The invention relates to a karst cave deep three-dimensional surveying and mapping device which is composed of an aircraft, various detection devices, a control cable and a controller, the aircraft is of a multi-rotor structure, a foldable arm is installed on a machine body, a duct and a buffer device are arranged at the tail end of the arm, and stable flight in a karst cave and close-range adsorption to rock walls can be achieved; the detection equipment can perform all-dimensional scanning on the internal spatial form of a karst cave, the surface texture of a rock wall, the internal structure of a rock mass and the like, the controller is internally provided with a data processing unit, registration, fusion and three-dimensional modeling of different detection data can be realized, the controller performs registration and fusion processing on multi-source heterogeneous data, and the detection precision is improved. According to the method, features such as space geometry, rock wall texture, geologic structure and temperature distribution are extracted, a karst cave and rock wall fine three-dimensional model is constructed, model optimization and application analysis are carried out, a robot technology, a sensing technology and a three-dimensional modeling technology are fused, and high-precision surveying and mapping and three-dimensional reconstruction of the internal space of the karst cave and the rock wall structure are achieved.

    本发明涉及一种溶洞深层三维测绘装置,由飞行器、多种探测设备、控制电缆和控制器组成,飞行器采用多旋翼构型,机体上安装有可折叠机臂,机臂末端设有涵道和缓冲装置,可实现在溶洞内的稳定飞行和对岩壁的近距离吸附,探测设备可对溶洞内部空间形态、岩壁表面纹理、岩体内部结构等进行全方位扫描,控制器内置数据处理单元,可实现不同探测数据的配准、融合与三维建模,控制器对多源异构数据进行配准与融合处理,提取空间几何、岩壁纹理、地质结构、温度分布等特征,构建溶洞及岩壁精细三维模型,并进行模型优化与应用分析,融合了机器人技术、传感技术和三维建模技术,实现了溶洞内部空间和岩壁结构的高精度测绘与三维重建。


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    Title :

    Three-dimensional surveying and mapping device for deep layer of karst cave


    Additional title:

    一种溶洞深层三维测绘装置


    Contributors:
    LIU KEDIAO (author) / MOU ZISHEN (author) / LIU YAN (author) / WANG CHUNJIAN (author) / CHEN XIAOFEI (author)

    Publication date :

    2024-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64U / G01J Messen der Intensität, der Geschwindigkeit, der spektralen Zusammensetzung, der Polarisation, der Phase oder der Pulscharakteristik von infrarotem, sichtbarem oder ultraviolettem Licht , MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT / G01S RADIO DIRECTION-FINDING , Funkpeilung / G01V Geophysik , GEOPHYSICS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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