Reed wetland three-dimensional mapping method using unmanned aerial vehicle laser radar data

Abstract

The invention relates to a reed wetland three-dimensional mapping method using unmanned aerial vehicle laser radar data, and the method comprises the following steps: scanning a reed wetland through an unmanned aerial vehicle laser radar, and obtaining a point cloud data set of the reed wetland; preprocessing the collected point cloud data set; feature extraction and classification are carried out on the preprocessed point cloud data set points, then registration and fusion are carried out, and a three-dimensional scene is generated. By arranging the automatic battery replacement platform, manual guarding is not needed, when the unmanned aerial vehicle lands on the docking platform, battery replacement can be automatically completed, when the unmanned aerial vehicle lands, gravitational potential energy is converted into battery replacement for energy storage, after the unmanned aerial vehicle completely lands, a battery pack is driven to be replaced through an energy storage assembly, and the unmanned aerial vehicle can take off immediately after replacement, so that the efficiency is improved; the scanning time of the laser radar is more concentrated, registration and fusion of feature modules are facilitated, frequent manual operation on site is not needed in the charging and battery replacement process of the unmanned aerial vehicle, and frequent updating of a reed wetland three-dimensional map is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of ecological environment research, and specifically relates to a method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data. Background Art

[0002] In the process of reed wetland ecological research, three-dimensional maps can provide detailed topography, vegetation distribution, hydrological conditions and other information of reed wetlands, which helps to more accurately evaluate the ecological value and protection needs of wetlands. As an ecosystem, the boundaries, vegetation coverage, hydrological conditions, etc. of reed wetlands may change over time. These changes may be caused by natural factors (such as climate change, changes in hydrological cycles) or human factors (such as wetland development, land use changes). If the changes in reed wetlands are more frequent or significant, in order to maintain the real-time nature of the three-dimensional map, it needs to be updated frequently.

[0003] In the process of drawing three-dimensional maps, a common method is to use lidar to scan reed wetlands and obtain point cloud data sets, which are then integrated into three-dimensional maps after feature extraction and classification. When using lidar to draw three-dimensional maps, drones equipped with lidar are generally used for scanning. In order to make the three-dimensional maps more accurate, it is necessary to draw the distribution of reed wetlands in each season and hydrological information, so drones need to fly at low altitudes to obtain more accurate data. For reed wetlands, their area ranges from tens of hectares to tens of thousands of hectares. Low-altitude drones have a small scanning range, so it takes more than ten hours for a drone to complete an accurate scan of a 100-hectare reed wetland, requiring constant return trips. In addition, in order to frequently update three-dimensional maps, drones need to fly repeatedly in different seasons, which takes up manpower and material resources. Summary of the invention

[0004] The purpose of the present invention is to provide a method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle lidar data in order to solve the above-mentioned problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data comprises the following steps:

[0007] S1: Plan the flight route of the drone and carry a lidar under the drone to scan the reed wetland to obtain a point cloud dataset of the reed wetland;

[0008] S2: preprocessing the collected point cloud data set, including filtering and denoising;

[0009] S3: Extract and classify the preprocessed point cloud data set to identify the distribution range of water, land, and reeds to form a feature module;

[0010] S4: register and fuse the feature modules collected at different times and locations to generate a three-dimensional scene, and then optimize it to form a three-dimensional map;

[0011] The drone is provided with a detachable battery pack, and one or more battery replacement platforms are arranged on the flight route of the drone to automatically replace the battery pack.

[0012] As a further optimization scheme of the present invention, a pod assembly is provided at the bottom of the UAV, and the pod assembly includes a pod shell with openings at both ends, and the battery pack slides in and out of the pod shell. The battery exchange platform includes a docking platform for positioning and landing of the UAV and two battery exchange cabins arranged on the docking platform, and the docking platform has energy storage components corresponding to the two battery exchange cabins. After the UAV lands on the docking platform, the pod shell is docked between the two battery exchange cabins, and the battery assembly in the battery exchange cabin is pushed into the pod shell through the energy storage component, and the battery pack in the pod shell is pushed into another empty battery exchange cabin.

[0013] As a further optimization scheme of the present invention, the laser radar is arranged under the pod shell, and a pressure-applying part for storing energy in the energy storage component is also arranged under the pod shell. By setting up an automatic battery replacement platform, the spare battery pack can be charged during the flight operation of the UAV. When the UAV's battery life is insufficient, it returns, and the gravitational potential energy is converted to the energy storage component during the landing of the UAV, so that the battery pack can be automatically replaced after the UAV has completely landed.

