control, adjust the position of the steel ball 14 on each support rod 13 after take-off, and observe the liquid in the parallel measurement ring containing liquid to judge whether it is in a stable position;

2) After it is basically stable, use the remote control to control the flight state of the drone to the laser ranging position, and set it through the infrared position sensor 10, and the laser rangefinder 9 will start to work when it is ready to reach the position;

3) After the laser range finder 9 starts to work, control the UAV through the remote control to make stable adjustments after it is in place. There is a balance sensor 9-8 in the laser range finder 9. If it does not reach a stable level, an early warning can be given by the early warning device 9-9 , if the semiconductor laser 9-2 used as a laser device is turned on to emit laser light, the laser light is emitted to the measured position point, then reflected on the lens inside the device, and then transmitted to the signal processor through the chip in the drone;

4) After the distance measurement is completed, the laser is turned off, and the drone is controlled by the remote control to move and land or continue to fly for other distance measurement.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any other form, and any modification or equivalent change made according to the technical essence of the present invention still belongs to the scope of protection required by the present invention .

Claims (9)

1. The UAV laser ranging device for monitoring the construction floor height on the construction site, including the UAV main body (1), the top motor mount (2), the side bracket (3), the side rotor motor (4), the side rotor wing sheet (5), main rotor motor (6), main rotor blade (7), range finder mount (8), laser range finder (9), underframe (11), support frame (12) and support Rod (13), characterized in that: the main body (1) of the drone is circular, and there is a top motor mount (2) on the top of the drone body (1), and the top motor mount (2) The main rotor motor (6) is installed on the top, the main rotor blade (7) is installed on the outer side of the rotating shaft of the main rotor motor (6), and there are four side brackets (3) on the outer side of the drone main body (1), There is a side rotor motor (4) at the outer end of the side bracket (3), the rotation shaft of the side rotor motor (4) faces upward, and the side rotor blades (5) are installed outside the rotation shaft of the side rotor motor (4) , the bottom of the UAV body (1) has a rangefinder mount (8), the upper part of the laser rangefinder (9) is installed in the rangefinder mount (8), and the UAV body ( 1) The supporting frame (12) is provided at the bottom. There is a circular landing groove in the center of the supporting frame (12), and the supporting frame (12) is connected to the bottom frame (11) through the supporting rod (13). 2. The UAV laser distance measuring device for monitoring the construction floor height according to claim 1, characterized in that: the laser distance meter (9) includes a distance meter housing (9-1), a semiconductor Laser (9-2), lens one (9-3), signal processor (9-4), lens two (9-5) and linear CCD array (9-6), the rangefinder housing (9 -1) There are semiconductor laser (9-2), lens one (9-3), signal processor (9-4), lens two (9-5) and linear CCD array (9-6), the signal The processor (9-4) is connected to the semiconductor laser (9-2) and the linear CCD array (9-6) through the connection line, and the front side of the semiconductor laser (9-2) is equipped with a lens one (9-3), so A second lens (9-5) is installed on the front side of the linear CCD array (9-6). 3. The UAV laser distance measuring device for monitoring the construction floor height according to claim 2, characterized in that: there is a balance sensor (9-8) in the rangefinder housing (9-1) ) and early warning (9-9). 4. The UAV laser ranging device for monitoring construction floor heights for construction sites according to claim 3, characterized in that: the early warning device (9-9) is a flashing light or a buzzer. 5. The UAV laser distance measuring device for monitoring the construction floor height according to claim 2, characterized in that: there is an elastic clip (9-1) on both sides of the rangefinder housing (9-1) -7). 6. The unmanned aerial vehicle laser ranging device for monitoring the construction floor height according to claim 1, characterized in that: the support frame (12) is a parallel measuring ring containing liquid, and the support frame (12 ) shell is transparent, there are 3-4 support rods (13), and the support rods (13) circle around the center line of the support frame (12) at an equal angle, and the support rods (13) have external threads, and each support A steel ball (14) is sleeved on the bar (13). 7. The UAV laser distance measuring device for monitoring construction floor heights for construction sites according to claim 1, characterized in that: there is a circle of flexible pads at the bottom of the chassis (11). 8. The UAV laser distance measuring device for monitoring the height of construction floors for construction sites according to claim 1, characterized in that: each side rotor motor (4) has an infrared position sensor (10) at the bottom. 9. The construction site is used to monitor the side distance method of the UAV laser ranging device for monitoring the height of the construction floor. The specific steps are as follows, and it is characterized in that: 1) Control the UAV to take off through the remote control, adjust the position of the steel ball (14) on each support rod (13) after take-off, and observe the liquid in the parallel measurement ring containing liquid to judge whether it is in a stable position; 2) After it is basically stable, use the remote control to control the flight status of the UAV to the laser ranging position, and set it through the infrared position sensor (10), and the laser rangefinder (9) will start working when it is ready to reach the position; 3) After the laser rangefinder (9) starts to work, control the UAV through the remote control to adjust it smoothly after it is in place. There is a balance sensor (9-8) in the laser rangefinder (9). If it is not stable, you can pass the warning The laser device (9-9) will give an early warning. If it reaches a stable level, the semiconductor laser (9-2) as a laser device will turn on and emit laser light. The chip is transmitted to the signal processor; 4) After the distance measurement is completed, the laser is turned off, and the drone is controlled by the remote control to move and land or continue to fly for other distance measurement.