Portable geographic information acquisition equipment

Abstract

The invention relates to portable geographic information acquisition equipment applied to the technical field of acquisition equipment, the equipment adopts a dual suspension structure and comprises a suspension ball, a coil fixing hemisphere and a fixing hemisphere, a gradienter is arranged in the suspension ball, and a permanent magnet and a data acquisition sensor are arranged on the surface of the suspension ball; the coil fixing hemisphere is provided with a coil and an iron core; a permanent magnet and a Hall sensor are installed on the fixed hemisphere, the controller achieves suspension and posture adjustment of the suspension ball and the coil fixed hemisphere by adjusting coil current and utilizing electromagnetic acting force, a positioning antenna is installed at the top of the suspension ball, and an optimally-designed spiral structure is adopted, so that the positioning precision can be remarkably improved; the device is further provided with a reflection isolating ring, an isolating plate and a conductive magnetic substrate, electromagnetic interference is effectively restrained, the controller integrates data processing and attitude control, the portable geographic information collecting device with high precision, multiple functions and miniaturization is achieved, and the portable geographic information collecting device can be widely applied to the fields of military affairs, disaster monitoring, resource census and the like.

Description

Technical Field

[0001] The present invention relates to a portable geographic information collection device, in particular to a portable geographic information collection device applied in the technical field of information collection devices. Background Art

[0002] With the development of modern science and technology, geographic information data plays an increasingly important role in military reconnaissance, disaster monitoring, resource exploration and other fields. Traditional geographic information collection equipment is bulky and single-function, which makes it difficult to meet the growing demand for portability and intelligence. In recent years, drones equipped with geographic information collection equipment have become the mainstream way to carry out data acquisition tasks.

[0003] Chinese invention patent CN117068420B discloses a self-recovering remote sensing mapping device based on drones. The device uses wireless charging technology to achieve automatic recovery and charging of drones, avoiding the trouble of manually searching for crashed drones. However, the device fails to effectively solve the stability problem in the data collection process. When the flight posture of the drone changes, the data quality of the remote sensing sensor is difficult to guarantee.

[0004] Chinese invention patent application CN114735218A discloses a three-dimensional terrain mapping device based on a drone. The device uses two sets of orthogonally arranged axial adjustment frames and the internal sensors of the drone to achieve horizontal stability of the mapping camera. However, the mechanical structure of the adjustment frame is complex, which increases the load of the drone, and the response speed is limited, making it difficult to adapt to rapidly changing flight attitudes.

[0005] To sum up, although the existing technology has made useful explorations in autonomous recovery of drones and camera stabilization, there is still much room for improvement in the portability, stability, anti-interference and intelligence of data acquisition equipment. Summary of the invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to reduce the impact of external disturbances in portable devices, reduce electromagnetic interference between electronic components inside the device, and ensure the stability of positioning antennas and sensors.

[0007] To solve the above problems, the present invention provides a portable geographic information collection device, including a suspension ball, a substrate fixedly connected to the top of the suspension ball, a positioning antenna fixedly connected to the top of the substrate, a reflective isolation ring fixedly connected to the top of the substrate near its outer wall, a horizontal chamber opened in the suspension ball, a plurality of first permanent magnets fixedly connected to the outer end of the suspension ball, a coil fixing hemisphere provided on the outside of the suspension ball, a plurality of coils fixedly connected to the coil fixing hemisphere, the plurality of coils corresponding one to one to the plurality of first permanent magnets, a plurality of data collection sensors fixedly connected to the outer end of the substrate, an iron core fixedly connected to the plurality of coils, a fixed hemisphere provided on the outside of the coil fixing hemisphere, a plurality of second permanent magnets fixedly connected to the fixed hemisphere, and the positioning antenna, the plurality of coils and the plurality of data collection sensors are electrically connected to the same controller.

[0008] As a further improvement of the present application, the suspension ball is a spherical structure, the coil fixed hemisphere and the fixed hemisphere are both hemispherical structures, the horizontal chamber is filled with conductive liquid, and the horizontal chamber has multiple sensors distributed in a circular array along the position passing through the horizontal cross-section of the suspension ball for detecting changes in the conductive liquid level.

