Three-dimensional terrain intelligent surveying and mapping tool and method

Abstract

The invention relates to a three-dimensional terrain intelligent surveying and mapping tool and method. An inner rack meshed with the driven gear is arranged on the inner side face of the gear ring, longitudinal supporting guide rods are evenly arranged on the outer wall of the gear ring, a rotating base is fixedly installed below the longitudinal supporting guide rods, and the center of the rotating base is arranged on the outer side of a center channel column with the top fixedly connected with the bottom face of the circular box body in a sleeving mode. The outer side of the central channel column is further sleeved with a horizontal data acquisition rotating cylinder with the top connected with the bottom of the rotating base, a horizontal data acquisition head is installed on the side face of the horizontal data acquisition rotating cylinder, and a bottom connecting base with the bottom of a spherical structure is fixedly installed at the bottom of the central channel column. A longitudinal data acquisition head which is vertically and downwards arranged is arranged in the center of the bottom of the bottom connecting seat; the overall streamline design can overcome wind resistance in the air, shaking is avoided, meanwhile, the free flight state of the fuselage is achieved through lifting operation, and comprehensive data collection operation on irregular rugged terrains is achieved.

Description

Technical Field

[0001] The present invention relates to the field of terrain surveying and mapping, and in particular to a three-dimensional terrain intelligent surveying and mapping tool and method. Background Art

[0002] Surveying and mapping is a comprehensive discipline primarily involving measurement and mapping. It is based on a wide range of advanced technologies, including computer science, optoelectronics, network communications, space science, and information science. Its core technologies include the Global Navigation Satellite System (GNSS), remote sensing, and the Geographic Information System (GIS). By selecting existing ground features and boundaries and applying various surveying techniques, surveyors can obtain graphics, locations, and related information data that reflect the current state of the terrain. This data is used for engineering construction, planning, design, and administrative management. Three-dimensional topographic mapping requires comprehensive horizontal and vertical mapping of the location being surveyed. Satellite positioning technology allows for precise location determination, ensuring accurate mapping. Surveyors also use a variety of advanced equipment, such as cameras, infrared rangefinders, and laser rangefinders, to accurately measure the three-dimensional topographic features of the area being surveyed. These devices enable surveyors to capture every detail of the terrain. Finally, the collected data is uploaded to a host computer via wireless devices, allowing surveyors to conduct real-time surveying and mapping operations or to further process and analyze the data later.

[0003] To facilitate the collection of three-dimensional spatial data, 3D terrain mapping typically uses aerial equipment for data collection. This is particularly advantageous for drone-based data collection, as it requires data collection from multiple points on both the 3D horizontal and vertical planes, along with the need for a camera to provide a comprehensive overview. Traditional drone-based 3D terrain intelligent mapping typically involves mounting the mapping equipment on the bottom of the drone, flying it to a set altitude, and capturing a top-down view based on satellite positioning data. Software then processes the video footage to generate the overall 3D information, which is then mapped using a computer. Traditional UAV 3D terrain mapping processes have the following drawbacks: First, traditional UAVs need to be equipped with terrain data acquisition equipment, generally through bottom-loading. During high-altitude flight, simply carrying additional equipment on the bottom will be affected by air currents at high altitudes, making it difficult for the UAV to maintain balance during flight. Alternatively, a larger load must be added to ensure the normal and stable operation of various terrain mapping equipment, such as the camera, to ensure data acquisition accuracy. Therefore, irregular terrain data acquisition equipment installations often lead to the above-mentioned drawbacks. Second, traditional UAVs often only use the bottom-mounted camera to complete image data acquisition during 3D terrain data acquisition. Even if a 360-degree panoramic camera is installed under the UAV, the high accuracy required for 3D terrain data acquisition requires powerful software support. The additional mapping equipment must also overcome the problem of UAV stability. Therefore, this drawback is difficult to solve, resulting in poor data acquisition accuracy. The longitudinal data accuracy of the UAV after positioning by the satellite positioning system is poor, and the lack of lateral compensation calculations and data compensation leads to inaccurate 3D terrain mapping operations.

