Remote sensing surveying and mapping positioning device and method

Abstract

The invention relates to the technical field of remote sensing surveying and mapping devices, and provides a remote sensing surveying and mapping positioning device and method.The remote sensing surveying and mapping positioning device comprises an unmanned aerial vehicle frame which comprises an offset track, a deflection mechanism, a cleaning mechanism and a protection mechanism, the offset track is fixedly arranged on a surveying and mapping platform, and a camera is rotationally arranged on the offset track; the camera is provided with a lens frame, the deflection mechanism is used for driving the camera to move, the cleaning mechanism is arranged on the side of the deflection mechanism, the cleaning mechanism is detachably connected with the camera and used for cleaning a lens, and the protection mechanism is fixedly arranged on the surveying and mapping platform and arranged on the side of the cleaning mechanism. The protection mechanism is detachably connected with the camera, a protection frame assembly is detachably arranged in the protection mechanism, and by means of the technical scheme, the problem that in the prior art, a remote sensing lens on an unmanned aerial vehicle for surveying and mapping in extreme weather may not be subjected to surveying and mapping due to damage and dirt is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing mapping devices, and in particular to a remote sensing mapping and positioning device and method. Background Art

[0002] Remote sensing ecological camera is a high-tech device that uses remote sensing technology to monitor the ecological environment. This device usually includes a variety of sensors such as hyperspectral imagers, multispectral imagers, infrared thermal imagers, lidar, etc., which can monitor and collect data on the surface in multiple dimensions. The application scope of remote sensing ecological camera is very wide, including but not limited to ecological environment monitoring, agriculture, forestry resource survey, environmental protection, disaster assessment and other fields. Some remote sensing camera devices can be installed on drones to monitor the ground in all directions in the air.

[0003] When weather or ground environment observations are required in some extreme weather conditions, remote sensing and mapping drones will be needed to carry out mapping work. In extreme weather conditions, the wind speed is generally fast, and there may be impurities such as sand and dust flying in the air. The remote sensing ecological camera installed on the drone detects the ground while flying in the air, with the lens facing downward. When encountering strong winds or rain at high altitudes, dust or rain will dirty the lens, and the stains on the lens are difficult to clean, which will affect the mapping work at the time. At the same time, flying sand and gravel in the air may damage the lens. In order to ensure that the mapping lens on the drone performing remote sensing mapping in extreme weather will not be affected by the weather and cannot work, and the lens will not be damaged. Summary of the invention

[0004] The present invention provides a remote sensing mapping and positioning device and method, which solves the problem in the related art that the remote sensing lens on a UAV for mapping in extreme weather may be unable to perform mapping due to damage and dirt.

[0005] The technical solution of the present invention is as follows: A remote sensing mapping and positioning device comprises an unmanned aerial vehicle frame, a mapping platform is arranged at the bottom of the unmanned aerial vehicle frame, and also comprises an offset track, a deflection mechanism, a cleaning mechanism and a protection mechanism, wherein the offset track is fixedly arranged on the mapping platform, the deflection mechanism is arranged on the mapping platform, the offset track is slidably connected with the offset track, a camera is rotatably arranged on the offset track, a lens frame is arranged on the camera, a lens is arranged in the lens frame, the deflection mechanism is used to drive the camera to move, the cleaning mechanism is fixedly arranged on the mapping platform, the cleaning mechanism is arranged on the side of the deflection mechanism, the cleaning mechanism is detachably connected with the camera, the cleaning mechanism is used to clean the lens, and the protective mechanism is used to clean the lens. The protection mechanism is fixedly arranged on the surveying and mapping platform, the protection mechanism is arranged on the side of the cleaning mechanism, the protection mechanism is detachably connected to the camera, a protection frame assembly is detachably arranged in the protection mechanism, the protection frame assembly is detachably connected to the lens frame, the protection mechanism is used to detachably arrange the protection frame assembly on the lens frame, the deflection mechanism includes a driving cylinder three, a slide, an arm one and an arm two, the driving cylinder three is fixedly arranged on the surveying and mapping platform, the slide is slidably arranged on the offset track, the output end of the driving cylinder three is connected to the slide, the arm one is rotatably connected to the slide, the arm two is rotatably connected to the arm one, and the camera is rotatably arranged on the arm two.