[0009] As a further improvement of the present application, the suspension ball, the coil fixed hemisphere, the fixed hemisphere and the conductive liquid are all made of non-magnetic materials, the positioning antenna is a spiral structure, and the central top of the positioning antenna is higher than the outer top of the positioning antenna.

[0010] As a further improvement of the present application, a coaxial feeding rod is fixedly connected between the central top of the positioning antenna and the top of the substrate. The diameter of the positioning antenna is half the working wavelength (λ / 2), the pitch is maintained at λ / 4, and the feeding line of the coaxial feeding rod is biased by 90 degrees to make the current evenly distributed on the spiral.

[0011] As another improvement of the present application, the reflection isolation ring is made of conductive material, the reflection isolation ring is a conical structure, and the end with a larger diameter of the conical structure is arranged close to the positioning antenna, and an isolation plate is fixedly connected between the top end of the substrate and the bottom end of the positioning antenna, and the isolation plate is also made of conductive material.

[0012] As another improvement supplement of the present application, the reflective isolation ring and the isolation plate are electrically connected to the controller grounding point, the substrate is made of conductive magnetic material and is used to shield the electromagnetic interference of multiple data acquisition sensors and the first permanent magnet and the coil to the positioning antenna, the iron core passes through the fixed hemisphere of the coil along the direction passing through the center of the suspended ball, and the two ends of the iron core correspond to the first permanent magnet and the second permanent magnet respectively.

[0013] As another improved supplement of the present application, multiple first permanent magnets are evenly distributed in the lower hemisphere of the suspension ball, multiple second permanent magnets are arranged one by one corresponding to the multiple iron cores, the bottom end of the fixed hemisphere is fixedly connected with a connecting frame, and the connecting frame is fixedly connected to the external carrying equipment, and the carrying equipment is a drone or a carrier platform.

[0014] As another improvement of the present application, a clearance groove matching the coil fixed hemisphere and the fixed hemisphere is opened at the corresponding position of the bottom end of the substrate and the coil fixed hemisphere, and a plurality of Hall sensors are fixedly connected to the inner wall of the fixed hemisphere, and the Hall sensors are electrically connected to the controller.

[0015] The controller includes a data processing module, a posture control module, a communication module and a power management module; the data processing module is used to receive and process data collected by the positioning antenna and the data acquisition sensor; the posture control module controls the current of the coil and adjusts the posture of the suspended ball and the coil fixed hemisphere according to the feedback signals of the horizontal indoor sensor and the Hall sensor in the fixed hemisphere; the communication module is used to transmit data with external devices; the power management module supplies power to each component and manages the power supply of the equipment.

[0016] A working method of a portable geographic information collection device comprises the following steps:

[0017] S1: Input current to the coil through the controller to make the suspended ball and the coil fixed hemisphere in a suspended state;

[0018] S2: According to the feedback signals from the horizontal indoor sensor and the Hall sensor in the fixed hemisphere, the controller adjusts the current of the coil to rotate the suspended ball and the coil fixed hemisphere to a suitable posture;

[0019] S3: The positioning antenna receives satellite signals and transmits them to the controller for calculation to obtain the device location information; the data acquisition sensor collects various geographic information data and transmits them to the controller;

[0020] S4: The data processing module of the controller processes the positioning data and the collected geographic information data, and transmits them to an external device or stores them through the communication module;

[0021] S5: The power management module of the controller monitors the power supply of the device and manages the battery charging when necessary to provide continuous power supply to maintain normal operation of the device.

[0022] In summary, this application has the following beneficial effects:

[0023] 1. Double suspension design improves data acquisition accuracy and stability. The present invention adopts a two-stage suspension structure, that is, the suspension ball is suspended in the coil fixed hemisphere, and the coil fixed hemisphere is suspended in the fixed hemisphere. This double suspension design can better isolate external vibration and impact, so that the positioning antenna and data acquisition sensor installed on the suspension ball always maintain the best working posture, thereby improving the accuracy and stability of data acquisition.

[0024] 2. Electromagnetic suspension and attitude adjustment mechanism, flexible and controllable. The present invention uses the electromagnetic effect of permanent magnets and coils to achieve suspension. The magnitude of the suspension force can be flexibly adjusted by controlling the current of the coils. At the same time, the spatial distribution of the permanent magnets and coils has been carefully designed to achieve precise control of the attitude of the suspended ball and the hemisphere fixed by the coils. This electromagnetic suspension and attitude adjustment mechanism has a fast response speed and high control accuracy. It can achieve flexible attitude adjustment as needed to meet the data collection needs under different working conditions.