[0004] To sum up, a three-dimensional terrain intelligent mapping tool and method with a simple structure, easy operation, high degree of automation and intelligence is provided, which can implement comprehensive lateral and longitudinal data collection during the flight of the UAV, provide data compensation operations in the lateral space, improve the accuracy of three-dimensional terrain mapping, and provide a special flight mapping tool for three-dimensional terrain mapping. The method is simple and easy to operate, and has broad market prospects. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a three-dimensional terrain intelligent mapping tool and method with a simple structure, easy operation, high degree of automation, and high degree of intelligence. It can implement comprehensive lateral and longitudinal data collection during the flight of a UAV, provide data compensation operations in the lateral space, improve the accuracy of three-dimensional terrain mapping, and provide a dedicated flight mapping tool for three-dimensional terrain mapping. The method is simple and easy to operate, and is used to overcome the shortcomings of the existing technology.

[0006] The technical solution of the present invention is achieved as follows: a three-dimensional terrain intelligent mapping tool includes a fuselage, wings, propellers and a brushless motor, the top of the fuselage is a spherical structure, a rotating motor is fixedly installed at the center position of the fuselage, a circular box body is fixedly installed at the center position of the bottom of the fuselage, a driving rotating gear is installed at the center position of the circular box body, the top of the driving rotating gear is fixedly connected to the output end of the rotating motor, driven gear support frames are evenly arranged on the inner wall of the circular box body, a driven gear supporting rotating shaft is installed in the driven gear support rotating shaft, a driven gear meshing with the driving rotating gear is sleeved on the driven gear supporting rotating shaft, and the outer end of the driven gear extends to the outer wall of the circular box body through a hole opened in the side wall of the circular box body. On the outside of the circular box body, a gear ring is mounted on the outside of the driven gear extending to the outside of the circular box body, and an inner rack meshing with the driven gear is arranged on the inner side of the gear ring. Longitudinal support guide rods are evenly arranged on the outer wall of the gear ring, and a rotating seat is fixedly installed below the longitudinal support guide rod. The center part of the rotating seat is mounted on the outside of the central channel column fixedly connected to the top and the bottom of the circular box body, and a horizontal data acquisition rotating cylinder with a top connected to the bottom of the rotating seat is also mounted on the outside of the central channel column. A horizontal data acquisition head is installed on the side of the horizontal data acquisition rotating cylinder, and a bottom connecting seat with a spherical structure is fixedly installed on the bottom of the central channel column. A vertical data acquisition head set vertically downward is provided at the bottom center of the bottom connecting seat.

[0007] The fuselage is equipped with a flight controller, an electronic stability controller, a wireless data transceiver module, a Beidou positioning module and a sensor. A rechargeable lithium battery pack is installed in the bottom connecting seat. The output end of the flight controller is connected to the brushless motor, and the output end of the brushless motor is connected to the rotating motor and the propeller. The input end of the flight controller is connected to the wireless data transceiver module, the electronic stability controller, the Beidou positioning module and the sensor. The longitudinal data acquisition head and the horizontal data acquisition head are connected to the wireless data transceiver module through wires. A line setting hole is provided in the central part of the central channel column, and the top of the line setting hole is connected to the inner cavity of the circular box body. A line bundling bracket is fixedly installed on the inner wall of the circular box body, and the line bundling bracket is provided with a line bundling hole. The top of the line bundling hole is connected to the inner cavity of the fuselage.

[0008] A bottom support plate is provided at the bottom of the fuselage, and the rotating motor is fixedly installed above the top of the bottom support plate. An output end mounting hole of the rotating motor is opened at the center position of the bottom support plate, and the output end of the rotating motor is sleeved in the output end mounting hole. The bottom output end of the rotating motor is provided in the circular box body, and the bottom output end of the rotating motor is fixedly connected to the driving gear connecting block, and the driving gear connecting block is fixedly sleeved in the center position of the driving rotating gear.

[0009] The circular box body is a cylindrical tube structure with an opening at the top. A circular box bottom baffle is provided at the bottom of the circular box body. The circular box bottom baffle is connected to the top surface of the central channel column. The top of the circular box body is fixedly connected to the bottom surface of the fuselage. There are four driven gear support frames, and the four driven gear support frames are evenly distributed in the circumferential direction of the circular box body. There are four driven gears, and the circles of the four driven gears are all located in the inner cavity of the circular box body.

