Surveying and mapping device and surveying and mapping method for ground and underground forms

Abstract

The invention relates to the technical field of surveying and mapping, in particular to a surveying and mapping device for ground and underground forms. Comprising a ground surveying system, a high-altitude surveying system and an underground surveying system, the ground surveying system comprises a surveying vehicle, and a plurality of movable surveying cameras are arranged on the front side of a frame of the surveying vehicle; the high-altitude surveying system comprises a surveying unmanned aerial vehicle, and a dynamic camera is carried on the surveying unmanned aerial vehicle; the underground surveying system comprises a drilling trolley, and a high-definition camera and a geological radar are carried on a trolley body. During surveying, plane image data of a surveying and mapping area are obtained through the surveying camera, aerial survey image data of the surveying and mapping area are obtained through the dynamic camera, and therefore complete ground feature data of the surveying and mapping area are obtained; underground feature data are obtained through a geological radar and a high-definition camera. Through cooperation of the three parts, complete surveying and mapping of ground and underground forms are completed, a three-dimensional model of a surveying and mapping area is formed, image capturing dead angles are few, image capturing is complete, more image information is obtained, and surveying and mapping precision is high.

Description

Technical Field

[0001] The present application relates to the field of surveying and mapping technology, and in particular to a surveying and mapping device and method for ground and underground morphology. Background Art

[0002] Surveying and mapping is based on computer technology, optoelectronic technology, network communication technology, information science and technology, with global navigation satellite positioning system (GNSS), remote sensing (RS) and geographic information technology (GIS) as the technical core. It selects existing feature points and connections on the ground, and obtains graphics and locations reflecting the current conditions of the land and related information through measurement methods for use in engineering construction, planning and design, and itinerary management.

[0003] Traditional surveying and positioning methods often use surveying instruments composed of optical lenses to manually measure objects and buildings, and then collect relevant data based on the measurement results to obtain various surveying and mapping results. Often, due to carelessness, errors may occur in the results, so re-measurement is often required. In addition, the surveying and mapping results obtained require manual calculation and drawing, which wastes a lot of statistical time and is very troublesome. Moreover, most traditional surveying and mapping are two-dimensional maps, which fail to achieve integrated information management and information display of above-ground, ground, and underground spaces, and cannot support comprehensive coordination of later information and intelligent decision-making.

[0004] With the development of technology, big data, cloud computing, VR, and artificial intelligence, surveying and mapping now mostly use instruments to assist in establishing a spatial information framework based on three-dimensional topographic maps. However, in fact, the surveying and mapping environment and buildings are relatively complex, especially in urban areas. There are problems such as high surveying and mapping difficulty, inaccurate surveying and mapping, and many blind spots in surveying and mapping, which limits the surveying and mapping accuracy.

[0005] To this end, the present application provides a surveying and mapping device and method for ground and underground morphology, which can expand the surveying and mapping space area, refine information details, and reduce blind spots in the surveying and mapping space.

[0006] Application Contents The purpose of this application is to solve the problems existing in the prior art and to propose a surveying and mapping device for ground and underground morphology.

[0007] In order to achieve the above purpose, this application adopts the following technical solutions: A surveying and mapping device for ground and underground morphology, including a ground survey system, an aerial survey system, and an underground survey system; The ground survey system comprises a survey vehicle, the survey vehicle is provided with a wireless cruise system, and a plurality of movable survey cameras are provided on the front side of the frame of the survey vehicle; The high-altitude survey system includes a survey drone equipped with a dynamic camera, and a drone landing pad is provided on the top of the survey vehicle frame; The underground survey system includes a drilling trolley, which is provided with a storage cavity for storing the drilling trolley. The drilling trolley includes two universal joint bodies, which are equipped with a high-definition camera and a geological radar. The body is hollow, and a bidirectional threaded screw is rotatably installed on the body. The bidirectional threaded screw is driven by a motor, and sliders are threadedly installed on both thread sections of the bidirectional threaded screw. The slider is slidably matched with the body, and a plurality of struts are arranged in a circular array around the slider, which are rotatably connected to the slider. The ends of the struts on the same side of the two sliders are rotatably connected to a strut plate, and a track is arranged on the strut plate.