[0025] 3. The reflective isolation ring and isolation plate effectively suppress electromagnetic interference. The conical reflective isolation ring and isolation plate set on the top of the suspension ball are made of conductive materials and grounded to the controller, which can effectively reduce the electromagnetic interference of other electronic components to the positioning antenna, ensuring that the positioning antenna receives high-quality satellite signals. The conical design of the reflective isolation ring also plays the role of a gain antenna, improving the signal reception strength.

[0026] 4. The level meter is combined with the Hall sensor to achieve precise posture feedback control. The level meter is installed in the suspension ball, which reflects the overall posture change of the equipment through the displacement of the conductive liquid surface; the Hall sensor is installed on the fixed hemisphere to detect the position of the suspension ball relative to the fixed hemisphere. The controller integrates the feedback signals of the two sensors to achieve precise detection and closed-loop control of the posture of the suspension ball and the coil fixed hemisphere, so that it can quickly stabilize in the optimal working posture.

[0027] 5. The positioning antenna is optimized to improve positioning accuracy. The positioning antenna of the present invention adopts a spiral structure with intermediate feeding. Its geometric parameters such as diameter and pitch are optimized to make the antenna have good radiation characteristics in a wider frequency band. At the same time, the feed line on the central feed rod of the antenna is offset by 90 degrees, which can make the current evenly distributed on the antenna arm. These designs effectively improve the antenna's directivity and gain characteristics, and improve positioning accuracy.

[0028] 6. The conductive magnetic substrate can shield interference and ensure the normal operation of the device. The present invention uses conductive magnetic materials to make the substrate, and utilizes its conductive properties and magnetic permeability to effectively shield the electromagnetic coupling interference between devices such as permanent magnets, coils, and data acquisition sensors, thereby ensuring the normal operation of each device and improving the electromagnetic compatibility of the system.

[0029] 7. The design of the clearance groove optimizes the structural layout and realizes miniaturized integration. The clearance groove that matches the coil fixed hemisphere and the fixed hemisphere is opened on the substrate, so that the two hemisphere structures can be close to the suspension ball, thereby reducing the overall size and realizing the miniaturized integration of the equipment. At the same time, the design of the clearance groove also facilitates the assembly and maintenance of various devices.

[0030] 8. The intelligent controller realizes multi-functional integration. The controller integrates multiple functions such as data processing, attitude control, communication and power management, and realizes automatic intelligent control of the equipment. The controller can integrate multi-source data to improve data quality; adjust the equipment attitude in real time according to feedback signals to ensure the optimal collection state; exchange data with external devices to achieve remote monitoring; the power management function can extend the working time of the equipment and improve reliability.

[0031] 9. Simple and flexible assembly, can be widely adapted to different platforms. The structure of the present invention has a high degree of modularity and is simple to assemble. It can be easily integrated into different types of platforms such as drones and aircraft. A standardized connecting frame is provided at the bottom of the fixed hemisphere, which can be flexibly connected to different platforms for rapid adaptation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is the overall structure diagram of this application;

[0033] Figure 2 This is the front view of the application;

[0034] Figure 3 For this application Figure 2 Middle AA section view;

[0035] Figure 4 For this application Figure 3 Middle BB section view;

[0036] Figure 5 For this application Figure 3 Middle CC section view;

[0037] Figure 6 For this application Figure 3 Middle DD section view;

[0038] Figure 7 This is an overall exploded view of this application;

[0039] Figure 8 Partial explosion for this application Figure 1 ;

[0040] Fig. 9 Partial explosion for this application Figure 2 ;

[0041] Fig.10 Partial explosion for this application Figure 3 ;

[0042] Fig.11 Partial explosion for this application Figure 4 ;

[0043] Fig.12 This is the usage status diagram of this application.

