Surveying system for geological terrain based on three-dimensional modeling

Abstract

The application discloses a geological topography surveying and mapping system based on three-dimensional modeling, and belongs to the field of geological surveying and mapping. The geological topography surveying and mapping system based on three-dimensional modeling can effectively improve the efficiency of staff in collecting the appearance of geological topography, and simultaneously collects high and low air area graphics of the same place, thereby improving the accuracy during surveying and mapping modeling. The main camera arranged at a high position is used to collect high area appearance information, and the auxiliary camera arranged at a low position is used to collect low area appearance information. The information data collected by the two cameras are structured, which is beneficial to constructing a more accurate geological topography three-dimensional model. Meanwhile, the mineral detector is arranged to collect and analyze the surface geological information, so that the geological conditions can be added synchronously when the three-dimensional model is constructed, the diversity of the geological topography model information is improved to a certain extent, and the functionality of the constructed model is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of geological mapping, more particularly, to a geological terrain mapping system based on three-dimensional modeling. BACKGROUND

[0002] Geological terrain mapping refers to the general term of all mapping work involved in geological survey and mineral exploration and the preparation of its result maps, among which, the mapping and collection of geological terrain appearance is usually completed by a camera device.

[0003] In today's technology, due to the rapid development of three-dimensional modeling technology, the combination of three-dimensional modeling operation and geological terrain mapping, by sorting the images collected by the camera device, constructing a three-dimensional model of the geological terrain, makes the geological terrain mapping data visualized, which is convenient for use. However, when photographing and collecting the appearance of the geological terrain, the relevant geological survey personnel usually need to carry and walk between mountains, which is not convenient, resulting in increased labor intensity of the workers and certain danger, and the manual photographing and collecting work is low in efficiency, and due to the limitation of the equipment, the high and low air area graphics of the same place cannot be collected at the same time, which affects the accuracy of the mapping and modeling.

[0004] Therefore, we propose a geological terrain mapping system based on three-dimensional modeling to solve some of the problems existing in the prior art. SUMMARY

[0005] 1. Technical problems to be solved

[0006] In view of the problems existing in the prior art, the purpose of the present application is to provide a geological terrain mapping system based on three-dimensional modeling, which can effectively improve the efficiency of the staff in collecting the appearance of the geological terrain, and at the same time, collect the high and low air area graphics of the same place at the same time, thereby improving the accuracy of the mapping and modeling, collecting high area appearance information by the main camera set at a higher position, and collecting low area appearance information by the auxiliary camera set at a lower position, the information data collected by the two is structured, which is conducive to constructing a more accurate three-dimensional model of the geological terrain, at the same time, by setting a mineral detector to collect and analyze the surface geological information, the geological conditions can be added synchronously when constructing the three-dimensional model, which improves the diversity of the geological terrain model information to a certain extent, and is conducive to improving the functionality of the constructed model when used.

[0007] 2. Technical solutions

[0008] In order to solve the above problems, the present application adopts the following technical solutions.

[0009] A surveying system of geological terrain based on three-dimensional modeling includes the following steps:

[0010] S1, high position appearance collection, through controlling the unmanned aerial vehicle to take off, the main camera installed below the unmanned aerial vehicle is used to collect the appearance information of the geological terrain below from a high position;

[0011] S2, low position appearance collection, through controlling the rotation of the winding roller installed below the unmanned aerial vehicle, the wire rope wound outside the winding roller can be released, and then the lowering shell connected to the lower end of the wire rope is lowered, so that the auxiliary camera installed inside the lowering shell is at a lower position, and the auxiliary camera is used to collect the appearance information of the geological terrain at the ground position;

[0012] S3, geological information collection, through lowering the lowering shell to the ground, the mineral detector installed at the bottom of the lowering shell can be used to analyze and collect the surface information of the geological terrain;

[0013] S4, information summary, the information collected in S1, S2 and S3 is summarized to construct a three-dimensional geological terrain model containing geological information.

[0014] Further, the unmanned aerial vehicle for collecting the appearance information of the geological terrain is also included, the connecting table is installed at the middle position of the bottom of the unmanned aerial vehicle, the adjusting seat is installed at the bottom of the connecting table, the main camera is installed inside the adjusting seat, the storage box is fixedly installed at the back of the bottom of the unmanned aerial vehicle, the winding roller is transversely rotatably connected inside the storage box, the servo motor c is fixedly installed inside the unmanned aerial vehicle, the driving shaft of the servo motor c is in transmission connection with the winding roller, the wire rope is uniformly wound outside the winding roller, the wire rope extends to the outside of the storage box through the wire releasing hole fixedly provided at the middle position of the bottom of the storage box, the connecting head is fixedly connected to the lower end of the wire rope, the lowering shell is rotatably connected to the bottom of the connecting head, the auxiliary camera is fixedly embedded on the outer end wall of the lowering shell, the mineral detector is fixedly installed at the bottom of the lowering shell, the detection end of the mineral detector extends to the outside of the lowering shell, the servo motor d is fixedly installed at the middle position of the top of the lowering shell, and the driving shaft above the servo motor d is fixedly connected with the connecting head.

