Underwater topographic surveying and mapping device based on unmanned aerial vehicle and use method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to an underwater topographic surveying and mapping device based on an unmanned aerial vehicle and a using method thereof.The underwater topographic surveying and mapping device comprises an unmanned aerial vehicle body, supporting legs are arranged at the lower end of the unmanned aerial vehicle body, and a surveying and mapping mechanism is arranged below the unmanned aerial vehicle body and comprises a connecting table used in cooperation with the supporting legs; a mounting platform is arranged on the inner side of the connecting table, and a detector is arranged at the position, close to the center, of the inner side of the mounting platform. The surveying and mapping mechanism is arranged, the unmanned aerial vehicle body and the detector can float on the water surface for a long time through the floating assembly, the detector can be put and recycled in the underwater topography surveying and mapping process through the convenient flight capacity of the unmanned aerial vehicle, and underwater topography surveying and mapping work can be conveniently conducted on a water area under the complex topography; and the labor intensity of surveying and mapping personnel in carrying, putting and recycling processes is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of drone mapping devices, and specifically to an underwater terrain mapping device based on a drone and a method for using the same. Background Art

[0002] Underwater topography surveying is a specific type of engineering surveying. It measures the plane position and elevation of the sea bottom in rivers, lakes, reservoirs, harbors and offshore waters. It is used to draw underwater topographic maps. Its main content is to establish a control network on land and conduct underwater topography surveying.

[0003] In engineering construction, GNSS technology and water depth measurement technology are mainly used for large-scale underwater topographic mapping of offshore areas, rivers and lakes. That is, GNSS technology is used for planar positioning, and water depth measurement technology is used to synchronously measure water depth.

[0004] UAVs are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices. UAVs can be divided into military and civilian applications according to their application areas. In the civilian field, UAV + industry application is the rigid demand for UAV applications. The application in aerial photography, agriculture, plant protection, surveying and mapping, power inspection, disaster relief and other fields has greatly expanded the use of UAVs themselves.

[0005] In the field of surveying and mapping, there is a growing trend to use surveying and mapping devices in conjunction with drone equipment to survey and map complex terrain in order to improve the efficiency of terrain surveying and mapping work, while also improving the integrity of complex terrain surveying and mapping. Regarding the above-mentioned related technologies, due to the complex terrain of water area mapping, when mapping the underwater terrain, in order to improve the accuracy of mapping, unmanned boats carrying surveying and mapping equipment are often used to map the underwater terrain. In complex terrain, the transportation and deployment of unmanned boats require manual operation, which makes the transportation, deployment and recovery of drones difficult. Surveying and mapping personnel need to spend a lot of time and energy in the process of transporting and deploying unmanned boats, and accidents are prone to occur, resulting in the difficulty of successfully deploying unmanned boats to the waters to be surveyed for work, or the difficulty of successfully recovering the equipment after deployment. There is a need for an underwater terrain mapping equipment that can adapt to complex terrain and is convenient for deployment and recovery. Summary of the invention

[0006] In view of the above shortcomings of the prior art, the present application provides an underwater terrain surveying and mapping device based on a drone, comprising a drone body, a leg provided at the lower end of the drone body, and a surveying and mapping mechanism provided below the drone body for surveying and mapping underwater terrain, wherein the surveying and mapping mechanism comprises a connecting platform used in conjunction with the leg, for plugging the leg at the lower end of the drone body; An installation platform is provided on the inner side of the connecting platform, and a detector is provided on the inner side of the installation platform and near the center, for mapping the underwater terrain; The mounting platform and the connecting platform are connected by a support rod, and a floating component is provided between the mounting platform and the connecting platform. A plurality of groups of the floating components are evenly distributed along the circumference of the mounting platform to support the main body of the drone to float on the water surface; The floating assembly includes a plurality of fan ribs, which are distributed in a fan shape outside the installation platform, and a floating fan blade is arranged between two adjacent fan ribs.

[0007] Furthermore, the floating component also includes a driving motor arranged inside the mounting platform, a lead screw is provided at the output end of the driving motor, one end of the lead screw extends to the lower end of the connecting platform, a displacement plate is provided on the lead screw and is threadedly connected to the lead screw, a support rod symmetrically distributed about the displacement plate is provided on the outer side of the displacement plate, one end of the support rod away from the displacement plate is slidably connected to a fan rib at an edge position, and a rotating rod is provided at one end of the fan rib located at the edge.