[0044] Description of the numbers in the figure:

[0045] 1. Suspended ball; 2. Base plate; 3. Positioning antenna; 4. Reflection isolation ring; 5. Horizontal chamber; 6. First permanent magnet; 7. Coil fixed hemisphere; 8. Coil; 9. Data acquisition sensor; 10. Iron core; 11. Fixed hemisphere; 12. Second permanent magnet; 13. Coaxial feeding rod; 14. Isolation plate; 15. Give way groove. DETAILED DESCRIPTION

[0046] Three implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0047] Example 1

[0048] This embodiment provides a portable geographic information collection device, including a suspension ball 1, a base plate 2, a positioning antenna 3, a reflective isolation ring 4, a horizontal chamber 5, a first permanent magnet 6, a coil fixing hemisphere 7, a coil 8, a data collection sensor 9, an iron core 10, a fixing hemisphere 11 and a second permanent magnet 12.

[0049] The suspension ball 1 is a spherical structure, and its top is fixedly connected to a substrate 2. A spiral structure positioning antenna 3 is fixedly connected to the top of the substrate 2, and the central top of the positioning antenna 3 is higher than the peripheral top. A reflective isolation ring 4 is fixedly connected to the top of the substrate 2 near its outer wall.

[0050] A horizontal chamber 5 is provided inside the suspension ball 1, and the horizontal chamber 5 is filled with a conductive liquid. A plurality of sensors are arranged in a circular array along the horizontal cross section of the suspension ball 1 to detect the change in the level of the conductive liquid. A plurality of first permanent magnets 6 are fixedly connected to the outer end of the suspension ball 1 and are evenly distributed in the lower hemisphere.

[0051] A coil fixing hemisphere 7 matching with the suspension ball 1 is disposed outside the suspension ball 1, and a plurality of coils 8 are fixedly connected to the coil fixing hemisphere 7, corresponding to the first permanent magnets 6 one by one. An iron core 10 is fixedly connected inside each coil 8.

[0052] A plurality of data acquisition sensors 9 are fixedly connected to the outer end of the substrate 2 for collecting various types of geographic information data.

[0053] A fixed hemisphere 11 is provided outside the coil fixed hemisphere 7, and a plurality of second permanent magnets 12 are fixedly connected to the fixed hemisphere 11, corresponding to the iron core 10 one by one. A connecting frame is fixedly connected to the bottom end of the fixed hemisphere 11 for fixed connection with an external carrying device such as a drone or a carrier platform.

[0054] The diameter of the positioning antenna 3 is half of the working wavelength λ / 2, and the pitch is maintained at λ / 4. A coaxial feeding rod 13 is fixedly connected between the central top and the top of the substrate 2, and the feeding line is offset by 90 degrees to make the current evenly distributed on the spiral.

[0055] The positioning antenna 3, the coil 8 and the data acquisition sensor 9 are all electrically connected to the controller. The suspension ball 1, the coil fixed hemisphere 7, the fixed hemisphere 11 and the conductive liquid are all made of non-magnetic materials.

[0056] When the device is powered on, the controller inputs current to the coil 8, and the iron core 10 in the coil 8 generates a magnetic field under electromagnetic action, which interacts with the magnetic fields of the first permanent magnet 6 and the second permanent magnet 12, so that the suspended ball 1 and the coil fixed hemisphere 7 are in a suspended state.

[0057] The conductive liquid level in the level chamber 5 moves when the device posture changes. The internal sensor detects the liquid level change and then determines the posture of the device. The controller adjusts the current of each coil 8 accordingly, changes the posture of the suspension ball 1 and the coil fixed hemisphere 7, and puts the positioning antenna 3 and the data acquisition sensor 9 in the best working state.

[0058] The positioning antenna 3 receives the satellite positioning signal and transmits it to the controller through the coaxial feeding rod 13 for calculation to obtain the location information of the device. The data acquisition sensor 9 collects various types of geographic information data and transmits it to the controller for processing, storage or transmission.

[0059] The portable geographic information acquisition device provided in this embodiment can keep the positioning antenna 3 and the data acquisition sensor 9 in the best working state at all times through the two-stage suspension and attitude adjustment structure of the suspension ball 1 and the coil fixed hemisphere 7, thereby improving the data acquisition accuracy and effectively isolating external vibration interference.

[0060] The conductive liquid in the horizontal chamber 5 cooperates with the sensor to accurately detect the change of the device posture, providing a basis for the controller to adjust the posture of the suspended ball 1.