[0015] Further, the shaft seat is symmetrically fixed to the left and right sides of the front and rear outer end walls of the unmanned aerial vehicle, the support leg is connected to the lower side of the shaft seat and is outwardly inclined, and the rubber roller is rotatably connected to the lower end of the support leg.

[0016] Further, the upper end of the support leg is rotatably connected with the shaft seat, the torsion spring is installed at the rotatable connection between the shaft seat and the support leg, and the two ends of the torsion spring are fixedly connected with the shaft seat and the support leg, respectively.

[0017] Further, the middle position of the unmanned aerial vehicle is fixedly embedded with a vertically arranged electric telescopic rod, and the telescopic end of the electric telescopic rod is arranged below, and the telescopic end of the electric telescopic rod is fixedly connected with the top of the connecting table.

[0018] Further, the middle position of the bottom of the connecting table is fixedly embedded with a servo motor a, and a connecting frame in a "H" type structure is fixedly installed on the drive shaft below the servo motor a, and the main camera is rotatably connected to the inside of the connecting frame, and the two side outer end walls of the connecting frame are symmetrically fixedly provided with servo motors b which are fixedly connected with the drive shaft and the main camera.

[0019] Further, a groove in a spiral structure is formed in the outer end wall of the winding roller, and baffles are fixedly installed on the left and right sides of the outer end wall of the winding roller, and the side close to each other of the two baffles is arranged to be inclined to the winding roller.

[0020] Further, the top of the connecting head is fixedly embedded with a permanent magnet a, and the bottom inner end wall of the storage box is fixedly installed with an electromagnetic slide rail corresponding to the permanent magnet a, and the inside of the electromagnetic slide rail is slidably connected with an electromagnetic slide block, and the top of the electromagnetic slide block is fixedly installed with a permanent magnet b which is magnetically attracted to the permanent magnet a.

[0021] Further, the wire rope is transparent, the inside of the connecting head is fixedly embedded with a laser emitter arranged below the lower end of the wire rope, and the top inner end wall of the storage box is fixedly installed with a laser receiver arranged above the wire releasing hole.

[0022] Further, the left and right inner end walls of the storage box are symmetrically provided with vertically arranged sliding grooves, the left and right ends of the winding roller are movably inserted into the two sliding grooves, the inside of the two sliding grooves are both installed with supporting springs arranged above and below the winding roller, the bottom inner end wall of the storage box is fixedly embedded with a pressure sensor arranged below the baffle, the right outer side of the winding roller is fixedly sleeved with a worm gear, the outer side of the worm gear is meshingly connected with a vertically arranged worm, the right end of the winding roller is rotatably connected with a cooperative frame, the other end of the cooperative frame is rotatably connected with the worm, the inside of the worm is provided with a spline groove, and the inside of the spline groove is movably inserted with a spline rod fixedly connected with the drive shaft of the servo motor c.

[0023] 3. Advantage

[0024] Compared with the prior art, the advantages of the present application are:

[0025] (1) The main camera is arranged at a high position to collect high area appearance information, and the auxiliary camera is arranged at a low position to collect low area appearance information, and the information data collected by the two is structured, which is beneficial to construct a more accurate geological and topographic three-dimensional model. At the same time, the mineral detector is arranged to collect and analyze the surface geological information, so that the geological conditions can be added synchronously when the three-dimensional model is constructed, thereby improving the diversity of the geological and topographic model information to some extent, and the functionality of the constructed model is improved.

[0026] (2) The main camera is lifted to a high position by controlling the unmanned aerial vehicle to take off, so that more extensive appearance information can be collected. The flight of the unmanned aerial vehicle facilitates the device to complete the collection and modeling operation of complex geological and topographic appearance, and improves the wide applicability of the device. At the same time, the wire is wound on the rotatable winding roller, and the lowering shell provided with the auxiliary camera and the mineral detector is connected to the lower end of the wire. The servo motor c and the wire can be lowered to a lower area or even the ground by releasing the wire by the winding roller, so that the photographing and collecting in the lower area and the geological information data analysis operation can be conveniently completed. The multiple structures improve the efficient convenience of geological data collection and modeling.

