WO2024134357A1

WO2024134357A1 - Unmanned aerial vehicle integrated with airborne laser microscanner, software and associated method

Info

Publication number: WO2024134357A1
Application number: PCT/IB2023/062528
Authority: WO
Inventors: Federica VACATELLO
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-12-23
Filing date: 2023-12-12
Publication date: 2024-06-27
Anticipated expiration: 2025-06-23
Also published as: IT202200026706A1

Abstract

Unmanned aerial vehicle integrated with an airborne laser microscanner (100), which is light and easy to transport, adapted to identify traces of shadow reliefs, better known as "shadow marks," and/or elements and objects deposited underground; said unmanned aerial vehicle integrated with an airborne laser microscanner (100) being adapted to be managed by means of a processing software (200), which can be installed on external devices such as tablets, smartphones and PCs; said unmanned aerial vehicle integrated with an airborne laser microscanner (100) being characterized in that it comprises a solid-state Lidar sensor (21), which is engaged with a lower side of the frame for the gimbal (13), adapted to scan the ground/terrain and to identify/recognize the hills, ditches and small altitude differences, filtering the vegetation and outputting/returning a digital model of the land flown over; said solid-state Lidar sensor (21) being adapted to generate point clouds and meshes of the ground surface flown over in the form of raster data and vector files.

Description

“Unmanned aerial vehicle integrated with airborne laser microscanner, software and associated method”

Description

Field of the art

The present invention operates in the context of devices used in environmental, engineering and archaeological investigations by tracing shadow reliefs, better known as "shadow marks," produced by consistent deposits of different nature. Even more specifically, the present invention relates to an unmanned aerial vehicle, with a light and easily transportable structure, implemented by an airborne Lidar laser microscanner, reworked and engaged so as to make it light, less expensive and agile in its use. The invention further comprises the creation of software capable of remotely managing the aerial vehicle and allowing the management and processing of the collected data.

Known art

In today's market, thanks to the multiple technologies implemented, all airborne Laser Scanning technologies are used in remote sensing, a research method adapted for the study and analysis of the earth's surface with different techniques and instruments. Today in particular, archaeological research increasingly uses airborne Lidar sensors for the investigation of medium and large geographical areas, such as those recently developed by multiple engineering studies.

The remote sensing from aerial vehicles, in particular from drones, has proven to be extremely important for the investigation of ancient structures, sometimes still unexplored, or elements hidden underground which cannot otherwise be investigated by other means, such as expensive excavation and reconnaissance activities, i.e., due to inconvenient geomorphological conditions, places which are difficult to access and traces invisible to the human eye at short distances and in particular climatic conditions.

An example in this sense is offered by patent application WO2022092437 AL The patent describes a system and method for recognizing river structures using a drone according to an embodiment. Such a system comprises a mobile device with a Lidar, a hyperspectral sensor and an optical camera mounted thereon. The device acquires distance information using Lidar while flying over a survey area and captures a hyperspectral image and an optical image using the hyperspectral sensor and optical camera. In addition, a relay device recognizes river structures using the optical image while moving along the survey area according to the movement of the mobile device, and verifying the recognized river structures using distance information and hyperspectral image.

Another example is provided by KR20210089300 A. It claims a vision-based autonomous flight device, which uses an image sensor (camera) to determine and control the position of the drone in a tunnel. The vision-based autonomous flight device for a drone comprises: a selfflying drone, featuring a rotor and a flight control unit which controls the drone; an image processing unit which processes information based on the image received from a camera, which captures a frontal image of the drone, detects a GPS shaded area in the frontal image and analyzes a structure of the GPS shaded area; a Lidar processing unit which measures, by means of a Lidar sensor, a distance between the drone and the tunnel cross section detected through the image when the tunnel is detected on the front side through the image and a starting edge and a vanishing point, calculating the central coordinates of the central position of the area through the measured distance; and a control unit which provides position information to the drone to allow the drone to hover at the central point of the GPS shaded area when the GPS shaded area is detected during autonomous flight.