[0008] Furthermore, one end of the support rod is clamped in the clamping plate of the displacement plate and is rotatably connected to the clamping plate outside the displacement plate. A sliding block is provided at the lower end of the displacement plate, and the sliding block is slidably connected to the fan rib at the center position.

[0009] Furthermore, a bonding plate is provided on the outer side of the fan rib connected to the support rod, and the bonding plate of one group of floating components is abutted against the bonding plate of another group of floating components.

[0010] Furthermore, the surveying and mapping mechanism also includes an auxiliary component, which includes a storage box located at the lower end of the connecting platform, a displacement main board is provided in the storage box, and fan-shaped floating plates symmetrically distributed about the displacement main board are provided on the outside of the displacement main board, and the fan-shaped floating plates symmetrically distributed about the displacement main board constitute a disc-shaped floating plate.

[0011] Furthermore, a rotating sub-plate is provided on the outside of the displacement main plate and near the center, one end of the fan-shaped floating plate is fixedly connected to the displacement main plate, and the other end of the fan-shaped floating plate is fixedly connected to the rotating sub-plate, and the opening and closing of the fan-shaped floating plate is controlled by the rotating sub-plate. A contraction portion is provided at one end of the rotating sub-plate for controlling the rotation of the rotating sub-plate.

[0012] Furthermore, the contraction portion includes a telescopic sleeve located at one end of the displacement main board, the telescopic sleeve is located inside the storage box, an air pump is provided at one end of the telescopic sleeve located inside the storage box, and the telescopic sleeve is controlled by the air pump to control the extension and retraction of the telescopic sleeve, a fixed block is provided at one end of the rotating sub-plate, a traction rope is provided on the fixed block, a fixed column is provided at the other end of the traction rope, and the fixed column is fixedly connected to the storage box.

[0013] Furthermore, the rotating sub-plate is rotationally connected to the displacement main plate via a torsion spring, and the elastic force of the traction rope is greater than the elastic force of the torsion spring at the connection between the rotating sub-plate and the displacement main plate.

[0014] A method for using an underwater terrain surveying and mapping device based on a drone comprises the following steps:

[0015] S1. Preparation: Determine the survey area and target, develop a survey plan including flight path and survey depth, select a suitable drone, and install necessary sensors such as multi-beam sonar or camera, calibrate the sensors, and ensure data accuracy, especially the sonar system and positioning system.

[0016] S2. Formal surveying: The navigation mode and parameters of the drone body are set according to the mission plan. The drone conducts surveying along the predetermined path and collects underwater terrain data and images.

[0017] S3. Data integration: Sensors and controllers transmit data to the ground station or store it in the drone in real time to ensure data integrity. Specialized software is used to process the collected data to generate underwater terrain maps or three-dimensional models.

[0018] S4. Data analysis and equipment recovery: Analyze the processed data, write a surveying and mapping report, provide it to relevant departments or researchers, recover the drone and sensors, maintain and inspect the equipment, and prepare for the next surveying and mapping use.

[0019] A method for using the above-mentioned underwater terrain surveying and mapping device based on a drone comprises the following steps: S1. Equipment assembly: plug the connection platform into the legs at the lower end of the drone body, fix the mounting platform with the detector on the drone body, and set the drone body's navigation trajectory and detection points; S2. Equipment fixed point: The air pump inflates the telescopic sleeve, and the telescopic sleeve pushes the displacement mainboard out of the storage box. During the displacement mainboard's outward displacement, the traction rope pulls the rotating sub-board, causing the rotating sub-board to rotate, and the fan-shaped floating plate unfolds to form a disc, allowing the drone body to stay on the water surface for a short time; S3. Equipment floating and detection: The driving motor drives the lead screw to rotate, so that the displacement plate on the lead screw moves, and the displacement plate drives the struts to move, the angle between the struts increases, and the two ends of the struts spread the fan bones outward, so that multiple floating fan blades are unfolded. Multiple groups of floating fan blades form a large disk, so that the main body of the drone can float on the water surface, and the detector detects the underwater terrain; S4. Equipment recovery: The drive motor reverses and the lead screw drives the displacement plate to reset. During the reset of the displacement plate, the angle of the strut decreases, the fan ribs gather toward the center, the floating fan blades close, and the main body of the drone leaves the water and flies back to the equipment recovery site.