[0027] (3) The supporting legs are inclinedly arranged below the shaft seat, and the supporting legs are supported by the four outwardly inclined supporting legs, so that the supporting stability of the device can be effectively improved. At the same time, the rubber roller is rotatably connected to the bottom of the supporting leg, so that the supporting leg can provide certain elastic buffer for the supporting leg. At the same time, the rubber roller can also realize the reduction of the falling impact force when landing, so that the landing stability of the device is improved to some extent.

[0028] (4) The supporting leg is rotatably connected in the shaft seat, and the supporting leg is elastically rotated relative to the shaft seat by the torsional spring, so that the landing buffer performance of the device can be further improved by the elastic support of the torsional spring and the rotation of the supporting leg when the device lands, and the internal parts of the device can be protected when the device lands.

[0029] (5) The electric telescopic rod is arranged at the middle position of the unmanned aerial vehicle, and the main camera can be lowered by the extension of the telescopic end of the electric telescopic rod when the device takes off, so that the main camera is away from the unmanned aerial vehicle, which is beneficial to avoid the occlusion of the unmanned aerial vehicle and the storage box arranged at the lower end to the photographing of the main camera, and the photographing effect of the device is guaranteed to some extent.

[0030] (6) The main camera is adjusted in the up-down direction by the servo motor b installed on the left and right sides of the connecting frame, and the two cooperate with each other to effectively improve the shooting flexibility of the device. The two servo motors b are symmetrically arranged on the left and right sides of the connecting frame to provide power support for the rotation of the main camera in the up-down direction, balance the rotation of the main camera in the up-down direction, and help ensure the stability of the main camera during rotation and shooting.

[0031] (7) The groove in the spiral structure is arranged on the outer end wall of the winding roller, which can guide the winding of the wire rope and help ensure the stability of the winding of the wire rope. At the same time, the two baffles are fixedly installed on the left and right sides of the outer end wall of the winding roller, which can guide and limit the winding range of the wire rope, and further improve the stability of the winding of the wire rope on the outer side of the winding roller.

[0032] (8) The permanent magnet a is fixedly embedded in the top of the connecting head, and the movable permanent magnet b is arranged on the inner end wall of the bottom of the storage box. The magnetic attraction between the permanent magnet b and the permanent magnet a, and the alignment and separation of the permanent magnet b and the permanent magnet a can flexibly control the locking and unlocking of the connecting head, and to a certain extent, ensure the structural stability of the connecting head.

[0033] (9) The wire rope is transparent, which can avoid blocking the shooting of the main camera, and help ensure the stability of the device. At the same time, the laser emitter is installed at the lower end of the wire rope, and the laser receiver is installed directly above the wire hole, so that the receiving condition of the infrared laser beam emitted by the laser emitter can be determined by the laser receiver, and the safety of the device can be improved.

[0034] (10) The two ends of the winding roller are slidably inserted into the sliding grooves formed on the inner end walls of the left and right sides of the storage box, and are elastically connected by the supporting spring. The state of the wire rope can be reflected by the up-down movement of the winding roller, and the activity state of the winding roller can be monitored in real time by the pressure sensor installed below the baffle, which helps the device to perform related operation transformation in time, improves the operation flexibility of the device to a certain extent, and at the same time, the worm gear arranged at the right end of the winding roller is engaged with the wire hole, and the worm is slidably sleeved on the outer side of the vertical spline shaft connected to the driving end of the servo motor c, which helps to ensure the stability of power transmission during the up-down movement of the winding roller, and to a certain extent, ensures the working stability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a structural diagram of the unmanned aerial vehicle of the present application;

[0036] Figure 2 It is Figure 1 front view;

[0037] Figure 3 is a side sectional view of Figure 1

[0038] Figure 4 is a side view of Figure 1

[0039] Figure 5 is a sectional view of Figure 4

[0040] Figure 6 is a structural schematic view of Figure 5

[0041] Figure 7 is a sectional view of Figure 4

[0042] Figure 8 is a structural schematic view of Figure 7

[0043] Figure 9 is a structural schematic view of the connecting table and the electric telescopic rod of the application;

[0044] Figure 10 is a structural schematic view of the inside of the storage box of the application.

[0045] Explanation of the reference numerals in the drawings:

[0046] 1, unmanned aerial vehicle; 101, shaft seat; 102, supporting leg; 103, rubber roller; 2, connecting table; 201, electric telescopic rod; 3, adjusting seat; 301, servo motor a; 302, connecting frame; 303, servo motor b; 4, main camera; 5, storage box; 501, winding roller; 502, servo motor c; 503, wire rope; 504, wire releasing hole; 505, groove; 506, baffle; 6, connecting head; 601, lower releasing shell; 602, auxiliary camera; 603, mineral detector; 604, servo motor d; 605, permanent magnet a; 606, electromagnetic sliding rail; 607, electromagnetic sliding block; 608, permanent magnet b; 7, laser emitter; 701, laser receiver; 8, sliding chute; 801, supporting spring; 802, pressure sensor; 803, worm gear; 804, worm; 805, cooperative frame; 806, spline rod. DETAILED DESCRIPTION

[0047] ​​​​​​With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described in the description of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative effort based on the embodiments of the present application shall fall within the protection scope of the present application.