[0006] The cleaning mechanism includes a cleaning frame, a wiping assembly, an air pump and a driving assembly. The cleaning frame is fixedly arranged on the surveying and mapping platform. Through holes are provided on the lower side of the cleaning frame and on the side close to the deflection mechanism. The wiping assembly is rotatably arranged in the cleaning frame. The wiping assembly is in contact with the lens. The wiping assembly is used to wipe and clean the lens. The air pump is fixedly connected to the cleaning frame. The air delivery pipe of the air pump is rotatably connected to the wiping assembly. The driving assembly is arranged in the cleaning frame. The driving assembly is used to drive the wiping assembly to rotate. The driving assembly includes a motor 1 and a gear 2. The motor 1 is fixedly arranged in the cleaning frame. The output end of the motor 1 is provided with a gear 1. The gear 2 is sleeved on the wiping assembly, and the gear 2 is meshed with the gear 1.

[0007] The wiping assembly includes a cleaning cylinder, a cleaning nozzle, an air-drying nozzle, a wiping block and an air duct, the cleaning cylinder being rotatably arranged in the cleaning frame, the second gear set being arranged on the cleaning cylinder, the side of the cleaning cylinder close to the deflection mechanism being aligned with the opening on the side of the cleaning frame, the cleaning nozzle being arranged on the side of the cleaning cylinder close to the deflection mechanism, the air-drying nozzle being arranged on the side of the cleaning cylinder close to the deflection mechanism, the wiping block being fixedly arranged on the side of the cleaning cylinder close to the deflection mechanism, the wiping block being arranged between the cleaning nozzle and the air-drying nozzle, the air duct being fixedly arranged in the cleaning cylinder, the air duct being arranged in a Y-shape, the air duct being rotatably connected to the air supply pipe of the air pump, and the other two ends of the air duct being respectively connected to the cleaning nozzle and the air-drying nozzle.

[0008] The cleaning cylinder is provided with a spray bin, in which an atomizing nozzle is arranged, and the atomizing nozzle is communicated with the cleaning nozzle. A cleaning liquid bottle is detachably arranged in the spray bin, and the cleaning liquid bottle is detachably connected to the atomizing nozzle. A driving cylinder 1 is fixedly arranged on a side of the spray bin away from the atomizing nozzle, and an output end of the driving cylinder 1 is in contact with the cleaning liquid bottle. The spray bin corresponds to the through hole below the cleaning frame.

[0009] The protection mechanism includes a docking frame and a splicing assembly. The docking frame is fixedly arranged on the surveying and mapping platform. Two splicing assemblies are provided. The two splicing assemblies are respectively arranged on both sides of the docking frame. The splicing assembly is arranged on one side of the docking frame close to the deflection mechanism. The splicing assembly is used to drive the protection frame assembly to connect with the lens frame.

[0010] The splicing assembly includes a docking track, a second driving cylinder and a docking clamp, wherein the docking track is fixedly arranged on the docking frame, and the docking track is detachably connected to the protection frame assembly, the second driving cylinder is fixedly arranged on the docking frame, and the second driving cylinder is arranged on the side of the docking track, and the docking clamp is fixedly arranged on the output end of the second driving cylinder, and the docking clamp is detachably connected to the protection frame assembly.

[0011] The protective frame assembly includes a lens cover 1, a lens cover 2, a docking groove and a shielding leaf. The lens cover 1 is detachably connected to one of the splicing assemblies. The lens cover 1 is provided with a lens. The lens cover 2 is detachably connected to the other splicing assembly. The lens cover 1 is detachably connected to the lens cover 2. The lens cover 1 and the lens cover 2 are both provided with the docking groove. The docking groove is detachably connected to the docking clamp. The shielding leaf is fixedly arranged on the lens cover 1 and the lens cover 2.