[0014] As a further optimization scheme of the present invention, the energy storage assembly includes an energy storage chamber arranged at the end of the battery exchange cabin, a piston arranged in the energy storage chamber, and a second spring connected to the piston and extending into the battery exchange cabin. Two energy storage parts are arranged at the bottom of the docking platform. After the energy storage part is compressed by the pressure-applying part, it is hydraulically connected to the energy storage chamber and pushes the piston to slide to store energy for the second spring. By setting the energy storage part to be squeezed by the pressure-applying part, the liquid in the energy storage part is pressed into the energy storage chamber when the UAV lands, and the piston compresses the second spring to store energy for pushing the battery pack.

[0015] As a further optimization scheme of the present invention, the pod shell is in an inverted trapezoid, and the docking platform is in an upright trapezoid. Brackets are also provided on both sides of the pod shell. The brackets are in an inverted U-shape and are positioned and docked with the docking platform. By setting this shape, the accuracy requirements for the landing of the drone are lower. Guide rails are formed on both sides of the bracket and the docking platform to facilitate the lowering of the drone, and the pod shell is set to a trapezoidal shape to facilitate docking.

[0016] As a further optimization scheme of the present invention, the battery assembly includes a battery body and a guide wheel arranged on the lower surface of the battery body, wherein a through groove is arranged on the lower surface of the pod shell, and the through groove corresponds to the guide wheel. After the UAV takes off, the guide wheel falls into the through groove, and the surface of the docking platform is provided with a boss, which is used to fill the through groove upwards to support the battery body when the UAV lands. The guide wheel is provided to facilitate the movement of the battery body, but the guide wheel itself will cause the battery body to shake. Therefore, after the UAV takes off, the guide wheel falls into the through groove and is in a suspended state, and the battery body falls into the pod shell to increase friction. The boss is provided to fill the through groove from the bottom when the UAV lands, and to support the guide wheel to facilitate the movement of the battery body.

[0017] As a further optimization scheme of the present invention, the charging and discharging interface of the battery body is located at the bottom, and the bottom wall of the battery exchange cabin is provided with a docking portion, which is docked through the descending process of the guide wheel falling into the through groove, and is detached through the process of the battery body being lifted up by the boss. An automatically retractable charging component is provided in the battery exchange cabin. Since the battery body not only needs to be replaced, but also needs to be powered when it leaves / enters the pod shell, the power connection / disconnection of the battery body is completed in the process of the battery body and the guide wheel being lifted up and down. Since the battery body is not connected when it just enters the pod shell, the drone needs to take off to complete the power connection. Therefore, an additional small backup power supply can be set inside the drone to be used as a backup during the middle process of the battery body during battery exchange. The small backup power supply can be charged after the battery body is powered on.

[0018] As a further optimization solution of the present invention, an oblique angle block is provided on the top of the pod shell to control the battery body to slide in only one direction, wherein the oblique angle block extends downward into the pod shell through the first spring;

[0019] The pod shell is also provided with a crimping portion, which is used to press on the top of the battery body after the guide wheel falls into the through groove, wherein the crimping portion is hinged at the top of the pod shell, and is coaxially connected with a gear extending to the outside of the pod shell, and a sliding rod is slidably arranged on the outside of the pod shell, and the bottom of the sliding rod is supported by the docking platform and drives the gear to rotate to retract the crimping portion. In this scheme, in order to fix the battery body, an angled block is provided so that the battery body can only enter the pod shell in one direction. In order to prevent the battery body from rebounding again after being pushed by the energy storage component, the fully charged battery pack in the battery exchange cabin is pushed back, and the battery pack in the pod shell is pushed into the vacant battery exchange cabin opposite, while the fully charged battery pack remains in the pod shell and is clamped by the angled block and no longer rebounds. After the battery body descends (the guide wheel falls into the through groove), the crimping portion rotates from horizontal to vertical to press the battery body, thereby fixing it.