[0048] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] Embodiment 1:

[0051] Please refer to Figures 1-10 , the surveying and mapping system based on three-dimensional modeling of geological terrain, comprising the following steps:

[0052] S1, high position appearance collection, by controlling the unmanned aerial vehicle 1 to take off, the main camera 4 installed below the unmanned aerial vehicle 1 is used to collect the appearance information of the geological terrain from a high position;

[0053] S2, low position appearance collection, by controlling the winding roller 501 installed below the unmanned aerial vehicle 1 to rotate, the wire rope 503 wound outside can be released, and then the lowering shell 601 connected to the lower end of the wire rope 503 is lowered, so that the auxiliary camera 602 installed inside the lowering shell 601 is at a lower position, and the auxiliary camera 602 is used to collect the appearance information of the geological terrain at the ground position;

[0054] S3, geological information collection, by lowering the lowering shell 601 to the ground, the mineral detector 603 installed at the bottom of the lowering shell 601 can analyze and collect the information of the geological surface;

[0055] S4, information collection, the information collected in S1, S2 and S3 is summarized, and a three-dimensional geological terrain model containing geological information is constructed.

[0056] When the surveying and mapping system is used for surveying and mapping modeling of geological terrain, the high area appearance information is collected by the main camera 4 arranged at a high position, and the low area appearance information is collected by the auxiliary camera 602 arranged at a low position. The information data collected by the two is structured, which is conducive to constructing a more accurate three-dimensional geological terrain model. At the same time, the mineral detector 603 is arranged to collect and analyze the surface geological information, so that the geological conditions can be added synchronously when constructing the three-dimensional model, which improves the diversity of the geological terrain model information to a certain extent, and is conducive to improving the functionality of the constructed model when used.

[0057] Please refer to Figure 1 and Figure 5 , also includes a unmanned aerial vehicle 1 for collecting geological terrain appearance information, the unmanned aerial vehicle 1 is installed in the middle position of the bottom of the connecting table 2, and the adjusting seat 3 is installed at the bottom of the connecting table 2, the main camera 4 is installed in the adjusting seat 3, the storage box 5 is fixedly installed at the bottom of the unmanned aerial vehicle 1, and the wire roller 501 is transversely connected in the storage box 5, the servo motor c 502 is fixedly installed in the unmanned aerial vehicle 1, and the driving shaft of the servo motor c 502 is in transmission connection with the wire roller 501, the wire 503 is uniformly wound outside the wire roller 501, the wire 503 extends to the outside of the storage box 5 through the wire hole 504 fixedly provided in the middle position of the bottom of the storage box 5, the lower end of the wire 503 is fixedly connected with the connecting head 6, and the lower end of the connecting head 6 is rotatably connected with the lower shell 601, the auxiliary camera 602 is fixedly embedded on the outer end wall of the lower shell 601, the mineral detector 603 is fixedly installed at the bottom of the lower shell 601, and the detection end of the mineral detector 603 extends to the outside of the lower shell 601, the servo motor d 604 is fixedly installed at the top of the lower shell 601, and the driving shaft above the servo motor d 604 is fixedly connected with the connecting head 6.

[0058] When the device is working, the unmanned aerial vehicle 1 is in high altitude after taking off, and the main camera 4 is controlled to shoot and collect. When the region needs to be shot and collected and analyzed, the staff controls the servo motor c502 installed in the unmanned aerial vehicle 1 to start, drives the winding roller 501 connected with the driving shaft to rotate, releases the wire rope 503 wound outside the winding roller 501, and the connecting head 6 connected with the lower end of the wire rope 503 is affected by gravity and falls down, and the connecting head 6 is continuously pulled down by the wire rope 503 to a lower area. At this time, the auxiliary camera 602 installed in the lower drop shell 601 below the connecting head 6 shoots and collects the information of the low area. The staff can control the servo motor d604 fixedly embedded on the upper end of the drop shell 601 to drive the drop shell 601 to rotate relative to the connecting head 6, so as to control the auxiliary camera 602 to rotate and shoot. The drop shell 601 is continuously lowered, so that the detection end of the mineral detector 603 installed at the bottom of the drop shell 601 is attached to the ground, and the ground geological information is sampled and analyzed by the mineral detector 603. The drop shell 601 is internally provided with a battery module which can independently supply power to the auxiliary camera 602, the mineral detector 603 and the servo motor d604. The drop shell 601 is internally provided with a signal transmission module, and the auxiliary camera 602, the mineral detector 603 and the servo motor d604 are connected to the signal transmission module inside the unmanned aerial vehicle 1.