[0012] A remote sensing mapping and positioning method, using the above-mentioned remote sensing mapping and positioning device, comprises the following steps: Step 1: Aligning the lens: the first support arm and the second support arm drive the camera to rotate until the through holes on the lens frame and the cleaning frame are aligned, the third drive cylinder drives the lens frame to extend into the cleaning frame, and the lens frame is docked with the cleaning cylinder; Step 2: driving and cleaning: the output end of the motor 1 drives the gear 1 to rotate, and the gear 2 drives the cleaning cylinder to rotate to clean the lens; Step 3, cleaning and drying: the air pump ventilates the air duct, the air flows to the cleaning nozzle and the air-drying nozzle, the output end of the driving cylinder 1 extends to squeeze the cleaning liquid bottle, the cleaning liquid bottle sprays the cleaning liquid into the cleaning nozzle through the atomizing nozzle, the air flow drives the cleaning liquid to move to the lens, while the cleaning cylinder rotates, the wiping block wipes the lens, and the air-drying nozzle blows the lens dry; Step 4: Protective alignment: the camera moves until the lens frame is aligned with the docking frame, the lens frame extends into the docking frame, the output ends of the two driving cylinders 2 extend to push the lens cover 1 and the lens cover 2 to move toward the lens frame, and the lens cover 1 and the lens cover 2 slide on the docking track; Step 5, protective docking: the lens cover 1 and the lens cover 2 are docked and connected, and the lens cover 1 and the lens cover 2 are sleeved on the lens frame. At this time, the lens cover 1 and the lens cover 2 are separated from the docking track; Step 6, lens frame separation: the camera drives the lens cover 1 and the lens cover 2 away from the docking frame, and the lens cover 1 and the lens cover 2 are separated from the docking clamp.

[0013] The working principle and beneficial effects of the present invention are: 1. In the present invention, by providing a cleaning nozzle and an air-drying nozzle, the cleaning liquid is atomized and sprayed into the cleaning nozzle and sprayed on the lens for cleaning. At the same time, the wiping block rotates to fully clean all parts of the lens, and then dries the lens through the air-drying nozzle, thereby preventing water stains from affecting the surveying and mapping, further improving the surveying and mapping accuracy, avoiding the problem of the drone returning for cleaning when the lens is dirty, and improving the ability of continuous surveying and mapping; 2. In the present invention, the lens cover 1 and the lens cover 2 are provided, and the lens cover 1 and the lens cover 2 can be docked and connected, and can be clamped on the lens frame and moved with the lens frame. At the same time, the lens can prevent the lens from being scratched, and the shielding leaf can reduce the influence of flying sand on surveying and mapping. At the same time, the docking grooves on the lens cover 1 and the lens cover 2 make it easy to dock and disassemble. When the environment is good, the lens cover 1 and the lens cover 2 can be disassembled to prevent the lens from affecting the surveying and mapping accuracy. At the same time, when the environment is too bad, the lens can be inserted between the lens cover 1 and the lens cover 2, and the lens cover 1 and the lens cover 2 can be docked with the lens frame and not separated from the docking track, so that the lens is in the docking frame for protection; 3. In the present invention, by providing a cleaning mechanism, the lens can be cleaned at any time, thereby increasing the continuous mapping capability of the remote sensing UAV. By providing a protection mechanism, mapping can still be performed in harsh environments while maintaining protection for the lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Another perspective structural schematic diagram of the present invention as a whole; Figure 3 It is a partial structural schematic diagram of the cleaning mechanism and the protection mechanism in the present invention; Figure 4 It is a partial cross-sectional structural schematic diagram of the cleaning mechanism in the present invention; Figure 5 It is a schematic diagram of the internal cross-sectional structure of the cleaning frame of the present invention; Figure 6 It is a schematic diagram of the internal cross-sectional structure of the cleaning frame and the cleaning cylinder in the present invention; Figure 7 It is a schematic diagram of the cross-sectional structure of the cleaning frame and the cleaning cylinder in the present invention from another perspective; Figure 8 It is a cross-sectional structural schematic diagram of the coordination of the splicing assembly and the protection frame assembly in the present invention; Fig. 9 It is a schematic diagram of the internal cross-sectional structure of the docking frame in the present invention; Fig.10 It is a schematic diagram of the local structure of the offset component in the present invention.