[0061] The positioning antenna 3 adopts a spiral structure with specific parameters and is fed through a coaxial line, which can make the antenna current distribution uniform and improve the positioning accuracy.

[0062] The entire device has a compact structure, small size, and light weight. It is very convenient to be mounted on small equipment such as drones and has strong adaptability.

[0063] Key components such as the suspension ball 1, the coil fixing hemisphere 7, and the fixing hemisphere 11 are made of non-magnetic materials, which can effectively avoid magnetic field interference with the positioning antenna 3 and the data acquisition sensor 9, and ensure the normal operation of each component.

[0064] Example 2

[0065] This embodiment provides a portable geographic information collection device, whose basic structure is similar to that of Embodiment 1, including a suspension ball 1, a substrate 2, a positioning antenna 3, a reflective isolation ring 4, a horizontal chamber 5, a first permanent magnet 6, a coil fixing hemisphere 7, a coil 8, a data collection sensor 9, an iron core 10, a fixed hemisphere 11 and a second permanent magnet 12.

[0066] The difference is that the reflective isolation ring 4 is made of conductive material and has a conical structure. The end of the conical structure with a larger diameter is arranged close to the positioning antenna 3. An isolation plate 14 made of conductive material is also fixedly connected between the top of the substrate 2 and the bottom of the positioning antenna 3. The reflective isolation ring 4 and the isolation plate 14 are both electrically connected to the ground point of the controller.

[0067] The substrate 2 is made of conductive magnetic material and is used to shield the electromagnetic interference of the data acquisition sensor 9, the first permanent magnet 6 and the coil 8 on the positioning antenna 3. A clearance groove 15 is provided at the bottom of the substrate 2 at a position corresponding to the coil fixed hemisphere 7 and the fixed hemisphere 11, and the clearance groove 15 cooperates with the coil fixed hemisphere 7 and the fixed hemisphere 11.

[0068] The iron core 10 passes through the coil fixing hemisphere 7 along the direction passing through the center of the suspension ball 1 , and two ends of the iron core 10 correspond to the first permanent magnet 6 and the second permanent magnet 12 respectively.

[0069] A plurality of Hall sensors are fixedly connected to the inner wall of the fixed hemisphere 11, and are used to detect the position change of the suspension ball 1 relative to the fixed hemisphere 11. The Hall sensors are electrically connected to the controller.

[0070] When the device is powered on, the reflective isolation ring 4 and the isolation plate 14 can effectively isolate the positioning antenna 3 from other components to reduce electromagnetic interference. The substrate 2 made of conductive magnetic material further shields the interference that the data acquisition sensor 9, the first permanent magnet 6 and the coil 8 may cause to the positioning antenna 3.

[0071] The provision of the clearance groove 15 allows the coil fixing hemisphere 7 and the fixing hemisphere 11 to be closer to the suspension ball 1, which reduces the overall volume of the device and also makes the suspension control and posture adjustment more precise.

[0072] The design that the iron core 10 passes through the coil fixing hemisphere 7 and the two ends correspond to the permanent magnets can enhance the magnetic field generated by the coil 8, improve the suspension effect, and make the posture adjustment of the coil fixing hemisphere 7 more sensitive.

[0073] The Hall sensor on the inner wall of the fixed hemisphere 11 can detect the position change of the suspended ball 1 in real time and feed the signal back to the controller to achieve more accurate closed-loop control.

[0074] The provision of the reflective isolation ring 4 and the isolation plate 14 can effectively reduce the electromagnetic interference of other components on the positioning antenna 3 and improve the positioning accuracy.

[0075] The substrate 2 made of conductive magnetic material further shields possible electromagnetic interference and ensures the normal operation of the positioning antenna 3 and the data acquisition sensor 9.

[0076] The design of the clearance groove 15 allows the coil fixing hemisphere 7 and the fixing hemisphere 11 to cooperate more closely with the suspension ball 1, thereby reducing the volume of the device and optimizing the structural layout.

[0077] The special design of the iron core 10 enhances the magnetic field strength of the coil 8, improving the suspension effect and posture adjustment capability.

[0078] The addition of the Hall sensor enables real-time detection of the position of the suspended ball 1, provides a basis for the controller to achieve precise closed-loop control, and further improves the performance of the equipment.