[0059] By controlling the unmanned aerial vehicle 1 to take off, the main camera 4 installed below the unmanned aerial vehicle 1 is lifted to a high position, so that more extensive information can be shot and collected. With the flight of the unmanned aerial vehicle 1, the device can complete the collection and modeling of complex geological terrain, improve the applicability of the device, and at the same time, by winding the wire rope 503 on the rotatable winding roller 501 and connecting the drop shell 601 provided with the auxiliary camera 602 and the mineral detector 603 to the lower end of the wire rope 503, the servo motor c502 and the wire rope 503 can be lowered to a lower area or even the ground by releasing the wire rope 503 by the winding roller 501, which is convenient for shooting and collecting in the lower area and analyzing geological information data. Through the multiple structures, the efficiency and convenience of geological data collection and modeling are improved.

[0060] Please refer to Figure 4The left and right sides of the front and rear outer end walls of the unmanned aerial vehicle 1 are symmetrically fixed with shaft seats 101, and the lower part of the shaft seat 101 is connected with a support leg 102 which is outwardly inclined, and the lower end of the support leg 102 is rotatably connected with a rubber roller 103. When the device is working, the support leg 102 is inclinedly installed below the shaft seat 101, and the support of the four outwardly inclined support legs 102 can effectively improve the support stability of the device. At the same time, the rubber roller 103 is rotatably connected at the bottom of the support leg 102, which can provide certain elastic buffer for the support of the support leg 102. At the same time, the falling impact force can be reduced by the rolling of the rubber roller 103 when landing, which improves the landing stability of the device to a certain extent.

[0061] The upper end of the support leg 102 is rotatably connected with the shaft seat 101, and a torsion spring is installed at the rotatable connection between the shaft seat 101 and the support leg 102. The two ends of the torsion spring are fixedly connected with the shaft seat 101 and the support leg 102 respectively. When the device is working, a limiting block is installed inside the shaft seat 101 to limit the rotation angle of the support leg 102. The limiting block limits the deflection of the support leg 102 relative to the shaft seat 101 to only 0-15°. The support leg 102 is rotatably connected inside the shaft seat 101, and the elastic rotation of the support leg 102 relative to the shaft seat 101 is facilitated by the torsion spring. This is beneficial to further improve the landing buffer performance of the device by the elastic support of the torsion spring and the rotation of the support leg 102 when the device lands, and is beneficial to protecting the internal parts of the device when it lands.

[0062] Please refer to Figure 3 The middle position of the unmanned aerial vehicle 1 is fixedly embedded with a vertically arranged electric telescopic rod 201, and the telescopic end of the electric telescopic rod 201 is arranged below. The telescopic end of the electric telescopic rod 201 is fixedly connected with the top of the connecting table 2. When the device is working, the electric telescopic rod 201 is installed at the middle position of the unmanned aerial vehicle 1, and the extension of the telescopic end of the electric telescopic rod 201 can drive the main camera 4 to move downward when the device takes off, so that the main camera 4 is away from the unmanned aerial vehicle 1, which is beneficial to avoid the obstruction of the unmanned aerial vehicle 1 and the storage box 5 installed at the lower end to the shooting of the main camera 4, and to a certain extent, the shooting effect of the device is guaranteed.

[0063] Please refer to Figure 2 and Figure 9The servo motor a301 is fixedly embedded in the middle position of the bottom of the connecting table 2, and the connecting frame 302 in the shape of a "n" is fixedly installed on the driving shaft below the servo motor a301, the main camera 4 is rotatably connected to the inside of the connecting frame 302, and the servo motor b303 for fixing the driving shaft and the main camera 4 is symmetrically fixed on the outer end walls on both sides of the connecting frame 302. When the device works, the servo motor a301 fixedly installed on the bottom of the connecting table 2 can adjust the main camera 4 in the left-right direction, and the servo motor b303 fixedly installed on the left and right sides of the connecting frame 302 can adjust the main camera 4 in the up-down direction. The two cooperate with each other to effectively improve the shooting flexibility of the device. The two servo motors b303 symmetrically arranged on the left and right sides of the connecting frame 302 provide power support for the rotation of the main camera 4 in the up-down direction, can balance the rotation of the main camera 4 in the up-down direction, and is beneficial to guarantee the stability of the rotation of the main camera 4.