[0016] In the figure: 1. mapping platform; 2. offset track; 3. camera; 4. lens frame; 5. cleaning frame; 6. air pump; 7. motor 1; 8. gear 1; 9. gear 2; 10. cleaning cylinder; 11. cleaning nozzle; 12. air drying nozzle; 13. wiping block; 14. air guide tube; 15. spray bin; 16. atomizing nozzle; 17. cleaning liquid bottle; 18. drive cylinder 1; 19. docking frame; 20. docking track; 21. drive cylinder 2; 22. docking clamp; 23. lens cover 1; 24. lens cover 2; 25. docking slot; 26. shielding leaf; 27. drive cylinder 3; 28. slide seat; 29. ​​support arm 1; 30. support arm 2; 31. motor 2. DETAILED DESCRIPTION

[0017] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiment 1, as Figures 1 to 10As shown, this embodiment proposes a remote sensing mapping and positioning device, including a drone frame, a mapping platform 1 is arranged at the bottom of the drone frame, and also includes an offset track 2, a deflection mechanism, a cleaning mechanism and a protection mechanism. The offset track 2 is fixedly arranged on the mapping platform 1, the deflection mechanism is arranged on the mapping platform 1, the offset track 2 is slidably connected to the offset track 2, a camera 3 is rotatably arranged on the offset track 2, a lens frame 4 is arranged on the camera 3, a lens is arranged in the lens frame 4, the deflection mechanism is used to drive the camera 3 to move, the cleaning mechanism is fixedly arranged on the mapping platform 1, the cleaning mechanism is arranged on the side of the deflection mechanism, the cleaning mechanism is detachably connected to the camera 3, the cleaning mechanism is used to clean the lens, the protection mechanism is fixedly arranged on the mapping platform 1, the protection mechanism is arranged on the side of the cleaning mechanism, the protection mechanism is detachably connected to the camera 3, a protection frame assembly is detachably arranged in the protection mechanism, the protection frame assembly is detachably connected to the lens frame 4, and the protection mechanism The structure is used to detachably set the protection frame assembly on the lens frame 4. The deflection mechanism includes a driving cylinder three 27, a slide 28, a support arm one 29 and a support arm two 30. The driving cylinder three 27 is fixedly set on the surveying and mapping platform 1, and the slide 28 is slidably set on the offset track 2. The output end of the driving cylinder three 27 is connected to the slide 28, the support arm one 29 is rotatably connected to the slide 28, the support arm two 30 is rotatably connected to the support arm one 29, and the camera 3 is rotatably set on the support arm two 30. A motor two 31 is set at the rotation connection between the slide 28 and the support arm two 30. The rotation connection between the support arm one 29 and the support arm two 30 and the rotation connection between the support arm two 30 and the camera 3 are both provided with motors two 31. The motor two 31 is set inside the rotation connection. The support arm one 29 and the support arm two 30 constitute a structure similar to a pan-tilt platform. Multiple motors two 31 can control the angle of the camera 3 through the support arm one 29 and the support arm two 30 to facilitate surveying and mapping, and at the same time control the camera 3 to align with the cleaning cylinder 10 and the docking frame 19.

[0019] like Figures 1 to 7As shown, the cleaning mechanism includes a cleaning frame 5, a wiping assembly, an air pump 6 and a driving assembly. The cleaning frame 5 is fixedly arranged on the surveying and mapping platform 1. Through holes are provided on the lower side of the cleaning frame 5 and on the side close to the deflection mechanism. The wiping assembly is rotatably arranged in the cleaning frame 5. The wiping assembly is in contact with the lens. The wiping assembly is used to wipe and clean the lens. The air pump 6 is fixedly connected to the cleaning frame 5. The air supply pipe of the air pump 6 is rotatably connected to the wiping assembly. The driving assembly is arranged in the cleaning frame 5. The driving assembly is used to drive the wiping assembly to rotate. The driving assembly includes Motor 17 and gear 29, motor 17 is fixedly arranged in the cleaning frame 5, gear 18 is arranged on the output end of motor 17, gear 29 is sleeved on the wiping assembly, gear 29 is meshed with gear 18, when the cleaning tube 10 rotates, the air guide tube 14 and the air supply tube on the air pump 6 are also rotating, the air pump 6 ventilates through the air guide tube 14, and cleans the lens through the cleaning nozzle 11 and the air drying nozzle 12 at the same time, the output end of motor 7 drives the rotation of gear 18 to make the cleaning tube 10 rotate, and the lens is comprehensively cleaned.