[0079] Example 3

[0080] This embodiment provides a portable geographic information acquisition device and a working method thereof. The basic structure of the device is similar to that of Embodiments 1 and 2, including a suspension ball 1, a substrate 2, a positioning antenna 3, a reflective isolation ring 4, a horizontal chamber 5, a first permanent magnet 6, a coil fixing hemisphere 7, a coil 8, a data acquisition sensor 9, an iron core 10, a fixed hemisphere 11 and a second permanent magnet 12.

[0081] The controller of this embodiment includes a data processing module, a posture control module, a communication module and a power management module. The data processing module is used to receive and process the data collected by the positioning antenna 3 and the data acquisition sensor 9. The posture control module controls the current of the coil 8 and adjusts the posture of the suspension ball 1 and the coil fixed hemisphere 7 according to the feedback signals of the sensor in the horizontal chamber 5 and the Hall sensor in the fixed hemisphere 11. The communication module is used to transmit data with external devices. The power management module supplies power to each component and manages the power supply of the device.

[0082] The working method of the portable geographic information collection device provided in this embodiment includes the following steps:

[0083] S1: Input current to the coil 8 through the controller, and use the electromagnetic suspension principle to make the suspension ball 1 and the coil fixed hemisphere 7 in a suspension state.

[0084] S2: According to the posture change of the suspension ball 1 detected by the sensor in the horizontal chamber 5 and the relative position change detected by the Hall sensor in the fixed hemisphere 11, the controller adjusts the current of the coil 8 to rotate the suspension ball 1 and the coil fixed hemisphere 7 to the optimal working posture.

[0085] S3: The positioning antenna 3 receives the satellite positioning signal and transmits it to the data processing module of the controller for calculation to obtain the precise location information of the device. The data acquisition sensor 9 collects geographic information data such as images, environmental parameters, etc. and transmits it to the data processing module.

[0086] S4: The data processing module processes the positioning data and the collected geographic information data, transmits them to external devices through the communication module, or stores them locally for subsequent use.

[0087] S5: The power management module continuously monitors the power supply of each component of the device and manages the battery charging when necessary to maintain the normal operation of the device.

[0088] Through the collaborative work of different functional modules in the controller, the equipment can be operated automatically and intelligently, reducing the need for manual operation. The data processing module can pre-process and fuse the collected data, reduce data redundancy, and improve data quality and utilization efficiency. The communication module supports data interaction with external devices and can transmit the collected data to the ground station or the cloud in real time, facilitating remote monitoring and analysis.

[0089] The addition of the power management module extends the working time of the equipment and improves its reliability and practicality. The posture adjustment method based on sensor feedback and closed-loop control can adaptively adjust the equipment posture according to actual working conditions, so that it is always in the optimal working state, ensuring the high accuracy and stability of data acquisition.

[0090] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A portable geographic information collection device, characterized in that: The invention comprises a suspension ball (1), the top of the suspension ball (1) is fixedly connected to a base plate (2), the top of the base plate (2) is fixedly connected to a positioning antenna (3), the top of the base plate (2) is fixedly connected to a reflective isolation ring (4) at a position close to the outer wall of the base plate (2), a horizontal chamber (5) is provided inside the suspension ball (1), a plurality of first permanent magnets (6) are fixedly connected to the outer end of the suspension ball (1), a coil fixing hemisphere (7) is provided outside the suspension ball (1), and a plurality of coils are fixedly connected to the coil fixing hemisphere (7). (8), the plurality of coils (8) correspond one to one with the plurality of first permanent magnets (6), the outer end of the substrate (2) is fixedly connected with a plurality of data acquisition sensors (9), the plurality of coils (8) are fixedly connected with an iron core (10), a fixed hemisphere (11) is arranged outside the coil fixed hemisphere (7), a plurality of second permanent magnets (12) are fixedly connected to the fixed hemisphere (11), and the positioning antenna (3), the plurality of coils (8) and the plurality of data acquisition sensors (9) are electrically connected to the same controller.

2. A portable geographic information collection device according to claim 1, characterized in that: The suspension ball (1) is a spherical structure, the coil fixed hemisphere (7) and the fixed hemisphere (11) are both hemispherical structures, the horizontal chamber (5) is filled with a conductive liquid, and a plurality of sensors are distributed in a circular array along a position passing through a horizontal cross section of the suspension ball (1) in the horizontal chamber (5) for detecting changes in the level of the conductive liquid.