[0010] The gear ring is mounted on the outer longitudinal middle part of the circular box body. The inner diameter of the gear ring matches the outer diameter of the circle where the outer edge of the driven gear is located. There are two longitudinal support guide rods, and both longitudinal support guide rods are fixedly installed on the outer wall of the gear ring through guide rod fixing parts.

[0011] The rotating seat is a circular sheet structure. The diameter of the rotating seat is equal to the outer diameter of the gear ring. The top surface of the rotating seat is located below the circular box body. A center channel through hole for fitting the center channel column is provided at the center position of the rotating seat.

[0012] The middle part of the horizontal data acquisition rotating cylinder and the rotating seat are mounted on the outer wall of the central channel column through a rotating conductive support shaft. The central channel column mounted on the inner side of the rotating conductive support shaft is provided with a first conductive limit support groove and a second conductive support groove from top to bottom. The first conductive limit support groove and the second conductive support groove are respectively equipped with a first sliding conductive terminal and a second sliding conductive terminal. The first sliding conductive terminal and the second sliding conductive terminal are connected to the horizontal data acquisition head through a wire.

[0013] A folding bracket is installed on the side of the bottom connecting seat, and the plane where the bottom of the folding bracket is located after it is unfolded is located below the bottom surface of the longitudinal data acquisition head.

[0014] There are at least two line bundling brackets, and the rechargeable lithium battery pack is electrically connected to the flight controller through wires set in the line setting hole and the line bundling hole. The wireless data transceiver module is connected to the horizontal data acquisition head and the vertical data acquisition head through wires set in the line bundling hole and the line setting hole. The horizontal data acquisition head is an infrared or laser ranging probe, and the vertical data acquisition head is a ranging camera.

[0015] A three-dimensional terrain intelligent mapping method using the three-dimensional terrain intelligent mapping tool as described above, wherein the method comprises: The flight controller controls the brushless motor and propeller through the electronic stability controller, rechargeable lithium battery pack, wireless data transceiver module, Beidou positioning module and sensors, and controls the flight of the fuselage according to user operations or automatic navigation flight commands. During the flight, the fuselage drives the bottom components to fly to the preset position, obtains the position information through the Beidou positioning module, and transmits the position information to the three-dimensional terrain mapping terminal through the wireless data transceiver module. When the fuselage is in a horizontal and stable state, the longitudinal data acquisition head performs longitudinal three-dimensional shooting of the bottom terrain, and the horizontal data acquisition head performs horizontal scanning and shooting of the horizontal position. During the scanning process of the horizontal data acquisition head, the rotating motor is turned on by the flight controller, the rotating motor drives the active rotating gear to rotate, the active rotating gear drives the driven gear to rotate, and the driven gear drives the ring gear to rotate The gear ring drives the rotating seat below the longitudinal support guide rod to rotate. Under the support and limiting action of the first sliding conductive terminal and the second sliding conductive terminal and the first conductive limit support groove and the second conductive support groove, the rotating seat rotates horizontally on the rotating conductive support shaft. While rotating, it drives the horizontal data acquisition head to move in a circular motion to scan the longitudinal terrain at the far end of the horizontal plane of the fuselage hovering position. The horizontal scanning information and the longitudinal three-dimensional shooting information collected by the longitudinal data acquisition head are transmitted to the three-dimensional terrain mapping terminal through the wireless data transceiver module. The three-dimensional terrain mapping terminal integrates the Beidou positioning information, the horizontal scanning information and the longitudinal three-dimensional shooting information and performs three-dimensional terrain mapping. During the rotation of the rotating seat, the electronic stability controller adjusts the stability of the fuselage attitude in real time through the flight controller to ensure the horizontal state of the fuselage when hovering.

[0016] The present invention has the following positive effects: 1. The present invention integrates the fuselage with the horizontal data acquisition head and the vertical data acquisition head, and integrates the surveying and mapping device with the UAV fuselage into a whole. From the perspective of the external structure, it realizes the smooth structural design of the UAV, abandoning the defects of the traditional bottom hanging and direct loading and connection of the surveying and mapping device. The overall assembly is low, which meets the requirements of stability during flight. The main components are integrated into the fuselage and the lower part of the fuselage in a top-down and overall circular manner, which provides a guarantee for the UAV to hover in a horizontal state and does not provide a guarantee for horizontal scanning when the horizontal data acquisition head is in operation. The overall streamlined design can overcome wind resistance in the air and avoid shaking. At the same time, the lifting operation also realizes the free flight state of the fuselage, realizing comprehensive data collection operations on irregular and undulating terrain.