Although the use of scanning technologies is increasingly in demand and systems of this type are increasingly widespread, the costs of the instruments currently on the market are still high and decidedly inaccessible for research, as well as being cumbersome and making the drones themselves heavy. Commercial Lidar sensors are very expensive, heavy and large, in particular they require a dedicated inertial measurement unit (IMU) which further increases the cost thereof.

The object of the present patent application is to overcome the aforesaid problems by proposing an unmanned aerial vehicle, for example a drone, with a decidedly lower cost with respect to the technologies proposed by competitors, since it is implemented by a different solid-state Lidar sensor not only with respect to those currently in use and on the market, but also differently engineered and used, usually, for prevention activities and for overcoming obstacles. Such These characteristics make a device both easily transportable and pilotable with a simple Open category license.

Description of the invention

According to the present invention, an innovative unmanned aerial vehicle is provided integrated with an airborne laser microscanner capable of faithfully recording the morphological discontinuity of the terrain, producing extremely faithful three-dimensional models free of obstacles (vegetation and structures) functional to the identification of anomalies of an archaeological nature from shadow marks, exploiting solid-state Lidar technology, engineered so as to create an economical and easy-to-use device. Advantageously, the solid-state Lidar sensor is mounted on an ultra-light frame, building a mesh of the areas flown over, which can be viewed by the operator through processing software for PCs and mobile devices, so as to allow an initial assessment of the archaeological presence in the area already in flight. The generated model, which can be directly downloaded from the on-board computer of the invention, is georeferenced and directly exportable within a 2D and 3D GIS (Geographical Information System) platform, so as to allow observation within a broader geographical context, susceptible to archaeological interpretation.

The management algorithm present within the processing software can advantageously comprise an analysis module adapted to identify in the digital model of the ground surface flown over, in real time, anthropic elements hidden in the ground, according to parameters decided by the user, such as archaeological ones, allowing the user to interact instantly therewith. The analysis module allows the user to send a signal to the flight control board so as to have the unmanned aerial vehicle integrated with an airborne laser microscanner retrace the areas precisely having those anthropic elements, recovering further and precise data, refining the search.

The camera, engaged in the upper part of the upper plate, captures frontal images and/or videos and sends them directly to the processing software by means of a video antenna; in one of the preferred embodiments the same camera can advantageously be engaged with below to a gimbal, whether the same as the solid-state Lidar sensor or otherwise, so as to carry out stable, zenithal and/or perspective shots of the area of land flown over.

The rechargeable battery electrically powers the electrical components of the unmanned aerial vehicle integrated with an airborne laser microscanner, in one of the preferred embodiments, it can be recharged by means of two highly environmentally-friendly solutions which increase the flight duration thereof

- by means of solar panels, partially or entirely engaged on the surfaces of the upper plate and the lower plate of the frame, which recharge it by means of solar energy;

- by means of a plurality of small wind turbines, each characterized by blades powered with wind force - generated by the same flight - an alternator, engaged inside the hollow space between the upper plate and the lower plate and/or on the upper plate and/or on the lower plate.

In one of the preferred embodiments, the arms, which support the invention and ending with the system of rotors and propellers, can be closed, by means of rail guides, inside the hollow space present between the upper plate and the lower plate of the frame, significantly reducing the volume of the invention, allowing it to be easily inserted into small containers such as a backpack.

As regards the safety of the invention, in one of the preferred embodiments, it can advantageously comprise a bottle of 3-10 ml of expandable polyurethane foam, engaged in the lower part of the lower plate, such that its outlet spout of the foam, locked by a lever connected to the onboard computer, is directed in a zenithal manner with respect to the lower part of the unmanned aerial vehicle integrated with an airborne laser microscanner, and therefore pointing to the underlying part of the vehicle. When the unmanned aerial vehicle integrated with an airborne laser microscanner is making an emergency landing, and when the distance meter and altimeter detect a distance of 20-40 cm before landing, the onboard computer, interpreting such data, removes the lever, by mobilizing a specially tested gearing engaged below the lower plate, allowing a release of the polyurethane foam from the polyurethane foam bottle: thereby a layer of polyurethane foam is generated to protect the landing area of the unmanned aerial vehicle integrated with an airborne laser microscanner, safeguarding it from rough and/or sharp surfaces.