[0020] Compared with the known prior art, the technical solution provided by this application has the following beneficial effects: 1. This application sets a surveying and mapping mechanism, sets a mounting platform capable of mounting a detector at the lower end of the drone body, sets a floating component on the outside of the mounting platform, and enables the drone body and the detector to float on the water surface for a long time through the floating component. The convenient flight capability of the drone is used to launch and recover the detector, which is convenient for underwater terrain surveying and mapping of waters with complex terrain, reduces the labor intensity of surveying and mapping personnel in the process of carrying, launching and recovering, and improves the work efficiency of underwater terrain surveying and mapping of waters with complex terrain; 2. This application sets floating blades, and realizes the opening and closing of the floating blades by cooperating with the support rod and the lead screw. When the drone body is in flight, the floating blades are controlled to gather together, thereby reducing the air resistance during the flight, reducing the power consumption of the drone body, and increasing the working time of the drone body. It also reduces the possibility that the surveying and mapping device is difficult to recover due to excessive power consumption of the drone body during the equipment recovery stage; 3. This application sets up auxiliary components and multiple fan-shaped floats on the outside of the floating component. Before the floating component is deployed, the buoyancy of the fan-shaped floats is used to reduce the possibility of the UAV accidentally falling directly into the water. During the surveying and mapping stage, the fan-shaped floats are used to increase the buoyancy of the floating component, reduce the possibility of the UAV body excessively tilting under the influence of waves on the water surface, and effectively improve the stability of the floating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present application; Figure 2 This is a schematic diagram of the structure of the surveying and mapping mechanism in the embodiment of the present application; Figure 3 This is a schematic diagram of the position of the detector in the embodiment of the present application; Figure 4 This is a schematic diagram of the structure of the floating assembly in the embodiment of the present application; Figure 5 This is a schematic diagram of the structure of the displacement plate in the embodiment of the present application; Figure 6 This is a schematic diagram of the structure of the auxiliary components in the embodiment of the present application; Figure 7 This is a schematic diagram of the structure of the telescopic sleeve in the embodiment of the present application; Figure 8 for Figure 7 Enlarged view of point A in the middle.

[0022] In the figure: 1. UAV body; 11. Outrigger; 2. Mapping mechanism; 21. Connecting platform; 22. Mounting platform; 23. Detector; 24. Floating assembly; 241. Driving motor; 242. Lead screw; 243. Displacement plate; 244. Strut; 245. Turn bar; 246. Floating blade; 247. Fan rib; 248. Laminating plate; 249. Slider; 3. Auxiliary assembly; 31. Storage box; 32. Displacement main board; 33. Fan-shaped floating plate; 34. Rotating sub-plate; 341. Fixed protrusion; 342. Fixed column; 35. Fixed horizontal plate; 36. Air pump; 37. Telescopic sleeve; 38. Towing rope. DETAILED DESCRIPTION

[0023] In order to better understand the above technical solution, Figure 1-8 And specific implementation methods are used to describe the above technical solutions in detail.

[0024] refer to Figure 1 and Figure 2 The present application discloses an underwater terrain mapping device based on a drone, comprising a drone body 1, a leg 11 and a mapping mechanism 2. The leg 11 is fixedly mounted at the lower end of the drone body 1, and the mapping mechanism 2 is mounted at the lower end of the leg 11 for mapping underwater terrain.

[0025] A method for mapping underwater terrain based on a drone comprises the following steps: S1. Preparation: determine the survey area and target, develop a survey plan, including flight path and survey depth, select a suitable UAV body 1, install necessary surveying and mapping mechanisms 2, calibrate the surveying and mapping mechanisms 2, and ensure data accuracy, especially the sonar system and positioning system; S2. Formal mapping: The navigation mode and parameters of the drone body 1 are set according to the mission plan, and the drone body 1 is mapped according to the predetermined path to collect underwater terrain data and images; S3. Data integration: The surveying and mapping agency 2 transmits data to the ground station in real time or stores it in the UAV body 1 to ensure the integrity of the data, and uses specialized software to process the collected data to generate an underwater topographic map or a three-dimensional model; S4. Data analysis and equipment recovery: Analyze the processed data, write a surveying and mapping report, provide it to relevant departments or researchers, recover the drone body 1 and the surveying and mapping agency 2, maintain and inspect the equipment, and prepare for the next surveying and mapping use.