[0017] 2. The present invention utilizes a horizontal data acquisition head and a vertical data acquisition head in combination with a Beidou positioning module to realize comprehensive acquisition of three-dimensional terrain. Data acquisition can realize comprehensive collection in the vertical, horizontal, and vertical and oblique directions, providing an accurate data set for surveying and mapping work, thereby improving the accuracy of three-dimensional terrain surveying and mapping operations. The installation of the rotating seat can provide a 360-degree horizontal scanning operation in a horizontal hovering state, and implement a comprehensive scan of the geographical environment around the fuselage. It is suitable for implementing horizontal data acquisition from bottom to top or from top to bottom in a layered manner under irregular ups and downs in the surrounding area, with high accuracy.

[0018] 3. The circular box body provides a support body for the rotational data scanning operation. The central channel column ensures the supply of power to the horizontal data acquisition head and the connectivity of the upper and lower power supply positions during the rotational operation. It realizes external rotation from the overall longitudinal direction while providing internal passages to ensure the power supply connectivity of the upper and lower parts. At the same time, the overall streamlined design meets the stability requirements during flight. When the rotating seat is in rotational operation, it can rotate around the outer wall of the central channel column at the bottom of the fixed circular box body, and achieve stable horizontal rotation by using the drive of the gear ring and the limiting support of the central channel column. At the same time, the limiting support component can provide power supply for the horizontal data acquisition head during the rotation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention.

[0020] Figure 2 It is a side structural schematic diagram of the present invention.

[0021] Figure 3 It is a schematic diagram of the internal structure of the present invention.

[0022] Figure 4 This is one of the internal top view structural diagrams of the present invention.

[0023] Figure 5 This is the second schematic diagram of the internal top view structure of the present invention.

[0024] Figure 6 It is a partial bottom view structural diagram of the present invention. DETAILED DESCRIPTION

[0025] like Figure 1 、 2, 3, 4, 5, and 6, a three-dimensional terrain intelligent mapping tool includes a fuselage 1, wings 2, propellers 4, and a brushless motor 3. The top of the fuselage 1 is a spherical structure, and a rotating motor 17 is fixedly installed at the center position of the fuselage 1. A circular box body 5 is fixedly installed at the center position of the bottom of the fuselage 1. A driving rotating gear 19 is installed at the center position of the circular box body 5. The top of the driving rotating gear 19 is fixedly connected to the output end of the rotating motor 17. Driven gear support frames 20 are evenly arranged on the inner wall of the circular box body 5. A driven gear supporting rotating shaft 31 is installed in the driven gear supporting frame 20. A driven gear 22 meshing with the driving rotating gear 19 is set on the driven gear supporting rotating shaft 31. The outer end of the driven gear 22 extends to the circular box body 5 through a hole opened in the side wall of the circular box body 5. On the outside of the box body 5, a gear ring 6 is mounted on the outside of the driven gear 22 extending to the outside of the circular box body 5. An inner rack meshing with the driven gear 22 is provided on the inner side of the gear ring 6. Longitudinal support guide rods 8 are evenly arranged on the outer wall of the gear ring 6. A rotating seat 9 is fixedly installed below the longitudinal support guide rods 8. The center part of the rotating seat 9 is mounted on the outside of the central channel column 12 fixedly connected to the top and the bottom of the circular box body 5. A horizontal data acquisition rotating cylinder 10 with the top connected to the bottom of the rotating seat 9 is also mounted on the outside of the central channel column 12. A horizontal data acquisition head 11 is installed on the side of the horizontal data acquisition rotating cylinder 10, and a bottom connecting seat 13 with a spherical bottom structure is fixedly installed on the bottom of the central channel column 12. A longitudinal data acquisition head 14 set vertically downward is provided at the bottom center of the bottom connecting seat 13.