[0064] Please refer to Figure 8 The outer end wall of the winding roller 501 is provided with a groove 505 in the shape of a spiral, and the outer end wall of the winding roller 501 is fixedly installed with baffles 506 on the left and right sides. The side close to each other of the two baffles 506 is provided in the form of an inclined structure towards the winding roller 501. When the device works, the inner layer of the wire rope 503 is wound along the groove 505 in the shape of a spiral during winding on the outer side of the winding roller 501. By opening the groove 505 in the shape of a spiral on the outer end wall of the winding roller 501, the wire rope 503 can be guided during winding, which is beneficial to guarantee the stability of the winding of the wire rope 503. At the same time, by fixing the two baffles 506 on the left and right sides of the outer end wall of the winding roller 501 respectively, the winding range of the wire rope 503 can be guided and limited, further improving the stability of the winding of the wire rope 503 on the outer side of the winding roller 501.

[0065] Please refer to Figure 6The top of the connecting head 6 is fixedly embedded with a permanent magnet a605, the inner end wall of the bottom of the storage box 5 is fixedly installed with an electromagnetic slide rail 606 which is correspondingly arranged with the permanent magnet a605, the inside of the electromagnetic slide rail 606 is slidably connected with an electromagnetic slide block 607, the top of the electromagnetic slide block 607 is fixedly installed with a permanent magnet b608 which is magnetically attracted to the permanent magnet a605, when the device works, if the position of the connecting head 6 needs to be fixed, the electromagnetic slide rail 606 installed on the inner end wall of the bottom of the storage box 5 is powered on to drive the electromagnetic slide block 607 to move to the top of the permanent magnet a605, then the permanent magnet b608 on the top of the electromagnetic slide block 607 is strongly magnetically attracted to the permanent magnet a605 to fix the position of the connecting head 6, avoiding the connecting head 6 from being loosened at will at the bottom of the storage box 5, if the connecting head 6 needs to be lowered, only need to control the electromagnetic slide block 607 to move away from the top of the permanent magnet a605 by the electromagnetic slide rail 606, so that the permanent magnet b608 is separated from the permanent magnet a605, the magnetic attraction between the two disappears, then the connecting head 6 can be normally lowered, by fixing the permanent magnet a605 to be embedded on the top of the connecting head 6 and arranging the movable permanent magnet b608 on the inner end wall of the bottom of the storage box 5, by means of the magnetic attraction between the permanent magnet b608 and the permanent magnet a605 and the alignment and separation of the permanent magnet b608 and the permanent magnet a605, the locking and unlocking of the connecting head 6 can be flexibly controlled, which guarantees the structural stability of the connecting head 6 to a certain extent.

[0066] Please refer to Figures 5-6The line rope 503 is transparent, the inside of the connecting head 6 is fixedly embedded with the laser emitter 7 arranged below the lower end of the line rope 503, and the top inner end wall of the storage box 5 is fixedly installed with the laser receiver 701 arranged above the pay-off hole 504. When the device works, the laser emitter 7 installed at the lower end of the line rope 503 is powered on to emit vertical infrared laser beams upward along the transparent line rope 503. The power supply of the laser emitter 7 comes from the battery module installed inside the lower shell 601. The laser receiver 701 installed on the top inner end wall of the storage box 5 can receive the infrared laser beams. When the laser receiver 701 detects that the infrared light emitted by the laser emitter 7 is interrupted during the flight of the device, it indicates that the line rope 503 touches foreign matter during the flight. The infrared laser beam is interrupted by the shielding of foreign matter. Then the laser receiver 701 sends a signal to the related control unit inside the unmanned aerial vehicle 1 to remind the device to flexibly face unexpected situations. By setting the line rope 503 to be transparent, the shooting of the main camera 4 can be avoided, which is beneficial to ensure the stability of the device. At the same time, by installing the laser emitter 7 at the lower end of the line rope 503 and the laser receiver 701 above the pay-off hole 504, the receiving condition of the infrared laser beams emitted by the laser emitter 7 can be determined by the laser receiver 701 to determine whether the line rope 503 collides with foreign matter, which is beneficial to improve the safety of the device.

[0067] Please refer to Figure 7 , Figure 8 and Figure 10 , the inner end walls on the left and right sides of the storage box 5 are symmetrically provided with vertically arranged sliding grooves 8, the left and right ends of the winding roller 501 are movably inserted into the two sliding grooves 8, the inside of the two sliding grooves 8 is installed with the supporting spring 801 arranged on the upper and lower sides of the winding roller 501, the bottom inner end wall of the storage box 5 is fixedly embedded with the pressure sensor 802 arranged below the baffle 506, the outer side of the right end of the winding roller 501 is fixedly sleeved with the worm gear 803, the outer side of the worm gear 803 is engaged with the vertically arranged worm 804, the right end of the winding roller 501 is rotatably connected with the cooperative frame 805, the other end of the cooperative frame 805 is rotatably connected with the worm 804, the inside of the worm 804 is provided with a spline groove, and the spline groove is movably inserted with the spline rod 806 fixedly connected with the driving shaft of the servo motor c502.