[0020] As a further optimization scheme of the present invention, a clamping assembly is provided in the gap between the bottom of the battery exchange cabin and the pod shell, which includes a slide groove arranged on the docking platform, and a clamping part is slidably arranged in the slide groove, and the clamping part is pushed upward by a third spring, and the clamping part extends upward with two heads, one of which is used to contact with the bottom of the pod shell, and the other head is used to clamp the battery pack in the battery exchange cabin after the drone takes off. The clamping assembly is used to clamp the battery pack in the battery exchange cabin after the drone leaves.

[0021] The beneficial effects of the present invention are:

[0022] The present invention sets up an automatic battery replacement platform, which eliminates the need for manual supervision. When the UAV lands on the docking platform, the battery replacement can be automatically completed. When the UAV lands, the gravitational potential energy is converted into battery replacement for energy storage. After the UAV is completely landed, the battery pack is driven by the energy storage component to be replaced. After the replacement, the UAV can take off immediately, which improves efficiency and makes the scanning time of the laser radar more concentrated, which is beneficial to the alignment and fusion of feature modules. During the charging and battery replacement process of the UAV, frequent manual operations are not required on site, which is beneficial to the frequent updating of the three-dimensional map of the reed wetland. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention before battery replacement;

[0024] Figure 2 This is a schematic diagram of the overall structure of the present invention after battery replacement;

[0025] Figure 3 This is a schematic diagram of the drone of the present invention after taking off;

[0026] Figure 4 The present invention Figure 3 Middle BB view;

[0027] Figure 5 The present invention Figure 1 A magnified view of the structure of part A;

[0028] Figure 6 The present invention Figure 3 A magnified view of the structure of part C in the middle;

[0029] Figure 7 It is a front view of the pod assembly of the present invention.

[0030] In the figure: 1. UAV; 2. pod assembly; 21. pod shell; 22. through groove; 23. laser radar; 24. pressure-applying part; 25. bracket; 26. angled block; 27. first spring; 28. crimping part; 29. ​​slide bar; 210. gear; 3. battery pack; 31. battery body; 32. guide wheel; 33. charging and discharging interface; 4. battery exchange platform; 41. docking platform; 42. battery exchange cabin; 43. boss; 44. charging assembly; 5. energy storage assembly; 51. energy storage chamber; 52. piston; 53. second spring; 54. energy storage part; 6. snap-fit ​​assembly; 61. slide groove; 62. third spring; 63. snap-fit ​​part. DETAILED DESCRIPTION

[0031] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0032] Example 1

[0033] like Figure 1-7 As shown, a method for three-dimensional mapping of reed wetlands using UAV laser radar data includes the following steps:

[0034] S1: planning the flight route of the UAV 1, and carrying a laser radar 23 under the UAV 1 to scan the reed wetland to obtain a point cloud dataset of the reed wetland;

[0035] S2: preprocessing the collected point cloud data set, including filtering and denoising;

[0036] S3: Extract and classify the preprocessed point cloud data set to identify the distribution range of water, land, and reeds to form feature modules. The feature modules include single-point features, local features, and global features.

[0037] S4: The feature modules collected at different times and locations are registered and fused. The specific method of registration and fusion is: the feature module of each scanning frame is registered with the next scanning frame, the same features are fused, and then the next scanning frame is registered and fused. After completing all the registration and fusion, a three-dimensional scene is generated, and a three-dimensional map is formed after optimization.

[0038] Among them, the drone 1 is provided with a detachable battery pack 3, and one or more battery exchange platforms 41 are arranged on the flight route of the drone 1 to automatically replace the battery pack 3. A pod assembly 2 is arranged at the bottom of the drone 1, and the pod assembly 2 includes a pod shell 21 with openings at both ends. The battery pack 3 slides in and out of the pod shell 21. The battery exchange platform 4 includes a docking platform 41 for the drone 1 to locate and land, and two battery exchange cabins 42 arranged on the docking platform 41. The docking platform 41 has an energy storage assembly 5 corresponding to the two battery exchange cabins 42. After the drone 1 lands on the docking platform 41, the pod shell 21 is docked between the two battery exchange cabins 42, and the battery assembly 3 in the battery exchange cabin 42 is pushed into the pod shell 21 through the energy storage assembly 5, and the battery pack 3 in the pod shell 21 is pushed into another empty battery exchange cabin 42.