[0026] refer to Figures 2 to 5The surveying and mapping mechanism 2 includes a connecting platform 21, a mounting platform 22, a detector 23, a floating component 24 and an auxiliary component 3. The connecting platform 21 is sleeved on the leg 11, and the leg 11 at the lower end of the drone body 1 is inserted into the mounting groove on the surface of the connecting platform 21. The mounting platform 22 is fixedly mounted on the inner side of multiple connecting platforms 21 through a cross bar, and multiple connecting platforms 21 are evenly distributed along the circumference of the mounting platform 22. The detector 23 is fixedly mounted at the lower end of the mounting platform 22 for mapping underwater terrain. The floating component 24 is installed between the connecting platform 21 and the mounting platform 22, and the drone body 1 and the detector 23 can float on the water surface through the floating component 24. The auxiliary component 3 is installed on the outside of the connecting platform 21, and the working effect of the floating component 24 can be guaranteed through the auxiliary component 3, and the stability of the floating component 24 is improved.

[0027] Among them, multiple groups of floating components 24 are arranged on the outside of the installation platform 22, and the multiple groups of floating components 24 are evenly distributed along the circumference of the installation platform 22. A single group of floating components 24 includes a driving motor 241, a lead screw 242, a displacement plate 243, a support rod 244, a rotating rod 245, a floating fan blade 246, a fan bone 247, a fitting plate 248 and a slider 249. The driving motor 241 is fixedly installed inside the installation platform 22, and one end of the lead screw 242 is fixedly connected to the output end of the driving motor 241, and the driving motor 241 is used to control the forward and reverse rotation of the lead screw 242. The displacement plate 243 is sleeved on the lead screw 242, and a threaded hole used in conjunction with the lead screw 242 is opened in the displacement plate 243. The displacement of the displacement plate 243 is controlled by the rotation of the lead screw 242, so that the displacement plate 243 can be displaced on the lead screw 242 along the length direction of the lead screw 242. The support rod 244 is installed on the outside of the displacement plate 243, and the two support rods 244 are symmetrically distributed about the displacement plate 243. One end of the support rod 244 is inserted into the clamping plate outside the displacement plate 243, and the end of the support rod 244 connected to the clamping plate is rotatably connected to the displacement plate 243. The rotating rod 245 is installed on the inner side of the mounting platform 22, and one end of the two rotating rods 245 is fixed on the same fulcrum, and the rotation of the two independent rotating rods 245 does not interfere with each other. The bonding plate 248 is fixedly installed at one end of the rotating rod 245. A plurality of fan bones 247 are installed between the two bonding plates 248. The floating blade 246 is installed between two adjacent fan bones 247, and the interior of the floating blade 246 is set as a hollow structure, which can be filled with gas inside the floating blade 246 to support the floating blade 246 floating on the water surface. Multiple floating blades 246 can be stacked together, and the opening and closing of the floating blade 246 can be controlled by changing the spacing between the fan bones 247. One end of the support rod 244 away from the displacement plate 243 is slidably connected to the fan bone 247 at the edge position, and the fitting plate 248 is also fixed to the fan bone 247 at the edge position. The slider 249 is fixedly installed at the lower end of the displacement plate 243, and the lower end of the slider 249 is inserted into the slide groove starting from the surface of the floating fan blade 246 below the displacement plate 243, and the displacement plate 243 is slidably connected to the floating fan blade 246 below through the slider 249. Through the engagement of the slider 249 with the floating fan blade 246, when the lead screw 242 rotates, the displacement plate 243 will not rotate with the lead screw 242.

[0028] It is worth mentioning that after the multiple floating blades 246 are deployed, the angle between the two bonding plates 248 on both sides of the floating blades 246 is ninety degrees. At this time, the two adjacent bonding plates 248 in the two adjacent floating components 24 abut against each other. Since the bonding plates 248 are magnetic components, when the two adjacent bonding plates 248 are in contact, the two bonding plates 248 can attract each other, and the contact surfaces of the two bonding plates 248 can be completely fitted. After the bonding plates 248 are fitted, the floating blades 246 of the multiple groups of floating components 24 are arranged in a disc-shaped structure along the circumference of the mounting platform 22, and the disc-shaped structure is defined as a large disc, which is used to support the drone body 1 to float on the water.

[0029] Before the drone body 1 sails to the detection point, the drone body 1 flies in the air under the action of the propeller. The airflow generated by the rotation of the propeller drives the drone body 1 to sail. During the flight of the drone body 1, it will be subject to resistance from the air. The size of the air resistance depends in part on the size of the force-bearing area. The larger the force-bearing area of ​​the object, the greater the air resistance it will receive during the flight. During the voyage of the drone, if the resistance to the drone increases, the energy consumption required for the drone to sail will be greater. At this time, if the floating blades 246 located below the drone body 1 are unfolded, the force-bearing area of ​​the drone during the voyage will increase, thereby increasing the air resistance received by the drone body 1 during the voyage. The air thrust received by the floating blades 246 during the voyage of the drone will greatly increase the energy consumption of the drone's navigation, which is not conducive to the long-term detection work of the drone. At the same time, the thrust of the air can easily cause the damage of the floating blades 246, affecting the stability of the floating blades 246 structure, thereby reducing the buoyancy of the floating mechanism, making it difficult for the drone body 1 to float on the water for a long time, affecting the progress of the drone in underwater terrain mapping. Therefore, before the UAV reaches the designated detection point, the floating blades 246 need to be in a folded state at all times to reduce the resistance encountered by the UAV body 1 during navigation.