[0068] When the device is working, the pressure sensor 802 installed on the inner end wall of the bottom of the storage box 5 can detect the downward pressure of the baffle 506 above it. By sliding the left and right ends of the winding roller 501 into the sliding grooves 8 opened on the inner end walls of the left and right sides of the storage box 5, and by means of the elastic connection of the supporting springs 801, the winding roller 501 will produce slight changes in position in the up-down direction when the downward gravity of the wire rope 503 wound on the outer side of the winding roller 501 changes during normal rotation. Then, the pressure sensor 802 detects the pressure change in real time.

[0069] When the wire rope 503 is collided by foreign matter during release, the upward pulling force on the wire rope 503 increases under the blockage of the foreign matter, prompting the wire rope 503 to drive the winding roller 501 to move downward. The pressure sensor 802 installed below the baffle 506 detects the signal of increased pressure and transmits it to the relevant control unit inside the unmanned aerial vehicle 1 for processing. When the connecting head 6 connected to the lower end of the wire rope 503 and the lowering shell 601 land, the downward influence of the connecting head 6 and the lowering shell 601 is lost, and the winding roller 501 is moved upward by the elastic support of the supporting spring 801 below it. The pressure sensor 802 detects a decrease in pressure, thereby determining that the bottom of the lowering shell 601 has contacted the ground, so as to timely control the start of the mineral detector 603. After the servo motor c502 is powered on, it can drive the spline shaft 806 fixedly connected to the driving shaft to rotate, thereby driving the worm 804 sleeved on the outer side of the spline shaft 806 to rotate. Through the tooth engagement of the worm 804 and the worm gear 803, the winding roller 501 is driven to rotate. The worm 804 can slide up and down along the spline shaft 806, thereby avoiding the influence of the upward and downward movement of the winding roller 501 on the transmission between the servo motor c502 and the winding roller 501.

[0070] By sliding the two ends of the winding roller 501 into the sliding grooves 8 opened on the inner end walls of the left and right sides of the storage box 5, and by means of the elastic connection of the supporting springs 801, the state of the wire rope 503 can be reflected by the upward and downward movement of the winding roller 501, and the activity state of the winding roller 501 can be monitored in real time by the pressure sensor 802 installed below the baffle 506. This is conducive to the timely operation of the device and improves the operation flexibility of the device to a certain extent. At the same time, by engaging the worm gear 803 arranged at the right end of the winding roller 501 with the pay-off hole 504, and sliding the worm 804 outside the spline shaft 806 vertically connected to the driving end of the servo motor c502, the stability of power transmission during the upward and downward movement of the winding roller 501 can be ensured, thereby ensuring the working stability of the device to a certain extent.