Alternatively the lever can be mobilized by means of the same processing software. Advantageously, the layer of polyurethane foam, when solidified, safeguards the unmanned aerial vehicle integrated with an airborne laser microscanner from strong gusts of wind, keeping it stable in the landing area, or if it is moved and transported in water, the same layer of solidified polyurethane foam ensures its floating for 10-15 minutes, allowing the user to recover it.

Remaining on the topic of protection of the invention, it can include an ultrasound generator, engaged on the frame, which, emitting ultrasound, advantageously wards off any approaching hostile animals: specifically, the ultrasound generator is activated by means of the processing software and/or automatically from the flight control board.

The operating method of the unmanned aerial vehicle integrated with an airborne laser microscanner according to the present invention includes a first connection step, by means of the connection system of the processing software, thanks to which the unmanned aerial vehicle integrated with an airborne laser microscanner is associated with the same processing software and possibly with an external controller.

This is followed by a flight planning step in which the user, by means of the flight planning module of the processing software, decides between a visual line of sight flight mode, VLOS, or beyond visual line of sight flight mode BVLOS: by means of the planned-flight section, the user can advantageously plan the route and path of the flight so as to have them carried out automatically; or choose, by means of the manual-flight section, whether to manually pilot, and at any time, the unmanned aerial vehicle integrated with an airborne laser microscanner. While the vehicle performs the flight, the data recording step occurs in which the unmanned aerial vehicle integrated with an airborne laser microscanner, flying following the parameters of the flight planning step, records the data of the solid-state Lidar sensor, of the GNSS antenna with compass, distance meter and altimeter, transferring them, by means of the Wi-fi antenna, to the processing software. Simultaneously or subsequently to the flight, a post-processing step occurs in which the management algorithm of the processing software allows the user to interact and modify the display of the data being acquired during flight, allowing him to operate directly on the point clouds.

The advantages offered by the present invention are evident in the light of the description presented thus far and will be even clearer thanks to the attached figures and the related detailed description.

Description of the figures

The invention will be described below in at least a preferred embodiment for explanatory and non-limiting purposes, with the aid of the attached figures, in which:

- FIGURE 1 shows a top perspective view of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 according to an embodiment of the present patent application;

- FIGURE 2 illustrates a bottom view of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 according to an embodiment of the present patent application;

- FIGURE 3 shows the structure of the processing software 200 of the unmanned aerial vehicle integrated with an airborne laser microscanner 100.

Detailed description of the invention

The present invention will now be illustrated by way of a purely non-limiting or binding example, resorting to the figures which illustrate some embodiments with respect to the present inventive concept.

FIGs. 1 and 2 show the components of an unmanned aerial vehicle integrated with an airborne laser microscanner 100 according to the present invention, light and easily transportable, adapted to identify traces of shadow reliefs, better known as "shadow marks,” and/or elements and objects deposited underground. In particular, FIG. 1A shows, in a top perspective view, the unmanned aerial vehicle integrated with an airborne laser microscanner 100; FIG. IB shows the lower part of the same unmanned aerial vehicle integrated with an airborne laser microscanner 100.

The invention consists of a frame 10, formed by an upper plate 10' and a lower plate 10", which allows the engagement, on both plates 10'- 10", of components by means of seats/recesses, screws and bolts. In particular, the upper plate 10' and the lower plate 10" are made in the same shape, respecting aerodynamic criteria, and are mutually engaged by means of pins 10'", so that their superposition leaves a hollow space therebetween.