[0039] This solution sets up an automatic battery replacement platform 4, which eliminates the need for manual supervision. When the UAV 1 lands on the docking platform 41, the battery replacement can be automatically completed. When the UAV 1 lands, the gravitational potential energy is converted into a replacement battery for energy storage. After the UAV 1 is completely landed, the battery pack 3 is driven by the energy storage component 5 for replacement. After the replacement, it can take off immediately, which improves efficiency and makes the scanning time of the laser radar 23 more concentrated, which is beneficial to the alignment and fusion of feature modules. The UAV 1 does not require frequent manual operations on site during charging and battery replacement, which is beneficial to the frequent updating of the three-dimensional map of the reed wetland.

[0040] The laser radar 23 is arranged below the pod shell 21, and a pressure-applying part 24 for storing energy in the energy storage component 5 is also arranged below the pod shell 21. By setting up an automatic battery replacement platform 4, the spare battery pack 3 can be charged during the flight operation of the UAV 1. When the UAV 1 does not have enough battery life, it returns and converts the gravitational potential energy to the energy storage component during the landing of the UAV 1, so that the battery pack 3 can be automatically replaced after the UAV 1 completely lands. Since there are two energy storage components 5, the pressure-applying part 24 can be set to apply pressure to different energy storage components 5, such as Figure 1-2 As shown, when the battery pack 3 needs to be pushed from the right side, the pressure-applying part 24 presses the energy storage part 54 on the right side. If the fully charged battery pack 3 is located in the battery replacement compartment 42 on the left side during the next battery replacement, the direction of the drone 1 is turned so that the pressure-applying part 24 is aligned with the energy storage part 5 on the left side.

[0041] The energy storage assembly 5 includes an energy storage chamber 51 arranged at the end of the battery exchange cabin 42, a piston 52 arranged in the energy storage chamber 51, and a second spring 53 connected to the piston 52 and extending into the battery exchange cabin 42. Two energy storage parts 54 are arranged at the bottom of the docking platform 41. After the energy storage part 54 is compressed by the pressure-applying part 24, it is hydraulically connected to the energy storage chamber 51 and pushes the piston 52 to slide to store energy for the second spring 53. By setting the energy storage part 54 to be squeezed by the pressure-applying part 24, the liquid in the energy storage part 54 is pressed into the energy storage chamber 51 when the drone 1 lands, and the piston 52 compresses the second spring 53 to push the battery pack 3 to store energy.

[0042] The pod shell 21 is in an inverted trapezoid, and the docking platform 41 is in an upright trapezoid. Brackets 25 are also provided on both sides of the pod shell 21. The brackets 25 are in an inverted U-shape and are positioned and docked with the docking platform 41. By setting this shape, the accuracy requirements for the UAV 1 during landing are lowered. The brackets 25 and the docking platform 41 form guide rails on both sides to facilitate the lowering of the UAV 1, and the pod shell 21 is set to be trapezoidal to facilitate docking.

[0043] The battery assembly 3 includes a battery body 31 and a guide wheel 32 arranged on the lower surface of the battery body 31, wherein a through groove 22 is arranged on the lower surface of the pod shell 21, and the through groove 22 corresponds to the guide wheel 32. After the UAV 1 takes off, the guide wheel 32 falls into the through groove 22, and the surface of the docking platform 41 is provided with a boss 43, which is used to fill the through groove 22 upwards to support the battery body 31 when the UAV 1 lands. The guide wheel 32 is provided to facilitate the movement of the battery body 31, but the guide wheel 32 itself will cause the battery body 31 to shake. Therefore, after the UAV 1 takes off, the guide wheel 32 falls into the through groove 22 and is in a suspended state, and the battery body 31 falls into the pod shell 21 to increase friction. The boss 43 is provided to fill the through groove 22 from below when the UAV 1 lands, and to support the guide wheel 32 to facilitate the movement of the battery body 31.

[0044] The charging and discharging interface 33 of the battery body 31 is located at the bottom, and a docking portion is provided on the bottom wall of the battery exchange cabin 42, which is docked by the guide wheel 32 falling into the through slot 22 during the descending process, and detached by the battery body 31 being lifted up by the boss 43. An automatically retractable charging component 44 is provided in the battery exchange cabin 42. Since the battery body 31 not only needs to be replaced, but also needs to be powered when it leaves / enters the pod shell 21, the power disconnection / connection of the battery body 31 is completed during the process of the guide wheel 32 being lifted up / falling. Since the battery body 31 is not connected when it just enters the pod shell 21, the guide wheel 32 needs to fall into the through slot 22 when the drone 1 takes off to complete the power connection. Therefore, an additional small backup power supply can be set inside the drone 1 to be used as a backup during the middle process of the battery body 31 during the battery exchange, and the small backup power supply can be charged after the power of the battery body 31 is connected.