[0026] When the present invention is in operation, the fuselage 1 is hovered after reaching a predetermined height position to ensure horizontal stability in the hovering state. The rotation of the rotating motor 17 drives the driving gear connecting block 18 to rotate, and the driving gear connecting block 18 drives the driving rotating gear 19 to rotate. The rotating motor 17 arranged in the fuselage 1 is in the longitudinal center position, and the driving gear connecting block 18 and the driving rotating gear 19 are in the longitudinal center position. The circular box body 5 adopts a smooth annular design. While reducing wind resistance, it provides an internal support structure for the rotating seat during rotation, so that the rotating seat 9 can achieve a stable circular rotation mode. This design can also ensure that the horizontal data acquisition head rotates around the operating structure during the rotation operation, avoiding the shaking of the fuselage caused by irregular annular rotation operation, reducing energy consumption during flight, and reducing the electrical energy required for position stability.

[0027] The fuselage 1 is equipped with a flight controller, an electronic stability controller, a wireless data transceiver module, a Beidou positioning module and a sensor. A rechargeable lithium battery pack 29 is installed in the bottom connecting seat 13. The output end of the flight controller is connected to the brushless motor 3, and the output end of the brushless motor 3 is connected to the rotary motor 17 and the propeller 4. The input end of the flight controller is connected to the wireless data transceiver module, the electronic stability controller, the Beidou positioning module and the sensor. The longitudinal data acquisition head 14 and the horizontal data acquisition head 11 are connected to the wireless data transceiver module through wires. A line setting hole 32 is provided in the center of the central channel column 12, and the top of the line setting hole 32 is connected to the inner cavity of the circular box body 5. A line bundling bracket 21 is fixedly installed on the inner wall of the circular box body 5, and a line bundling hole 30 is opened on the line bundling bracket 21. The top of the line bundling hole 30 is connected to the inner cavity of the fuselage 1.

[0028] The flight controller, electronic stability controller, wireless data transceiver module, Beidou positioning module and sensors provide support for maintaining the hovering level during flight, ensuring that the UAV can fly and hover as required at the preset position and altitude. The design of the line setting hole 32 and the line bundling hole 30 ensures the stable connection and support of the internal lines of the UAV. The UAV is equipped with an active rotating gear 19 and a driven gear 22. Therefore, in order to improve stability, the output line of the rechargeable lithium battery pack 29 needs to be tied and passed through the design to achieve a stable and fixed connection of the line.

[0029] The bottom of the body 1 is provided with a bottom support plate 16. A rotary motor 17 is fixedly mounted above the top of the bottom support plate 16. A mounting hole for the output end of the rotary motor 17 is provided at the center of the bottom support plate 16. The output end of the rotary motor 17 is inserted into the mounting hole. The bottom output end of the rotary motor 17 is disposed within the circular box 5. The bottom output end of the rotary motor 17 is fixedly connected to a driving gear connecting block 18, which is fixedly inserted into the center of the driving rotating gear 19. The circular box 5 is a cylindrical structure with an opening at the top. A circular box bottom baffle 23 is provided at the bottom of the circular box 5. The circular box bottom baffle 23 is connected to the top surface of the central channel column 12. The top of the circular box 5 is fixedly connected to the bottom surface of the body 1. There are four driven gear support brackets 20, which are evenly distributed along the circumference of the circular box 5. There are four driven gears 22, all of which are located within the inner cavity of the circular box 5.

[0030] The installation position of the active rotating gear 19 is located in the longitudinal center position, and the four driven gears 22 are evenly arranged to ensure its stability during flight. The bottom baffle 23 of the circular box body and the bottom support plate 16 cooperate with the bottom connecting seat 13 with a spherical structure at the bottom. During flight, the longitudinal wind can be prevented from entering the fuselage or the interior of the circular box body 5, and the gap between the bottom of the circular box body 5 and the top of the rotating seat 9 is small. The gap between the bottom of the rotating seat 9 and the top of the bottom connecting seat 13 adopts the operating structure of the horizontal data acquisition rotating cylinder 10 to reduce crosswind interference, and at the same time, the bottom connecting seat 13 with a spherical structure at the bottom is adopted to reduce the interference of the bottom upper pressure wind.