[0030] When the drone body 1 flies to the air above the detection point, the drone body 1 is as close to the water surface at the detection point as possible, and the driving motor 241 is controlled to drive the lead screw 242 to rotate, and the displacement plate 243 is driven to move on the lead screw 242 by the rotation of the lead screw 242. During the movement, the displacement plate 243 will drive the strut 244 to move. Since one end of the strut 244 is rotatably connected to the displacement plate 243, and the other end of the strut 244 is slidably connected to the bonding plate 248. When the displacement plate 243 moves toward the direction of the mounting platform 22, the two struts 244 push the bonding plates 248 on both sides to move outwards respectively, and the angle between the two struts 244 gradually increases. Since the fan rib 247 at the lower end of the bonding plate 248 is fixedly connected to the rotating rod 245, during the movement of the bonding plate 248, it rotates, and the angle between the two rotating rods 245 increases synchronously. As the laminating plates 248 and the rotating rod 245 move, the floating blades 246 between the two laminating plates 248 gradually unfold into a fan-shaped structure.

[0031] After the floating blades 246 are fully unfolded, the two bonding plates 248 of the adjacent floating components 24 abut against each other, and the two bonding plates 248 are fully fitted, reducing the gap between the adjacent floating components 24. At this time, the floating blades 246 of multiple groups of floating components 24 form a complete disc-shaped structure, which is defined as a large disc, and the disc structure floats on the water surface to support the drone body 1. At this time, the buoyancy of the disc structure is equal to the gravity of the drone and the mapping mechanism 2, so that the entire device can float on the water surface of the detection point. The detector 23 at the lower end of the installation platform 22 is used to map the underwater terrain at the detection point and collect terrain data. By controlling the translation of the drone body 1 on the water surface, switching to different detection points, the underwater terrain mapping is completed.

[0032] refer to Figure 2 , Figure 6 , Figure 7 and Figure 8The auxiliary component 3 includes a storage box 31, a displacement main board 32, a fan-shaped floating plate 33, a rotating sub-plate 34, a fixed column 342, a fixed horizontal plate 35, an air pump 36, and a telescopic sleeve 37. The storage box 31 is fixedly mounted at the lower end of the connecting platform 21, and the storage box 31 is located between the connecting platform 21 and the floating fan blade 246. The air pump 36 is fixedly mounted inside the storage box 31. The telescopic sleeve 37 is fixedly mounted on the air port of the air pump 36, and the telescopic sleeve 37 is a hollow and sealed tubular structure. The displacement main board 32 is fixedly mounted on the end of the telescopic sleeve 37 away from the air pump 36, and the end of the displacement main board 32 away from the telescopic sleeve 37 can extend to the outside of the storage box 31. The fixed column 342 is fixedly mounted on the inner side wall of the storage box 31, and the fixed horizontal plate 35 is fixedly mounted on the lower end of the fixed column 342. A hole for plugging the lead screw 242 is opened on the fixed horizontal plate 35. There is a space for placing the fan-shaped floating plate 33 between the fixed horizontal plate 35 and the inner wall of the storage box 31. The rotating sub-plate 34 is rotatably installed on the outside of the displacement main plate 32 and close to the center, and the two rotating sub-plates 34 are symmetrically distributed about the displacement main plate 32. The fan-shaped floating plate 33 is installed between the displacement main plate 32 and the rotating sub-plate 34, and the two groups of fan-shaped floating plates 33 that can be opened and closed are symmetrically distributed about the displacement main plate 32. One side of the fan-shaped floating plate 33 is fixedly connected to the displacement main plate 32, and the other side of the fan-shaped floating plate 33 is fixedly connected to the rotating sub-plate 34. The degree of opening and closing of the fan-shaped floating plate 33 is controlled by changing the angle between the rotating sub-plate 34 and the displacement main plate 32.