[0045] An oblique block 26 is provided on the top of the pod housing 21 to control the battery body 31 to slide in only one direction, wherein the oblique block 26 extends downward into the pod housing 21 through the first spring 27;

[0046] The pod shell 21 is also provided with a crimping portion 28, which is used to press on the top of the battery body 31 after the guide wheel 32 falls into the through groove 22, wherein the crimping portion 28 is hinged at the top of the pod shell 21, and is coaxially connected with a gear 210 extending to the outside of the pod shell 21, and a slide bar 29 is slidably provided on the outside of the pod shell 21, and the bottom of the slide bar 29 is supported by the docking platform 41 to drive the gear 210 to rotate to retract the crimping portion 28.

[0047] In this solution, in order to fix the battery body 31, an angled block 26 is provided so that the battery body 31 can only enter the pod shell 21 in one direction. In order to prevent the battery body 31 from rebounding again after being pushed by the energy storage assembly 5, the fully charged battery pack 3 in the battery swap cabin 42 is pushed back, and the battery pack 3 in the pod shell 21 is pushed into the empty battery swap cabin 42 opposite, while the fully charged battery pack 3 remains in the pod shell 21 and is clamped by the angled block 26 and no longer rebounds. After the battery body 31 descends (the guide wheel 32 falls into the through groove 22), the crimping part 28 rotates from horizontal to vertical to press the battery body 31, thereby fixing it.

[0048] A clamping assembly 6 is provided in the gap between the battery exchange cabin 42 and the bottom of the pod shell 21, which includes a slide groove 61 arranged on the docking platform 41, and a clamping portion 63 is slidably provided in the slide groove 61. The clamping portion 63 is pushed upward by a third spring 62, and the clamping portion 63 extends upward and has two heads, one of which is used to contact with the bottom of the pod shell 21, and the other head is used to clamp the battery pack 3 in the battery exchange cabin 42 after the drone 1 takes off. The clamping assembly 3 is used to clamp the battery pack 3 in the battery exchange cabin 42 after the drone 1 leaves.

[0049] The specific implementation method is as follows: Figure 1 As the drone 1 has just landed, the energy storage part 54 on the right side is pressed, and the hydraulic pressure is transmitted to the energy storage chamber 51 on the right side. The second spring 53 is in an energy storage state. When the slide bar 29 is lifted up, the crimping part 28 rotates and no longer presses the battery body 31, and the guide wheel 32 is lifted up by the boss 43, so that the battery body 31 rises relative to the pod shell 21, and the clamping part 63 is pressed down. The fully charged battery pack 3 on the right side is pushed to the left by the second spring 53 until Figure 2When in the unloaded state, the fully charged battery pack 3 enters the pod shell 21 and is caught on the right side by the angled block 26. When the UAV 1 takes off, the battery body 31 descends in the pod shell 21, that is, the guide wheel 32 loses the support of the boss 43 and falls into the through groove 22, and then the slide bar 29 loses support and falls, driving the crimping part 28 to rotate to prevent the battery body 31 from shaking upward, so as to complete the fixation of the battery body 31. During the descent of the battery body 31, the charging and discharging interface 33 is connected to electricity, and the charging component 44 rises to charge the battery pack 3 in the battery exchange cabin 42.

[0050] When the next battery replacement cycle comes, the drone 1 turns around so that the angled block 26 and the pressure portion 24 face the battery replacement compartment 42 on the left, and repeats the above-mentioned battery replacement process in the opposite direction. Since the charging time may be longer than the flight time, two or even more battery replacement platforms 4 can be set up for alternating use, or the fast charging technology in the prior art can be used to eliminate the charging waiting time.

[0051] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data, characterized in that: The steps include: S1: planning a flight route of the drone (1) so that the flight route of the drone (1) covers the reed wetland in a square wave shape, and carrying a laser radar (23) under the drone (1) to scan the reed wetland to obtain a point cloud data set of the reed wetland; S2: preprocessing the collected point cloud data set, including filtering and denoising; S3: Extract and classify the preprocessed point cloud data set to identify the distribution range of water, land, and reeds to form a feature module; S4: register and fuse the feature modules collected at different times and locations to generate a three-dimensional scene, and then optimize it to form a three-dimensional map; The drone (1) is provided with a detachable battery pack (3), and one or more battery replacement platforms (41) are arranged on the flight route of the drone (1) to automatically replace the battery pack (3).

2. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 1, characterized in that: A pod assembly (2) is provided at the bottom of the UAV (1), the pod assembly (2) includes a pod shell (21) with openings at both ends, the battery pack (3) slides in and out of the pod shell (21), the battery exchange platform (4) includes a docking platform (41) for positioning and landing of the UAV (1) and two battery exchange cabins (42) arranged on the docking platform (41), the docking platform (41) has an energy storage assembly (5) corresponding to the two battery exchange cabins (42), after the UAV (1) lands on the docking platform (41), the pod shell (21) docks between the two battery exchange cabins (42), the battery assembly (3) in the battery exchange cabin (42) is pushed into the pod shell (21) through the energy storage assembly (5), and the battery pack (3) in the pod shell (21) is pushed into another empty battery exchange cabin (42).

3. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 1, characterized in that: The laser radar (23) is arranged below the pod shell (21), and a pressure-applying portion (24) for storing energy in the energy storage component (5) is also arranged below the pod shell (21).

4. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 3, characterized in that: The energy storage assembly (5) comprises an energy storage chamber (51) arranged at the end of the power exchange cabin (42), a piston (52) arranged in the energy storage chamber (51), and a second spring (53) connected to the piston (52) and extending into the power exchange cabin (42). Two energy storage parts (54) are arranged at the bottom of the docking platform (41). After being compressed by the pressure-applying part (24), the energy storage part (54) is hydraulically connected to the energy storage chamber (51) and pushes the piston (52) to slide to store energy for the second spring (53).

5. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 2, characterized in that: The pod shell (21) is in an inverted trapezoidal shape, the docking platform (41) is in an upright trapezoidal shape, and brackets (25) are provided on both sides of the pod shell (21), and the brackets (25) are in an inverted U shape for positioning and docking with the docking platform (41).

6. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 2, characterized in that: The battery assembly (3) comprises a battery body (31) and a guide wheel (32) arranged on the lower surface of the battery body (31), wherein a through groove (22) is arranged on the lower surface of the pod shell (21), the through groove (22) corresponds to the guide wheel (32), and the guide wheel (32) falls into the through groove (22) after the drone (1) takes off, and a boss (43) is arranged on the surface of the docking platform (41) for filling the through groove (22) upwards to support the battery body (31) when the drone (1) lands.

7. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 6, characterized in that: The charging and discharging interface (33) of the battery body (31) is located at the bottom, and the bottom wall of the battery exchange cabin (42) is provided with a docking portion, which is docked by the guide wheel (32) falling into the through groove (22) and is detached by the battery body (31) being lifted by the boss (43). An automatically retractable charging component (44) is provided in the battery exchange cabin (42).

8. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 6, characterized in that: An oblique angle block (26) is provided at the top of the pod housing (21) to control the battery body (31) to slide in only one direction, wherein the oblique angle block (26) extends downward into the pod housing (21) through a first spring (27); The pod shell (21) is also provided with a crimping portion (28) for pressing on the top of the battery body (31) after the guide wheel (32) falls into the through groove (22), wherein the crimping portion (28) is hinged at the top of the pod shell (21), and is coaxially connected with a gear (210) extending to the outside of the pod shell (21), and a slide bar (29) is slidably provided on the outside of the pod shell (21), and the bottom of the slide bar (29) is supported by the docking platform (41) to drive the gear (210) to rotate to retract the crimping portion (28).

9. The method for three-dimensional mapping of reed wetlands using unmanned aerial vehicle laser radar data according to claim 6, characterized in that: A snap-on assembly (6) is provided in the gap between the battery exchange cabin (42) and the bottom of the pod shell (21), and includes a slide groove (61) provided on the docking platform (41), and a snap-on portion (63) is slidably provided in the slide groove (61). The snap-on portion (63) is pushed upward by a third spring (62), and the snap-on portion (63) extends upward with two heads, one of which is used to contact the bottom of the pod shell (21), and the other is used to clamp the battery pack (3) in the battery exchange cabin (42) after the UAV (1) takes off.

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