3. A portable geographic information collection device according to claim 1, characterized in that: The suspension ball (1), the coil fixing hemisphere (7), the fixing hemisphere (11) and the conductive liquid are all made of non-magnetic materials. The positioning antenna (3) is a spiral structure, and the central top of the positioning antenna (3) is higher than the outer top of the positioning antenna (3).

4. A portable geographic information collection device according to claim 1, characterized in that: A coaxial feeding rod (13) is fixedly connected between the central top of the positioning antenna (3) and the top of the substrate (2); the diameter of the positioning antenna (3) is half the working wavelength (λ / 2), the pitch is maintained at λ / 4, and the feeding line of the coaxial feeding rod (13) is offset by 90 degrees so that the current is evenly distributed on the spiral.

5. The portable geographic information collection device according to claim 1, characterized in that: The reflection isolation ring (4) is made of a conductive material, the reflection isolation ring (4) is a conical structure, and the end of the conical structure with a larger diameter is arranged close to the positioning antenna (3), and an isolation plate (14) is fixedly connected between the top end of the substrate (2) and the bottom end of the positioning antenna (3), and the isolation plate (14) is also made of a conductive material.

6. A portable geographic information collection device according to claim 5, characterized in that: The reflective isolation ring (4) and the isolation plate (14) are both electrically connected to the grounding point of the controller; the substrate (2) is made of a conductive magnetic material and is used to shield electromagnetic interference of a plurality of data acquisition sensors (9), a first permanent magnet (6), and a coil (8) on a positioning antenna (3); the iron core (10) passes through the coil fixing hemisphere (7) in a direction passing through the center of the suspension ball (1); and two ends of the iron core (10) correspond to the first permanent magnet (6) and the second permanent magnet (12), respectively.

7. The portable geographic information collection device according to claim 1, characterized in that: The plurality of first permanent magnets (6) are evenly distributed in the lower hemisphere of the suspension ball (1), the plurality of second permanent magnets (12) are arranged in one-to-one correspondence with the plurality of iron cores (10), the bottom end of the fixed hemisphere (11) is fixedly connected to a connecting frame, and the connecting frame is fixedly connected to an external carrying device, and the carrying device is a drone or a carrier platform.

8. The portable geographic information collection device according to claim 1, characterized in that: A clearance groove (15) matching with the coil fixed hemisphere (7) and the fixed hemisphere (11) is provided at the bottom end of the substrate (2) at positions corresponding to the coil fixed hemisphere (7) and the fixed hemisphere (11); a plurality of Hall sensors are fixedly connected to the inner wall of the fixed hemisphere (11), and the Hall sensors are electrically connected to the controller.

9. The portable geographic information collection device according to claim 1, characterized in that: The controller comprises a data processing module, a posture control module, a communication module and a power management module; the data processing module is used to receive and process data collected by the positioning antenna (3) and the data collection sensor (9); the posture control module controls the current of the coil (8) and adjusts the posture of the suspension ball (1) and the coil fixed hemisphere (7) according to the feedback signals of the sensor in the horizontal chamber (5) and the Hall sensor in the fixed hemisphere (11); The communication module is used for data transmission with external devices; the power management module supplies power to each component and manages the power supply of the device.

10. A working method of a portable geographic information collection device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: inputting current into the coil (8) through the controller, so that the suspension ball (1) and the coil fixed hemisphere (7) are in a suspension state; S2: Based on the feedback signals from the sensor in the horizontal chamber (5) and the Hall sensor in the fixed hemisphere (11), the controller adjusts the current of the coil (8) to rotate the suspended ball (1) and the coil fixed hemisphere (7) to a suitable posture; S3: The positioning antenna (3) receives the satellite signal and transmits it to the controller for calculation to obtain the device location information; the data acquisition sensor (9) collects various geographic information data and transmits it to the controller; S4: The data processing module of the controller processes the positioning data and the collected geographic information data, and transmits them to an external device or stores them through the communication module; S5: The power management module of the controller monitors the power supply of the device and manages the battery charging when necessary to provide continuous power supply to maintain normal operation of the device.

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