[0033] It is worth mentioning that the auxiliary component 3 also includes a fixed protrusion 341 and a traction rope 38. The fixed protrusion 341 is fixedly mounted on one end of the rotating sub-plate 34, and the fixed protrusion 341 is located on the upper end surface of the rotating sub-plate 34 and away from the displacement main plate 32. One end of the traction rope 38 is sleeved on the fixed protrusion 341, and the other end of the traction rope 38 extends to the inside of the storage box 31 and is fixedly mounted on the fixed column 342. The two traction ropes 38 on the two rotating sub-plates 34 cross each other, that is, one end of the traction rope 38 is fixedly connected to the fixed protrusion 341 located on one side of the displacement main plate 32, and the other end of the traction rope 38 is fixedly connected to the fixed column 342 located on the other side of the displacement main plate 32. In the process of the displacement main plate 32 moving outward, the rotating sub-plate 34 rotates due to the traction of the traction rope 38, and the rotating sub-plate 34 rotates with the displacement of the displacement main plate 32. In the process of the rotating sub-plate 34 rotating, the fan-shaped floating plate 33 is opened and closed.

[0034] Similarly, before the drone body 1 reaches the detection point, in order to reduce the air resistance of the drone body 1, the fan-shaped floating plate 33 of the auxiliary component 3 is also in a retracted state. When the drone body 1 reaches the designated detection point and the floating component 24 is not unfolded, the air pump 36 inflates the telescopic sleeve 37 to extend the telescopic sleeve 37. The extended telescopic sleeve 37 pushes the displacement main board 32 out of the storage box 31. During the displacement of the displacement main board 32, the rotating sub-plate 34 is pulled by the traction of the traction rope 38, and the rotating sub-plate 34 swings with the connection point with the displacement main board 32 as the fulcrum. During the swinging of the rotating sub-plate 34, the fan-shaped floating plate 33 located between the rotating sub-plate 34 and the displacement main board 32 gradually unfolds until the fan-shaped floating plate 33 is fully unfolded to form a disc-shaped structure, which is defined as a small disc. The diameter of the large disc is greater than the diameter of the small disc, and a plurality of small discs are distributed on the outside of the large disc along the circumference of the large disc. The horizontal plane of the small disc is higher than that of the large disc. Before the large disc is unfolded, the small disc that is unfolded in advance provides buoyancy for the drone body 1 to prevent the drone body 1 from falling into the water and causing damage to the equipment.

[0035] After the large disc is unfolded, the small disc remains unfolded. When the large disc shakes due to the influence of water ripples, the large disc will be in a tilted state. At this time, the small disc located outside the large disc and close to the water surface will contact the water surface. A force is generated between the small disc and the water body, providing resistance in the opposite direction of the tilt of the large disc to prevent the large disc from further tilting, thereby improving the stability of the drone body 1 and reducing the possibility of the drone body 1 rolling over due to the influence of water surface fluctuations.

[0036] A method for using an underwater terrain surveying and mapping device based on a drone comprises the following steps: S1. Equipment assembly: Connect the connecting platform 21 with the leg 11 at the lower end of the drone body 1, fix the mounting platform 22 equipped with the detector 23 on the drone body 1, and set the navigation trajectory and detection point of the drone body 1; S2. Equipment fixed point: The air pump 36 inflates the telescopic sleeve 37, and the telescopic sleeve 37 pushes the displacement main board 32 out of the storage box 31. During the displacement of the displacement main board 32, the traction rope 38 pulls the rotating sub-plate 34 to rotate the rotating sub-plate 34, and the fan-shaped floating plate 33 unfolds to form a disc, so that the drone body 1 stays on the water surface for a short time; S3. Equipment floating and detection: The driving motor 241 drives the lead screw 242 to rotate, so that the displacement plate 243 on the lead screw 242 is displaced, and the displacement plate 243 drives the strut 244 to move, and the angle between the struts 244 increases. The two ends of the strut 244 open the fan ribs 247 outward, so that multiple floating blades 246 are unfolded, and multiple groups of floating blades 246 form a large disk, so that the drone body 1 can float on the water surface, and the detector 23 detects the underwater terrain; S4. Equipment recovery: The driving motor 241 reverses, and the lead screw 242 drives the displacement plate 243 to reset. During the reset of the displacement plate 243, the angle of the support rod 244 decreases, the fan bones 247 gather toward the center, the floating fan blades 246 close, and the drone body 1 leaves the water surface and flies back to the equipment recovery site.