A pair of front rods 11 is engaged in the lower anterior part of the lower plate 10", which allows the engagement of a frame for the gimbal 13 along its length. The latter, therefore positionable according to the user's needs, allows the correct stabilization of the instrument associated therewith, ensuring zenithal and perspective scanning. In addition, the pair of front rods 11 stabilizes, jointly with a pair of rear rods 12, the weight of said unmanned aerial vehicle integrated with an airborne laser microscanner 100.

The aforementioned pair of rear rods 12 is, vice versa, engaged in the lower and rear part of said lower plate 10", and allows the engagement of a Wi-fi antenna 17 and an onboard computer 25 along its length.

The Wi-fi antenna 17 allows the connection of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 with an external controller and/or with the processing software 200, which will be subsequently described in detail using FIG. 3.

The invention consists of four arms 16, engaged in a cross pattern within the hollow space between the upper plate 10' and the lower plate 10", which not only allow the positioning of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 on a surface, allowing it to hover or land safely using four feet 16', but each arm 16, at the end, comprises a system of rotors and propellers 14, which, when activated, allow the flight of the unmanned aerial vehicle integrated with an airborne laser microscanner 100. Each foot 16' is retractable and adjustable in length, and each is engaged at the end of each of the arms 16.

The flight control board 20, engaged in the upper part of the upper plate 10', detects changes in the orientation of the unmanned aerial vehicle integrated with an airborne laser microscanner, managing each of the rotor and propeller systems 14, balancing the different powers so as to ensure its stability: specifically, the flight control board 20 receives, by means of a receiving antenna 22 engaged in the lower part of the lower plate 10", the user commands carried out by means of an external controller and/or the processing software 200, managing to control the system of rotors and propellers 14 so as to keep said unmanned aerial vehicle integrated with an airborne laser microscanner 100 in the air and safely. The same flight control board 20 envisages carrying out a downwards emergency landing, when the rechargeable battery 18 of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 has an autonomy comprised between 5-7%, i.e., when said receiving antenna 22 detects a no-signal condition.

The invention comprises a camera 19, engaged in the upper part of the upper plate 10', adapted to capture images and/or videos and send them to the processing software 200, or to the controller screen if it has one, by means of a video antenna 26, the latter engaged in the lower part of the lower plate 10".

The main components of the invention include the solid-state Lidar sensor 21, engaged with a lower side of the frame for the gimbal 13, which scans the terrain identifying hills, ditches and small altitude differences, filtering the vegetation and returning a digital model of the land flown over: the solid-state Lidar sensor 21 thus creates point clouds and meshes of the ground surface flown over, in the form of raster data and vector files.

Among the different embodiments, we find a distance meter 23, engaged with the lower part of said lower plate 10” and communicating with the flight control board 20, which computes a distance of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 from obstacles and dangerous surfaces, so as to protect the same from possible collisions and/or accidents. Added to this is an altimeter 24, also engaged in the lower part of the lower plate 10", adapted to precisely measure the height of the unmanned aerial vehicle integrated with an airborne laser microscanner 100 with respect to the area flown over.

A GNSS antenna with removable compass 15, engaged in the upper part of said upper plate 10’, allows the acquisition of the point clouds, generated by the solid-state Lidar sensor, georeferenced in geographic coordinate systems and obtaining, in real time, the position of the unmanned aerial vehicle integrated with an airborne laser microscanner 100. In addition, the GNSS antenna with compass 15 comprises a rod with foldable legs 15' so as to facilitate transport even in small -capacity containers, without it being disengaged from the invention.

The fundamental element is an onboard computer 25, engineered with the processing software 200, which records all the data acquired from the flight control board 20, from the solid-state Lidar sensor 21, from the GNSS antenna with compass 15, from the distance meter 23 and the altimeter 24 and transfers them, by means of the Wi-fi antenna 17, in real time to the processing software 200.