[0020] like Figures 4 to 7 As shown, the wiping assembly includes a cleaning cylinder 10, a cleaning nozzle 11, an air-drying nozzle 12, a wiping block 13 and an air duct 14. The cleaning cylinder 10 is rotatably arranged in the cleaning frame 5, the gear 29 is sleeved on the cleaning cylinder 10, the side of the cleaning cylinder 10 close to the deflection mechanism is aligned with the opening on the side of the cleaning frame 5, the cleaning nozzle 11 is opened on the side of the cleaning cylinder 10 close to the deflection mechanism, the air-drying nozzle 12 is opened on the side of the cleaning cylinder 10 close to the deflection mechanism, the wiping block 13 is fixedly arranged on the side of the cleaning cylinder 10 close to the deflection mechanism, the wiping block 13 is arranged between the cleaning nozzle 11 and the air-drying nozzle 12, the air duct 14 is fixedly arranged in the cleaning cylinder 10, and the air duct 14 is arranged It is Y-shaped, and the air guide tube 14 is rotatably connected to the air supply pipe of the air pump 6. The other two ends of the air guide tube 14 are respectively connected to the cleaning nozzle 11 and the air drying nozzle 12. The cleaning nozzle 11 and the air drying nozzle 12 are set as open nozzles. The airflow in the air guide tube 14 blows toward the lens, and the airflow in the cleaning nozzle 11 drives the cleaning liquid to be sprayed onto the lens. When the wiping block 13 rotates, the cleaning liquid on the lens is wiped, and then the air drying nozzle 12 dries the lens by blowing air. The lens is fully cleaned by the rotating wiping of the wiping block 13. An opening is set on the side of the cleaning tube 10 close to the air drying nozzle 12, which is conducive to the discharge of water vapor through the opening when the air drying nozzle 12 dries the lens surface.

[0021] like Figures 4 to 7As shown, a spray bin 15 is provided on the cleaning barrel 10, and an atomizing nozzle 16 is arranged in the spray bin 15, and the atomizing nozzle 16 is communicated with the cleaning nozzle 11. A cleaning liquid bottle 17 is detachably arranged in the spray bin 15, and the cleaning liquid bottle 17 is detachably connected to the atomizing nozzle 16. A driving cylinder 18 is fixedly arranged on the side of the spray bin 15 away from the atomizing nozzle 16, and the output end of the driving cylinder 18 is in contact with the cleaning liquid bottle 17. The spray bin 15 corresponds to the through hole below the cleaning frame 5. The structure of the atomizing nozzle 16 is similar to that of a handheld alcohol spray bottle used in daily life. The cleaning liquid bottle 17 is squeezed by the output end of the driving cylinder 18, and the cleaning liquid bottle 17 can complete a spray. The atomized alcohol spray enters the cleaning nozzle 11 and is blown onto the lens under the drive of the airflow. At the same time, a cover plate is provided at the position of the cleaning barrel 10 corresponding to the spray bin 15. When the cover plate is rotated to the bottom of the cleaning frame 5, the cleaning liquid bottle 17 can be replaced through the through hole below the cleaning frame 5.

[0022] like Figures 1 to 9 As shown, the protection mechanism includes a docking frame 19 and a splicing assembly. The docking frame 19 is fixedly set on the surveying and mapping platform 1. Two splicing assemblies are provided. The two splicing assemblies are respectively arranged on both sides of the docking frame 19. The splicing assembly is arranged on one side of the docking frame 19 close to the deflection mechanism. The splicing assembly is used to drive the protection frame assembly to connect with the lens frame 4.

[0023] like Figures 8 to 9 As shown, the splicing assembly includes a docking track 20, a second driving cylinder 21 and a docking clamp 22. The docking track 20 is fixedly arranged on the docking frame 19, and the docking track 20 is detachably connected to the protection frame assembly. The second driving cylinder 21 is fixedly arranged on the docking frame 19, and the second driving cylinder 21 is arranged on the side of the docking track 20. The docking clamp 22 is fixedly arranged on the output end of the second driving cylinder 21, and the docking clamp 22 is detachably connected to the protection frame assembly. There are two docking tracks 20 on each side, and the second driving cylinder 21 is arranged between the two docking tracks 20. When the docking clamp 22 is docked with the docking groove 25, the lens hood 1 23 or the lens hood 24 can be pulled to slide on the docking track 20. When the lens hood 1 23 and the lens hood 24 are separated from the docking track 20, the lens hood 1 23 and the lens hood 24 can be separated from the docking frame 19. At this time, the lens hood 1 23 and the lens hood 24 are separated from the docking clamp 22.