[0037] The working principle of the embodiment of this application: Before the formal detection, the installation platform 22 is fixed under the drone body 1 by plugging the connecting platform 21 and the supporting legs 11, and the detector 23 for underwater terrain mapping is installed at the lower end of the installation platform 22. The drone navigation path is planned as needed, and the stop point of the drone body 1 is determined, and the drone navigation track, detection point and working status of the detector 23 are calibrated; During the detection process, the drone body 1 flies to the starting point of the detection, and inflates the telescopic sleeve 37 through the air pump 36, so that the displacement main board 32 extends out of the storage box 31, and the traction rope 38 is used to swing the rotating sub-plate 34, and the fan-shaped floating plate 33 between the rotating sub-plate 34 and the displacement main board 32 unfolds into a small disc. At the same time, the drive motor 241 is controlled to rotate, so that the rotation of the screw 242 controls the displacement of the displacement plate 243, and the displacement of the displacement plate 243 causes the strut 244 to displace. The strut 244 pushes the bonding plates 248 on both sides to move outward, and the spacing between the bonding plates 248 increases, thereby causing the floating blades 246 to unfold into a fan-shaped structure. The fan-shaped structure composed of the floating blades 246 of multiple groups of floating components 24 together constitutes a large disc, which is used to support the drone body 1 to float on the water surface. The detector 23 detects the underwater terrain and uploads or stores the data. According to the preset navigation trajectory, the drone moves on the water area, switching different detection points to map the underwater terrain; After the detection is completed, the drone body 1 takes off, and the driving motor 241 drives the lead screw 242 to reverse, controls the displacement plate 243 to reset, and the support rod 244 returns to its original position. The two bonding plates 248 on both sides move closer to the center position, and the floating blades 246 are retracted to the bottom of the lead screw 242. The air pump 36 operates in the reverse direction to extract the gas in the telescopic sleeve 37, so that the displacement main board 32 is retracted into the storage box 31, and the rotating sub-plate 34 is manually rotated to the original position to complete the retraction of the fan-shaped floating plate 33. Then, the collected data is integrated and analyzed according to the data of the detector 23 to obtain specific information on underwater topographic mapping.

[0038] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An underwater terrain mapping device based on a drone, comprising a drone body (1), wherein a support leg (11) is provided at the lower end of the drone body (1), characterized in that: A mapping mechanism (2) is provided below the drone body (1) for mapping underwater terrain, wherein the mapping mechanism (2) comprises a connection platform (21) used in conjunction with the legs (11) and for plugging the legs (11) at the lower end of the drone body (1); An installation platform (22) is provided on the inner side of the connection platform (21), and a detector (23) is provided on the inner side of the installation platform (22) and close to the center, for mapping underwater terrain; The mounting platform (22) and the connecting platform (21) are connected via a support rod (244), a floating assembly (24) is provided between the mounting platform (22) and the connecting platform (21), and a plurality of groups of the floating assemblies (24) are evenly distributed along the circumference of the mounting platform (22) to support the drone body (1) to float on the water surface; The floating assembly (24) comprises a plurality of fan ribs (247), the plurality of fan ribs (247) being distributed in a fan shape outside the installation platform (22), and a floating fan blade (246) being provided between two adjacent fan ribs (247).

2. The underwater topographic mapping device based on a drone according to claim 1, characterized in that: The floating assembly (24) further comprises a driving motor (241) arranged inside the mounting platform (22); a lead screw (242) is provided at an output end of the driving motor (241); one end of the lead screw (242) extends to the lower end of the connecting platform (21); a displacement plate (243) threadedly connected to the lead screw (242) is sleeved on the lead screw (242); support rods (244) symmetrically distributed about the displacement plate (243) are provided on the outer side of the displacement plate (243); one end of the support rod (244) away from the displacement plate (243) is slidably connected to a fan rib (247) at an edge position; and a rotating rod (245) is provided at one end of the fan rib (247) located at the edge.

3. The underwater topographic mapping device based on a drone according to claim 2, characterized in that: One end of the support rod (244) is clamped in a clamping plate of the displacement plate (243) and is rotatably connected to a clamping plate outside the displacement plate (243). A slider (249) is provided at the lower end of the displacement plate (243). The slider (249) is slidably connected to a fan rib (247) at a central position.

4. The underwater topographic mapping device based on a drone according to claim 3 is characterized in that: An abutment plate (248) is provided on the outer side of the fan rib (247) connected to the support rod (244), and the abutment plate (248) of one group of floating components (24) abuts against the abutment plate (248) of another group of floating components (24).