[0071] The above merely describes the preferred embodiments of the present application; however, the protection scope of the present application is not limited thereto. Any person skilled in the art, according to the technical solution of the present application and the improved concept thereof, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A mapping system for a geological terrain based on three-dimensional modeling, characterized in that, Comprise the following steps: S1, high position appearance collection, through the control unmanned aerial vehicle (1) take off, with the help of unmanned aerial vehicle (1) below the installation of main camera (4) from high position to the appearance information of the below geology and topography camera collection; S2, low position appearance collection, through the control installation in unmanned aerial vehicle (1) below the winding roller (501) rotation, can release operation to the wire (503) winding on the outside, further to the lower shell (601) connected to the wire (503) lower end down operation, so that the auxiliary camera (602) installed in the lower shell (601) is in a lower position, with the help of auxiliary camera (602) to the geological information of the ground position appearance camera collection; S3, geological information collection, by lowering the shell (601) to the ground, with the help of the mineral detector (603) installed at the bottom of the shell (601), the geological surface information can be analyzed and collected; S4, information summary, the information collected in S1, S2 and S3 is summarized, and a three-dimensional geological and topographic model containing geological information is constructed; The bottom of the unmanned aerial vehicle (1) is fixedly installed with a storage box (5), and the inside of the storage box (5) is transversely rotatably connected with a winding roller (501). The outer side of the winding roller (501) is uniformly wound with a wire (503), the lower end of the wire (503) extends to the outside of the storage box (5) through a wire hole (504), the lower end of the wire (503) is fixedly connected with a connector (6), the wire (503) is transparent, the inside of the connector (6) is fixedly embedded with a laser emitter (7) arranged below the lower end of the wire (503), and the top inner end wall of the storage box (5) is fixedly installed with a laser receiver (701) arranged above the wire hole (504). The top of the connecting head (6) is fixedly embedded with a permanent magnet a (605), the bottom inner end wall of the storage box (5) is fixedly installed with an electromagnetic slide rail (606) arranged correspondingly with the permanent magnet a (605), the inside of the electromagnetic slide rail (606) is slidably connected with an electromagnetic slide block (607), the top of the electromagnetic slide block (607) is fixedly installed with a permanent magnet b (608) magnetically attracted to the permanent magnet a (605), the left and right inner end walls of the storage box (5) are symmetrically provided with vertically arranged slide grooves (8), the left and right ends of the winding roller (501) are movably inserted into the two slide grooves (8) respectively, the inside of the two slide grooves (8) are both installed with supporting springs (801) arranged on the upper and lower sides of the winding roller (501), the bottom inner end wall of the storage box (5) is fixedly embedded with a pressure sensor (802) arranged just below the baffle (506), the right outer side of the winding roller (501) is fixedly sleeved with a worm gear (803), the outside of the worm gear (803) is meshingly connected with a vertically arranged worm (804), the right end of the winding roller (501) is rotatably connected with a cooperative frame (805), the other end of the cooperative frame (805) is rotatably connected with the worm (804), the inside of the worm (804) is provided with a spline groove, and the inside of the spline groove is movably inserted with a spline rod (806) fixedly connected with the driving shaft of the servo motor c (502).

2. The three-dimensional modeling-based geological terrain mapping system of claim 1, wherein: Further comprising a unmanned aerial vehicle (1) for collecting geological terrain information, a connecting table (2) is installed at the bottom middle position of the unmanned aerial vehicle (1), and an adjusting seat (3) is installed at the bottom of the connecting table (2), a main camera (4) is installed in the adjusting seat (3), a servo motor c (502) is fixedly installed in the unmanned aerial vehicle (1), and the driving shaft of the servo motor c (502) is in transmission connection with the winding roller (501), a paying-off hole (504) is fixedly provided at the bottom middle position of the storage box (5), and a lower paying-off shell (601) is rotatably connected to the bottom of the connecting head (6), an auxiliary camera (602) is fixedly embedded on the outer end wall of the lower paying-off shell (601), a mineral detector (603) is fixedly installed at the bottom of the lower paying-off shell (601), and the detection end of the mineral detector (603) extends to the outside of the lower paying-off shell (601), a servo motor d (604) is fixedly installed at the top middle position of the lower paying-off shell (601), and the driving shaft above the servo motor d (604) is fixedly connected with the connecting head (6).

3. The three-dimensional modeling-based geological terrain mapping system of claim 2, wherein: The left and right sides of the front and rear outer end walls of the unmanned aerial vehicle (1) are symmetrically fixed with shaft seats (101), and the lower parts of the shaft seats (101) are connected with outwardly inclined support legs (102), and the lower ends of the support legs (102) are rotatably connected with rubber rollers (103).

4. The three-dimensional modeling-based geological terrain mapping system of claim 3, wherein: The upper end of the support leg (102) is rotatably connected with the shaft seat (101), a torsion spring is installed at the rotatable connection between the shaft seat (101) and the support leg (102), and the two ends of the torsion spring are fixedly connected with the shaft seat (101) and the support leg (102) respectively.

5. The three-dimensional modeling-based geological terrain mapping system of claim 2, wherein: The unmanned plane (1) is fixedly embedded with a vertically arranged electric telescopic rod (201) at the middle position, and the telescopic end of the electric telescopic rod (201) is arranged below, and the telescopic end of the electric telescopic rod (201) is fixedly connected with the top of the connecting table (2).

6. The three-dimensional modeling-based geological terrain mapping system of claim 2, wherein: The bottom of the connecting table (2) is fixedly embedded with a servo motor a (301) at the middle position, and a connecting frame (302) in the shape of a "n" is fixedly installed on the drive shaft below the servo motor a (301), the main camera (4) is rotatably connected in the connecting frame (302), and the two side outer end walls of the connecting frame (302) are symmetrically fixed with servo motors b (303) which are fixedly connected with the drive shaft and the main camera (4).

7. The three-dimensional modeling-based geological terrain mapping system of claim 2, wherein: The outer end wall of the winding roller (501) is provided with a groove (505) in the shape of a spiral, the outer end wall of the winding roller (501) is fixedly installed with baffle plates (506) on the left and right sides, and the side close to each other of the two baffle plates (506) is arranged to be inclined to the winding roller (501).

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