[0024] like Figures 8 to 10As shown, the protection frame assembly includes a lens cover 1 23, a lens cover 24, a docking groove 25 and a shielding leaf 26. The lens cover 1 23 is detachably connected to one of the splicing components. The lens cover 1 23 is provided with a lens. The lens cover 24 is detachably connected to another splicing component. The lens cover 1 23 is detachably connected to the lens cover 24. The lens cover 1 23 and the lens cover 24 are both detachably connected. The docking groove 25 is detachably connected to the docking clamp 22. The shielding leaf 26 is fixedly arranged on the lens cover 1 2 3 and the lens cover 24, when the lens frame 4 extends between the lens cover 1 23 and the lens cover 24, the output ends of the two driving cylinders 21 extend to push the lens cover 1 23 and the lens cover 24 to move in opposite directions on the docking track 20, and the lens cover 1 23 and the lens cover 24 are clamped on the lens frame 4 and docked, and the lens cover 1 23 and the lens cover 24 are gradually separated from the docking track 20. At this time, the lens frame 4 takes the lens cover 1 23 and the lens cover 24 away from the docking frame 19 and separates them from the docking clamp 22.

[0025] In this embodiment, when stains appear on the lens, arm 1 29, arm 2 30 and slide 28 drive camera 3 to move, the lens docks with cleaning tube 10, cleaning tube 10 sprays cleaning liquid on the lens, which is wiped and air-dried by wiping block 13. When the environment is too harsh, lens hood 1 23 and lens hood 2 24 are clamped on lens frame 4, and the shielding leaves 26 are used to block the lateral wind and sand. At the same time, the lens on lens hood 1 23 can protect the lens. When the environment is too harsh, the lens can be protected by extending the lens into docking frame 19 without driving lens hood 1 23 and lens hood 2 24 to separate from docking frame 19.

[0026] Embodiment 2: Embodiment 2 of the present application is supplemented on the basis of Embodiment 1, and is a remote sensing mapping and positioning method, which uses the above-mentioned remote sensing mapping and positioning device, and includes the following steps: Step 1: Aligning the lens: The first support arm 29 and the second support arm 30 drive the camera 3 to rotate until the through holes on the lens frame 4 and the cleaning frame 5 are aligned, and the driving cylinder 3 27 drives the lens frame 4 to extend into the cleaning frame 5, and the lens frame 4 is docked with the cleaning cylinder 10; Step 2: Drive cleaning: the output end of the motor 1 7 drives the gear 1 8 to rotate, and the gear 2 9 drives the cleaning cylinder 10 to rotate to clean the lens; Step 3, cleaning and drying: the air pump 6 ventilates the air guide pipe 14, and the air flows to the cleaning nozzle 11 and the air-drying nozzle 12. The output end of the driving cylinder 18 extends and squeezes the cleaning liquid bottle 17. The cleaning liquid bottle 17 sprays the cleaning liquid into the cleaning nozzle 11 through the atomizing nozzle 16. The airflow drives the cleaning liquid to move to the lens. While the cleaning cylinder 10 rotates, the wiping block 13 wipes the lens, and the air-drying nozzle 12 blows the lens dry. Step 4: Protective alignment: The camera 3 moves until the lens frame 4 is aligned with the docking frame 19, the lens frame 4 extends into the docking frame 19, the output ends of the two drive cylinders 21 extend to push the lens cover 1 23 and the lens cover 2 24 to move toward the lens frame 4, and the lens cover 1 23 and the lens cover 2 24 slide on the docking track 20; Step 5, protective docking: the lens cover 1 23 and the lens cover 2 24 are docked and connected, and the lens cover 1 23 and the lens cover 24 are sleeved on the lens frame 4. At this time, the lens cover 1 23 and the lens cover 24 are separated from the docking track 20; Step 6: Separation of lens frames: The camera 3 drives the lens cover 1 23 and the lens cover 2 24 away from the docking frame 19 , and the lens cover 1 23 and the lens cover 24 are separated from the docking clamp 22 .