[0031] The gear ring 6 is mounted on the outer longitudinal center of the circular box body 5. The inner diameter of the gear ring 6 matches the outer diameter of the circle on which the outer edge of the driven gear 22 is located. There are two longitudinal support guide rods 8, both of which are fixed to the outer wall of the gear ring 6 via guide rod fixing members 7. The rotating seat 9 is a circular sheet-like structure with a diameter equal to the outer diameter of the gear ring 6. The top surface of the rotating seat 9 is located below the circular box body 5. A central channel mounting hole for mounting the central channel column 12 is provided at the center of the rotating seat 9.

[0032] The horizontal data acquisition rotating cylinder 10 and the central portion of the rotating seat 9 are mounted on the outer wall of the central channel column 12 via a rotating conductive support shaft 26. A first conductive limit support slot 25 and a second conductive support slot 24 are formed from top to bottom on the central channel column 12, which is mounted inside the rotating conductive support shaft 26. The first and second conductive limit support slots 25 and 24 respectively house a first sliding conductive terminal 28 and a second sliding conductive terminal 27. These first and second sliding conductive terminals 28 and 27 are connected to the horizontal data acquisition head 11 via wires. A folding bracket 15 is mounted on the side of the bottom connecting seat 13. The bottom of the folding bracket 15, when unfolded, lies below the bottom surface of the vertical data acquisition head 14. There are at least two line bundling brackets 21, and the rechargeable lithium battery pack 29 is electrically connected to the flight controller through wires set in the line setting hole 32 and the line bundling hole 30. The wireless data transceiver module is connected to the horizontal data acquisition head 11 and the vertical data acquisition head 14 through wires set in the line bundling hole 30 and the line setting hole 32. The horizontal data acquisition head 11 is an infrared or laser ranging probe, and the vertical data acquisition head 14 is a ranging camera.

[0033] During rotational operation, the ring gear 6 is stably supported and meshed laterally by four driven gears 22. Its bottom is supported by first and second sliding conductive terminals 28 and 27, respectively, mounted within first and second conductive support slots 25 and 24. The inner sides of the first and second conductive support slots 25 and 24 are connected to wires installed within the circuit arrangement holes 32 via wires for power supply. The first and second sliding conductive terminals 28 and 27 are connected to the terminals of the horizontal data acquisition head 11 via wires. This not only enables stable horizontal rotation of the ring gear 6 and ensures its stability when driving the rotating base 9, but also provides uninterrupted rotational power to the horizontal data acquisition head 11. The horizontal and vertical data acquisition heads 11 and 14 can be replaced according to the specific needs of the surveying and mapping operation.

[0034] Embodiment 1: When the present invention implements three-dimensional terrain intelligent surveying and mapping operations, the flight controller controls the brushless motor 5 and the propeller 7 through the electronic stability controller, the rechargeable lithium battery pack 29, the wireless data transceiver module, the Beidou positioning module, and the sensor, and implements the flight of the fuselage 1 according to user operations or automatic navigation flight commands. During the flight, the fuselage 1 drives the bottom components to fly to a preset position, obtains position information through the Beidou positioning module, and transmits the position information to the three-dimensional terrain mapping terminal through the wireless data transceiver module. When the fuselage 1 is in a horizontally stable state, the longitudinal data acquisition head 14 performs longitudinal three-dimensional shooting of the bottom terrain, and the horizontal data acquisition head 11 performs horizontal scanning and shooting of the horizontal position. During the scanning process of the horizontal data acquisition head 11, the rotating motor 17 is turned on by the flight controller, and the rotating motor 17 drives the active rotating gear 19 to rotate, and the active rotating gear 19 drives the driven gear 22 to rotate. The driven gear 22 drives the ring gear 6 to rotate, and the ring gear 6 drives the rotating base 9 below the longitudinal support guide rod 8 to rotate. Under the support and limiting action of the first sliding conductive terminal 28 and the second sliding conductive terminal 27 and the first conductive limit support groove 25 and the second conductive support groove 24, the rotating base 9 rotates horizontally on the rotating conductive support shaft 26. At the same time, it drives the horizontal data acquisition head 11 to move in a circular motion, performing a scanning operation on the longitudinal terrain at the far end of the horizontal plane of the hovering position of the fuselage 1. The horizontal scanning information and the longitudinal three-dimensional shooting information collected by the longitudinal data acquisition head 14 are transmitted to the three-dimensional terrain mapping terminal through the wireless data transceiver module. The three-dimensional terrain mapping terminal integrates the Beidou positioning information, the horizontal scanning information and the longitudinal three-dimensional shooting information and performs three-dimensional terrain mapping. During the rotation of the rotating base 9, the electronic stability controller uses the flight controller to adjust the stability of the fuselage 1 in real time to ensure the horizontal state of the fuselage 1 when hovering.