5. The underwater terrain surveying and mapping device based on a drone according to claim 1, characterized in that: The surveying and mapping mechanism (2) further comprises an auxiliary component (3), the auxiliary component (3) comprising a storage box (31) located at the lower end of the connecting platform (21), a displacement main board (32) being arranged in the storage box (31), and fan-shaped floating plates (33) symmetrically distributed with respect to the displacement main board (32) being arranged on the outer side of the displacement main board (32), the fan-shaped floating plates (33) symmetrically distributed with respect to the displacement main board (32) forming a disc-shaped floating plate.

6. The underwater topographic mapping device based on a drone according to claim 5, characterized in that: A rotating sub-plate (34) is provided outside the displacement main plate (32) and near the center thereof; one end of the fan-shaped floating plate (33) is fixedly connected to the displacement main plate (32); the other end of the fan-shaped floating plate (33) is fixedly connected to the rotating sub-plate (34); the opening and closing of the fan-shaped floating plate (33) is controlled by the rotating sub-plate (34); and a contraction portion is provided at one end of the rotating sub-plate (34) for controlling the rotation of the rotating sub-plate (34).

7. The underwater topographic mapping device based on a drone according to claim 6, characterized in that: The contraction portion comprises a telescopic sleeve (37) located at one end of the displacement main plate (32), the telescopic sleeve (37) being located inside the storage box (31), an air pump (36) being provided at one end of the telescopic sleeve (37) located inside the storage box (31), and the telescopic movement of the telescopic sleeve (37) being controlled by the air pump (36), a fixed protrusion (341) being provided at one end of the rotating sub-plate (34), a traction rope (38) being provided on the fixed protrusion (341), a fixed column (342) being provided at the other end of the traction rope (38), and the fixed column (342) being fixedly connected to the storage box (31).

8. The underwater topographic mapping device based on a drone according to claim 7, characterized in that: The rotating sub-plate (34) is rotationally connected to the displacement main plate (32) via a torsion spring, and the elastic force of the traction rope (38) is greater than the elastic force of the torsion spring at the connection between the rotating sub-plate (34) and the displacement main plate (32).

9. A method for using the underwater topographic mapping device based on a drone according to claim 8, characterized in that: The steps include: S1. Preparation: determine the survey area and target, develop a survey plan, including flight path and survey depth, select a suitable drone, install necessary sensors, such as multi-beam sonar or camera, calibrate the sensors, and ensure data accuracy, especially the sonar system and positioning system; S2. Formal surveying: The navigation mode and parameters of the drone body (1) are set according to the mission plan. The drone performs surveying along the predetermined path and collects underwater terrain data and images. S3. Data integration: The sensors and controllers transmit data to the ground station or store it in the drone in real time to ensure the integrity of the data. Specialized software is used to process the collected data to generate underwater topographic maps or three-dimensional models. S4. Data analysis and equipment recovery: Analyze the processed data, write a surveying and mapping report, provide it to relevant departments or researchers, recover the drone and sensors, maintain and inspect the equipment, and prepare for the next surveying and mapping use.

10. A method for using the underwater topographic mapping device based on a drone according to claim 9, characterized in that: The steps include: S1. Equipment assembly: plug the connecting platform (21) into the leg (11) at the lower end of the drone body (1), fix the mounting platform (22) equipped with the detector (23) on the drone body (1), and set the navigation track and detection point of the drone body (1); S2. Fixing the equipment: the air pump (36) inflates the telescopic sleeve (37), and the telescopic sleeve (37) pushes the displacement main board (32) out of the storage box (31). During the outward displacement of the displacement main board (32), the traction rope (38) pulls the rotating sub-plate (34), causing the rotating sub-plate (34) to rotate, and the fan-shaped floating plate (33) unfolds to form a disc, so that the drone body (1) stays on the water surface for a short time; S3. Equipment floating and detection: The driving motor (241) drives the lead screw (242) to rotate, so that the displacement plate (243) on the lead screw (242) is displaced, and the displacement plate (243) drives the support rod (244) to move, and the angle between the support rods (244) increases. The two ends of the support rod (244) open the fan ribs (247) outward, so that the multiple floating fan blades (246) are unfolded, and the multiple groups of floating fan blades (246) form a large disk, so that the drone body (1) can float on the water surface, and the detector (23) detects the underwater terrain; S4. Equipment recovery: The driving motor (241) is reversed, and the lead screw (242) drives the displacement plate (243) to reset. During the reset process of the displacement plate (243), the angle of the support rod (244) decreases, the fan ribs (247) gather toward the center, the floating fan blades (246) close, and the drone body (1) leaves the water surface and flies back to the equipment recovery location.

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