[0027] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A remote sensing mapping and positioning device, comprising an unmanned aerial vehicle frame, a mapping platform (1) being arranged at the bottom of the unmanned aerial vehicle frame, characterized in that: Also includes: An offset track (2), wherein the offset track (2) is fixedly arranged on the surveying and mapping platform (1); A deflection mechanism, wherein the deflection mechanism is arranged on the surveying and mapping platform (1), the offset track (2) is slidably connected to the offset track (2), a camera (3) is rotatably arranged on the offset track (2), a lens frame (4) is arranged on the camera (3), and the deflection mechanism is used to drive the camera (3) to move; A cleaning mechanism, the cleaning mechanism being fixedly arranged on the surveying and mapping platform (1), the cleaning mechanism being arranged on the side of the deflection mechanism, the cleaning mechanism being detachably connected to the camera (3), and the cleaning mechanism being used to clean the lens; A protection mechanism, the protection mechanism is fixedly arranged on the surveying and mapping platform (1), the protection mechanism is arranged on the side of the cleaning mechanism, the protection mechanism is detachably connected to the camera (3), a protection frame assembly is detachably arranged in the protection mechanism, the protection frame assembly is detachably connected to the lens frame (4), and the protection mechanism is used to detachably arrange the protection frame assembly on the lens frame (4).

2. A remote sensing mapping and positioning device according to claim 1, characterized in that: The cleaning mechanism comprises: A cleaning frame (5), the cleaning frame (5) being fixedly arranged on the surveying and mapping platform (1), and a through hole is provided on a lower side of the cleaning frame (5) and a side close to the deflection mechanism; A wiping assembly, the wiping assembly being rotatably disposed in the cleaning frame (5), the wiping assembly being in contact with the lens, and the wiping assembly being used to wipe and clean the lens; An air pump (6), the air pump (6) being fixedly connected to the cleaning frame (5), and an air delivery pipe of the air pump (6) being rotatably connected to the wiping assembly; A driving assembly, wherein the driving assembly is arranged in the cleaning frame (5), and the driving assembly is used to drive the wiping assembly to rotate.

3. A remote sensing mapping and positioning device according to claim 2, characterized in that: The drive assembly comprises: Motor 1 (7), the motor 1 (7) being fixedly arranged in the cleaning frame (5), and a gear 1 (8) being arranged on the output end of the motor 1 (7); Gear 2 (9), the gear 2 (9) is sleeved on the wiping assembly, and the gear 2 (9) is meshed with the gear 1 (8).

4. A remote sensing mapping and positioning device according to claim 3, characterized in that: The wiping assembly comprises: a cleaning cylinder (10), the cleaning cylinder (10) being rotatably disposed in the cleaning frame (5), the second gear (9) being sleeved on the cleaning cylinder (10), and a side of the cleaning cylinder (10) close to the deflection mechanism being aligned with an opening on a side of the cleaning frame (5); A cleaning nozzle (11), the cleaning nozzle (11) being disposed on a side of the cleaning cylinder (10) close to the deflection mechanism; an air-drying nozzle (12), the air-drying nozzle (12) being disposed on a side of the cleaning cylinder (10) close to the deflection mechanism; a wiping block (13), the wiping block (13) being fixedly arranged on a side of the cleaning cylinder (10) close to the deflection mechanism, the wiping block (13) being arranged between the cleaning nozzle (11) and the air drying nozzle (12); An air guide tube (14), the air guide tube (14) being fixedly arranged in the cleaning cylinder (10), the air guide tube (14) being arranged in a Y-shape, the air guide tube (14) being rotatably connected to the air supply pipe of the air pump (6), and the other two ends of the air guide tube (14) being respectively connected to the cleaning nozzle (11) and the air drying nozzle (12).

5. A remote sensing mapping and positioning device according to claim 4, characterized in that: The cleaning cylinder (10) is provided with a spray bin (15), an atomizing nozzle (16) is arranged in the spray bin (15), the atomizing nozzle (16) is communicated with the cleaning nozzle (11), a cleaning liquid bottle (17) is detachably arranged in the spray bin (15), the cleaning liquid bottle (17) is detachably connected to the atomizing nozzle (16), a driving cylinder (18) is fixedly arranged on a side of the spray bin (15) away from the atomizing nozzle (16), an output end of the driving cylinder (18) is in contact with the cleaning liquid bottle (17), and the spray bin (15) corresponds to a through hole below the cleaning frame (5).