[0035] Example 2: Based on the above example, the present invention adopts a vertical lifting operation mode to implement data collection operations on the surrounding longitudinal complex terrain. During specific operation, when the fuselage reaches the preset position, it can adopt a top-down or bottom-up vertical flight mode. During the vertical flight process, unlike the vertex layered collection method of Example 1, the present invention adopts the rotation operation of the rotating seat 9 in the top-down square process, and adopts a spiral scanning and collection method to scan the horizontal position, and cooperates with the data of the longitudinal data collection head 14 to perform three-dimensional terrain mapping.

[0036] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional terrain intelligent mapping tool, comprising a fuselage, wings, propellers, and a brushless motor, characterized by: The top of the fuselage is a spherical structure, a rotating motor is fixedly installed at the center position of the fuselage, a circular box body is fixedly installed at the center position of the bottom of the fuselage, a driving rotating gear is installed at the center position of the circular box body, the top of the driving rotating gear is fixedly connected to the output end of the rotating motor, and driven gear support frames are evenly arranged on the inner wall of the circular box body. A driven gear supporting rotating shaft is installed in the driven gear support frame, and a driven gear meshing with the driving rotating gear is sleeved on the driven gear supporting rotating shaft. The outer end of the driven gear extends to the outside of the circular box body through a hole opened in the side wall of the circular box body. The upper part is provided with a gear ring, and the inner side surface of the gear ring is provided with an inner rack meshing with the driven gear, and longitudinal support guide rods are evenly provided on the outer wall of the gear ring, and a rotating seat is fixedly installed below the longitudinal support guide rods. The center part of the rotating seat is mounted on the outside of the central channel column fixedly connected to the top and the bottom surface of the circular box body, and a horizontal data acquisition rotating cylinder with a top connected to the bottom of the rotating seat is also mounted on the outside of the central channel column. A horizontal data acquisition head is installed on the side of the horizontal data acquisition rotating cylinder, and a bottom connecting seat with a spherical structure at the bottom is fixedly installed at the bottom of the central channel column, and a longitudinal data acquisition head set vertically downward is provided at the bottom center position of the bottom connecting seat.

2. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: The fuselage is equipped with a flight controller, an electronic stability controller, a wireless data transceiver module, a Beidou positioning module and a sensor. A rechargeable lithium battery pack is installed in the bottom connecting seat. The output end of the flight controller is connected to the brushless motor, and the output end of the brushless motor is connected to the rotating motor and the propeller. The input end of the flight controller is connected to the wireless data transceiver module, the electronic stability controller, the Beidou positioning module and the sensor. The longitudinal data acquisition head and the horizontal data acquisition head are connected to the wireless data transceiver module through wires. A line setting hole is provided in the central part of the central channel column, and the top of the line setting hole is connected to the inner cavity of the circular box body. A line bundling bracket is fixedly installed on the inner wall of the circular box body, and the line bundling bracket is provided with a line bundling hole. The top of the line bundling hole is connected to the inner cavity of the fuselage.

3. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: A bottom support plate is provided at the bottom of the fuselage, and the rotating motor is fixedly installed above the top of the bottom support plate. An output end mounting hole of the rotating motor is opened at the center position of the bottom support plate, and the output end of the rotating motor is sleeved in the output end mounting hole. The bottom output end of the rotating motor is provided in the circular box body, and the bottom output end of the rotating motor is fixedly connected to the driving gear connecting block, and the driving gear connecting block is fixedly sleeved in the center position of the driving rotating gear.

4. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: The circular box body is a cylindrical tube structure with an opening at the top. A circular box bottom baffle is provided at the bottom of the circular box body. The circular box bottom baffle is connected to the top surface of the central channel column. The top of the circular box body is fixedly connected to the bottom surface of the fuselage. There are four driven gear support frames, and the four driven gear support frames are evenly distributed in the circumferential direction of the circular box body. There are four driven gears, and the circles of the four driven gears are all located in the inner cavity of the circular box body.

5. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: The gear ring is mounted on the outer longitudinal middle part of the circular box body. The inner diameter of the gear ring matches the outer diameter of the circle where the outer edge of the driven gear is located. There are two longitudinal support guide rods, and both longitudinal support guide rods are fixedly installed on the outer wall of the gear ring through guide rod fixing parts.

6. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: The rotating seat is a circular sheet structure. The diameter of the rotating seat is equal to the outer diameter of the gear ring. The top surface of the rotating seat is located below the circular box body. A center channel through hole for fitting the center channel column is provided at the center position of the rotating seat.

7. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: The middle part of the horizontal data acquisition rotating cylinder and the rotating seat are mounted on the outer wall of the central channel column through a rotating conductive support shaft. The central channel column mounted on the inner side of the rotating conductive support shaft is provided with a first conductive limit support groove and a second conductive support groove from top to bottom. The first conductive limit support groove and the second conductive support groove are respectively equipped with a first sliding conductive terminal and a second sliding conductive terminal. The first sliding conductive terminal and the second sliding conductive terminal are connected to the horizontal data acquisition head through a wire.

8. The three-dimensional terrain intelligent mapping tool according to claim 1, characterized in that: A folding bracket is installed on the side of the bottom connecting seat, and the plane where the bottom of the folding bracket is located after it is unfolded is located below the bottom surface of the longitudinal data acquisition head.

9. The three-dimensional terrain intelligent mapping tool according to claim 2, characterized in that: There are at least two line bundling brackets, and the rechargeable lithium battery pack is electrically connected to the flight controller through wires set in the line setting hole and the line bundling hole. The wireless data transceiver module is connected to the horizontal data acquisition head and the vertical data acquisition head through wires set in the line bundling hole and the line setting hole. The horizontal data acquisition head is an infrared or laser ranging probe, and the vertical data acquisition head is a ranging camera.

10. A 3D terrain intelligent mapping method using the 3D terrain intelligent mapping tool according to any one of claims 1 to 9, characterized in that: The method is: The flight controller controls the brushless motor and propeller through the electronic stability controller, rechargeable lithium battery pack, wireless data transceiver module, Beidou positioning module and sensors, and controls the flight of the fuselage according to user operations or automatic navigation flight commands. During the flight, the fuselage drives the bottom components to fly to the preset position, obtains the position information through the Beidou positioning module, and transmits the position information to the three-dimensional terrain mapping terminal through the wireless data transceiver module. When the fuselage is in a horizontal and stable state, the longitudinal data acquisition head performs longitudinal three-dimensional shooting of the bottom terrain, and the horizontal data acquisition head performs horizontal scanning and shooting of the horizontal position. During the scanning process of the horizontal data acquisition head, the rotating motor is turned on by the flight controller, the rotating motor drives the active rotating gear to rotate, the active rotating gear drives the driven gear to rotate, and the driven gear drives the ring gear to rotate The gear ring drives the rotating seat below the longitudinal support guide rod to rotate. Under the support and limiting action of the first sliding conductive terminal and the second sliding conductive terminal and the first conductive limit support groove and the second conductive support groove, the rotating seat rotates horizontally on the rotating conductive support shaft. While rotating, it drives the horizontal data acquisition head to move in a circular motion to scan the longitudinal terrain at the far end of the horizontal plane of the fuselage hovering position. The horizontal scanning information and the longitudinal three-dimensional shooting information collected by the longitudinal data acquisition head are transmitted to the three-dimensional terrain mapping terminal through the wireless data transceiver module. The three-dimensional terrain mapping terminal integrates the Beidou positioning information, the horizontal scanning information and the longitudinal three-dimensional shooting information and performs three-dimensional terrain mapping. During the rotation of the rotating seat, the electronic stability controller adjusts the stability of the fuselage attitude in real time through the flight controller to ensure the horizontal state of the fuselage when hovering.

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