The invention is completed by a rechargeable battery 18, engaged in the lower part of the lower plate 10", adapted to electrically power supply the electrical components of said unmanned aerial vehicle integrated with an airborne laser microscanner 100, such as the flight control board 20, the solid-state Lidar sensor 21, the GNSS antenna with compass 15, the distance meter 23 and the altimeter 24, the Wi-fi antenna 17 and the on-board computer 25. FIG. 3 illustrates the structure of the aforementioned processing software 200, which allows the management of an unmanned aerial vehicle integrated with an airborne laser microscanner 100 and can be installed on external devices such as tablets, smartphones, PCs and laptops.

It consists of a registration module 201 which allows the registration of one or more unmanned aerial vehicles integrated with an airborne laser microscanner 100 therein and consequently allows the connection, from time to time, with the previously associated unmanned aerial vehicle integrated with an airborne laser microscanner 100.

Thanks to a flight planning module 203, the processing software 200 allows remotely controlling the unmanned aerial vehicle integrated with an airborne laser microscanner 100 both in visual line of sight flight mode, VLOS, using the camera 19, and in beyond visual line of sight flight mode, BVLOS. The flight planning module 203 gives access to a programmed- flight section 204, which allows the user to plan the route and flight path of the unmanned aerial vehicle integrated with an airborne laser microscanner 100, so that they can be carried out automatically. Alternatively, a manual flight section 205 can be accessed, which allows the user to manually pilot, and at any time during the flight, the unmanned aerial vehicle integrated with an airborne laser microscanner 100 by means of the processing software 200 and/or a previously paired external controller. This ensures automated, semi -automated or fully manual flight.

The structure of the processing software 200 is completed by a management algorithm 206 adapted to allow the user to interact with the data acquired by the solid-state Lidar sensor 21, by the GNSS antenna with compass 15, by the distance meter 23 and by the altimeter 24: in fact, the management algorithm 206 comprises a levels section 207 adapted to allow the interaction and display of meshes, point clouds and images captured by the vehicle 100, offering multiple query solutions by means of tools which highlight on the terrain model generated any traces of shadow reliefs, better known as "shadow marks." Lastly, the management algorithm 206 interfaces with a database 208, adapted to contain the managed data and allow it to be shared.

Finally, it is clear that modifications, additions or variations which are obvious to a person skilled in the art can be made to the invention described up to now, without thereby departing from the scope of protection provided by the appended claims.

Claims

1. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), which is light and easy to transport, and is adapted for identifying traces of shadow reliefs, better known as shadow marks, and/or elements and objects deposited under the ground; wherein said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) is apt to be managed by means of a processing software (200), which can be installed on external devices like tablets, smartphones and PCs; wherein said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) is characterized in that it comprises:

- at least a frame (10) which comprises at least an upper plate (10’) and at least a lower plate (10”), adapted for permitting the engagement, on said upper plate (10’) and on said lower plate (10”), of components by means of seats/recesses and/or retaining systems such as screws or bolts; wherein said upper plate (10’) and said lower plate (10”) are realized in the same shape and conform with aerodynamical criteria, and they are mutually engaged by means of pins (10’”) so that their superposition leaves a hollow space therebetween;

- at least a pair of front rods (11), which engages with a lower anterior part of said lower plate (10”), and engages with a frame for a gimbal (13) along its length, the latter being adapted to stabilize itself and allowing a zenithal and perspective scanning; said pair of anterior rods (11) being adapted for stabilizing together with a pair of rear rods (12) the weight of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100);

- at least a pair of rear rods (12), engaged with a lower posterior part of said lower plate (10”), adapted for engaging at least a Wi-Fi antenna (17) and at least an onboard computer (25) along its length;

- at least a Wi-Fi antenna (17) adapted for allowing to establish a connection between said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) and an external controller and/or said processing software (200);