6. A remote sensing mapping and positioning device according to claim 5, characterized in that: The protection agencies include: A docking frame (19), the docking frame (19) being fixedly arranged on the surveying and mapping platform (1); A splicing assembly, wherein two splicing assemblies are provided, and the two splicing assemblies are respectively provided on both sides of the docking frame (19), and the splicing assembly is provided on a side of the docking frame (19) close to the deflection mechanism, and the splicing assembly is used to drive the protection frame assembly to connect with the lens frame (4).

7. A remote sensing mapping and positioning device according to claim 6, characterized in that: The splicing assembly comprises: A docking track (20), the docking track (20) being fixedly arranged on the docking frame (19), the docking track (20) being detachably connected to the protection frame assembly; A second driving cylinder (21), wherein the second driving cylinder (21) is fixedly mounted on the docking frame (19), and the second driving cylinder (21) is arranged on the side of the docking track (20). A docking clamp block (22), the docking clamp block (22) being fixedly arranged on the output end of the second driving cylinder (21), and the docking clamp block (22) being detachably connected to the protection frame assembly.

8. A remote sensing mapping and positioning device according to claim 7, characterized in that: The protection frame assembly comprises: A lens cover (23), wherein the lens cover (23) is detachably connected to one of the splicing components, and a lens is provided on the lens cover (23); Lens cover 2 (24), the lens cover 2 (24) is detachably connected to another of the splicing components, and the lens cover 1 (23) is detachably connected to the lens cover 2 (24); A docking groove (25), wherein the first lens cover (23) and the second lens cover (24) are both provided with the docking groove (25), and the docking groove (25) is detachably connected to the docking clamp (22); A shielding leaf (26), wherein the shielding leaf (26) is fixedly arranged on the first lens cover (23) and the second lens cover (24).

9. A remote sensing mapping and positioning device according to claim 8, characterized in that: The deflection mechanism comprises: A driving cylinder three (27), wherein the driving cylinder three (27) is fixedly arranged on the surveying and mapping platform (1); a slide seat (28), the slide seat (28) being slidably disposed on the offset track (2), and the output end of the driving cylinder three (27) being connected to the slide seat (28); A support arm (29), wherein the support arm (29) is rotatably connected to the slide seat (28); Support arm 2 (30), the support arm 2 (30) is rotatably connected to the support arm 1 (29), and the camera (3) is rotatably arranged on the support arm 2 (30).

10. A remote sensing mapping and positioning method, using the remote sensing mapping and positioning device according to claim 9, characterized in that: The following steps are involved: S1. Lens alignment: the support arm 1 (29) and the support arm 2 (30) drive the camera (3) to rotate until the through holes on the lens frame (4) and the cleaning frame (5) are aligned, the drive cylinder 3 (27) drives the lens frame (4) to extend into the cleaning frame (5), and the lens frame (4) is docked with the cleaning cylinder (10); S2, driving for cleaning: the output end of the motor 1 (7) drives the gear 1 (8) to rotate, and the gear 2 (9) drives the cleaning cylinder (10) to rotate to clean the lens; S3, cleaning and drying: the air pump (6) ventilates the air duct (14), and the air flows to the cleaning nozzle (11) and the air-drying nozzle (12). The output end of the driving cylinder (18) is extended to squeeze the cleaning liquid bottle (17). The cleaning liquid bottle (17) sprays the cleaning liquid into the cleaning nozzle (11) through the atomizing nozzle (16). The air flow drives the cleaning liquid to move onto the lens. While the cleaning cylinder (10) rotates, the wiping block (13) wipes the lens, and the air-drying nozzle (12) blows the lens dry. S4, protective alignment: the camera (3) moves until the lens frame (4) is aligned with the docking frame (19), the lens frame (4) extends into the docking frame (19), the output ends of the two drive cylinders (21) extend to push the lens cover (23) and the lens cover (24) toward the lens frame (4), and the lens cover (23) and the lens cover (24) slide on the docking track (20); S5, protective docking: the lens cover 1 (23) and the lens cover 2 (24) are docked and connected, the lens cover 1 (23) and the lens cover 2 (24) are sleeved on the lens frame (4), and at this time, the lens cover 1 (23) and the lens cover 2 (24) are separated from the docking track (20); S6, lens frame separation: the camera (3) drives the lens cover 1 (23) and the lens cover 2 (24) away from the docking frame (19), and the lens cover 1 (23) and the lens cover 2 (24) are separated from the docking clamp (22).

Images