- at least four arms (16), which are connected in a cross within said hollow space between said upper plate (10’) and said lower plate (10”), and which are apt to allow said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) to position itself on a surface, allowing it to soar/hover in the air and to safely land using four retractable and length-adjustable feet (16’) which are engaged near a respective end of each of said arms (16); wherein each of said arms (16) includes near its end a set/system of rotors or propellers (14), which upon activation allow the flight of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100);

- at least a flight control board (20), which is provided/engaged on the upper part of said upper plate (10’) and is adapted for detecting the changes in orientation of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); wherein, by means of a receiving antenna (22) engaged/fixed to the lower part of said lower plate (10”), said flight control board (20) is adapted for receiving the commands from the user transmitted through an external controller and/or said processing software (200); wherein said flight control board (20) is adapted for controlling said set/system of rotors and propellers (14), in such a way as to keep in the air said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); wherein said flight control board (20) is adapted for allowing said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) to make a downwardly directed emergency landing, the rechargeable battery (18) having a battery autonomy within an interval of 5-7 %, or when said receiving antenna (22) detects a no-signal condition;

- at least a camera (19) engaged with the upper part of said upper plate (10’), adapted for capturing images and/or videos and for sending them to said processing software (200) by means of a video antenna (26), the latter being connected to the lower part of said lower plate (10”);

- at least a solid-state Lidar sensor (21), which is engaged with a lower side of said frame for the gimbal (13) and is apt to scan the ground/terrain and to identify/recognize the hills, ditches, and small altitude differences, by filtering the vegetation and outputting/returning a digital model of the land flown over; wherein said solid-state Lidar sensor (21) is adapted for generating point clouds and meshes of the ground surface flown over, in the form of raster data and vector files;

- at least a distance meter (23), engaged with the lower part of said lower plate (10”) and communicating with said flight control board (20), apt to compute a distance of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) from obstacles and dangerous surfaces, so as to protect the same from possible collisions and/or accidents;

- at least an altimeter (24), engaged with the lower part of said lower plate (10”), apt to accurately measure the height of the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) from the overfly area;

- at least a GNSS antenna with compass (15), which is removable and engaged with the upper part of said upper plate (10’), and is adapted for acquiring said point clouds georeferenced in geographical coordinate systems and for obtaining a realtime position of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100);

- at least an onboard computer (25) adapted for recording the data acquired by said flight control board (20), by said solid-state Lidar sensor (21), by said GNSS antenna with compass (15), said distance meter (23) and said altimeter (24), and for transferring the same data by means of said Wi-Fi antenna (17) to said processing software (200);

- at least a rechargeable battery (18) provided on the lower part of said lower plate (10”), adapted for electrically power supplying the electric components of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); said processing software (200) comprising:

- at least a registration module (201) for allowing a registration of one or more unmanned aerial vehicles (100) integrated with an airborne laser microscanner (100); wherein said registration module (201) includes a connection system (202) adapted for permitting to establish a connection with said previously assigned/associated unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100);

- at least a flight planning module (203), adapted for allowing a remote control of the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) in the “visual line of sight” (VLOS) mode, by taking advantage of said camera (19), or else a remote control in the “beyond visual line of sight” (BVLOS) mode; wherein said flight planning module (203) comprises a programmed-flight section (204) that allows the user/operator to plan the flight route and path of the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), in such a way that these are carried out automatically; wherein said flight planning module (203) comprises a manual flight section (205) to allow the user/operator to manually control/drive the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), using said processing software (200) and/or a previously assigned/associated external controller;

- at least a management algorithm (206) adapted for allowing the user/operator to interact with the data acquired by said solid-state Lidar sensor (21), by said GNSS antenna with compass (15), by said distance meter (23) and said altimeter (24); wherein said management algorithm (206) comprises a level/layer section (207) apt to allow an interaction and visualization of a mesh, point clouds, and images acquired/captured by said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); wherein said management algorithm (206), by interfacing with a database (208), is adapted for storing the managed data and for allowing their sharing.

2. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to claim 1, characterized in that said GNSS antenna with compass (15) comprises a rod with foldable legs (15’) to ease transport even in small-sized containers.

3. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to the preceding claim 1 or 2, characterized in that said arms (16) are concealable/retractable inside said hollow space between the upper plate (10’) and the lower plate (10”) using rail guides, so that the volume of said vehicle (100) can be reduced for transportation purposes.

4. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that said camera (19) is engaged with the lower part of said frame for the gimbal (13), in such a way as to provide stable overhead shots of the overflown zone of the ground.

5. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that the surface of said upper plate (10’) and of said lower plate (10”) are entirely or partially covered with solar panels adapted for recharging the rechargeable battery (18) using solar energy, thereby increasing its duration.

6. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that it comprises a plurality of small-sized wind turbines, each of which has blades to power an alternator by using the wind force, and which are provided inside said hollow space between said upper plate (10’) and said lower plate (10”) and/or on said upper plate (10’) and/or on said lower plate (10”); wherein said wind turbines are suited to feed/recharge said rechargeable battery (18) in order to increase its duration.

7. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that it comprises an ultrasound generator engaged/fixed to said frame (10), adapted for keeping animals away from said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); wherein said ultrasound generator is activated by means of said processing software (200) and/or automatically by said flight control board (20).

8. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that it comprises a bottle/vial of 3-10 ml of expanding polyurethane foam, which is engaged with the lower part of said lower plate (10”); wherein said bottle/vial of polyurethane foam is provided with a small spout locked by a lever connected to the onboard computer (25) and directed in a zenithal way with respect to the lower part of the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100); wherein, when said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) is making an emergency landing and said distance meter (23) and altimeter (24) detect a distance of 20-40 cm from landing, the onboard computer (25) removes/releases said lever thanks to an actuation of a specially tested gearing, thus allowing a release of the polyurethane foam from said bottle/vial of polyurethane foam, to generate a protective polyurethane foam layer in the landing area of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), which in this manner is safeguarded from rough and/or sharp surfaces; wherein said layer of polyurethane foam, upon solidification, is adapted for protecting said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) from strong gusts of wind while keeping it firm/stable in the landing area; wherein said polyurethane foam layer, upon solidification, is adapted for allowing said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) to float for 10-15 minutes.

9. Unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), according to anyone of the preceding claims, characterized in that the management algorithm (206) comprises an analysis module adapted to identify in real time, in a digital model of the overflown land, elements of anthropic origin hidden in the ground, according to parameters selected by the user/operator, to allow said operator/user to instantly interact with them; wherein said analysis module is adapted for sending a signal to said flight control board (20), for the unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) to fly above said areas with said elements of anthropic origin, in order to collect additional and accurate data.

10. A method (600) of operating said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) according to anyone of the preceding claims, characterized in that it takes advantage of said processing software (200) according to the following steps:

- at least a step for establishing a connection through said connection system (202), wherein said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) is associated with said processing software (200) and an external controller;

- at least a flight planning step, in which the user/operator, by using the flight planning module (203), selects a “visual line of sight” VLOS mode, or a “beyond visual line of sight” BVLOS mode; wherein the user, by resorting to said programmed-flight section (204) during said flight planning step, plans the route and path of the flight of said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100) in such a way that it will carry out the same automatically, and/or by resorting to said manual flight section (205), he/she drives manually said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100);

- at least a data recording step, during which said unmanned aerial vehicle (100) integrated with an airborne laser microscanner (100), while flying in accordance with the parameters of said flight planning/programming step, records the data from said solid-state Lidar sensor (21), from the GNSS antenna with compass (15), and from the distance meter (23) and altimeter (24), and transfers them by means of the Wi-Fi antenna (17) to said processing software (200); at least a post-processing step, in which said management algorithm (206) allows the user/operator to interact and modify the visualization/di splay of the data acquired during the flight, thus permitting him/her to directly operate on point clouds.