[0008] Preferably, the two sections of the vehicle body are connected via a universal coupling.

[0009] Preferably, the storage chamber port is provided with a lifting tail plate.

[0010] Preferably, a guide rod is provided on the vehicle body between the two support rods, and a side foot which is sleeved on the guide rod is provided on the sliding block.

[0011] Preferably, the vehicle body includes two mounting plates, and a connecting plate is connected between the two mounting plates at the corners.

[0012] Preferably, the dynamic camera is mounted on a survey drone via a gimbal.

[0013] Preferably, the wireless cruise system includes a path-finding camera, a searchlight, an obstacle avoidance system, and a four-wheel drive system.

[0014] Preferably, a suspension is provided on the front side of the frame of the survey vehicle, a slide rail is provided on the suspension, the survey camera is slidably installed on the guide rail and a limiter is provided at the sliding position.

[0015] A method for surveying and mapping ground and underground morphology, comprising: S1: Set the ground as the reference surface; S2: Obtain the plane and aerial survey ground feature data of the survey area; S3: Construct a ground model of the surveying area based on ground feature data; S4: Acquire underground characteristic data; S5: Construct an underground model of the surveying area based on underground feature data; S6: The ground model of the surveying area and the underground model of the surveying area are combined with the reference surface as the base surface to form a three-dimensional model of the surveying area.

[0016] Compared with the prior art, the present application provides a device for surveying and mapping ground and underground morphology, which has the following beneficial effects: 1. During the survey, the survey camera of the survey vehicle is used to obtain the planar image data of the survey area, and the dynamic camera of the survey drone is used to obtain the aerial survey image data of the survey area, so as to obtain the complete ground feature data of the survey area; the geological radar and high-definition camera of the drilling vehicle are used to obtain the underground feature data. The three work together to complete the complete survey of the ground and underground forms, and form a three-dimensional model of the survey area, with fewer blind spots and complete imaging, more image information, and high surveying and mapping accuracy.

[0017] 2. The tracks of the drilling trolley can be extended, which is suitable for traveling on pipes of different diameters; the body of the drilling trolley is universally connected so that it can change direction at the fork in the road.

[0018] Other advantages, objectives and features of the present application will be described in the following description to some extent; and will be apparent to those skilled in the art based on the following examination and study to some extent; or, may be taught from the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an axial view of the front end of the survey vehicle of the present application.

[0020] Figure 2 This is a front view schematic diagram of the survey drone of the present application.

[0021] Figure 3 This is an axial view of the survey vehicle of the present application at the parking space.

[0022] Figure 4 This is a top view schematic diagram of the drilling vehicle of the present application.

[0023] Figure 5 A view of the drilling trolley axle for this application.

[0024] Figure 6 This is an axial view of a section of a car body of the present application after a certain connecting plate is removed.

[0025] Figure 7 This is a schematic top view of a section of a vehicle body of the present application.

[0026] Figure 8 For this application Figure 7 Schematic diagram of the cross section at AA.

[0027] Fig. 9 This is a full cross-sectional schematic diagram of the present application.

[0028] Fig.10 For this application Fig. 9 Partial schematic diagram of point B.

[0029] In the figure: 1. Survey vehicle; 2. Vehicle frame; 3. UAV landing pad; 4. Survey UAV; 5. Survey camera; 6. Suspension; 7. Slide rail; 8. Limiter; 9. Drilling vehicle; 10. Obstacle avoidance system; 11. Dynamic camera; 12. Storage chamber; 13. Pathfinder camera; 14. Lifting tail plate; 15. Solar charging panel; 901. Vehicle body; 902. Universal coupling; 903. Bidirectional threaded screw; 904. Guide rod; 905. Slider; 906. Side foot; 907. Strut; 908. Track; 909. Mounting plate; 9010. Connecting plate; 9011. Geological radar; 9012. High-definition camera. DETAILED DESCRIPTION

[0030] The following will be combined with the attached examples of the present application Figure 1-10 , the technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0031] Embodiment 1, in order to solve the problems existing in the prior art, this embodiment provides a surveying and mapping device for ground and underground morphology, including a ground survey system, an aerial survey system, and an underground survey system; The ground survey system comprises a survey vehicle 1, the survey vehicle 1 is provided with a wireless cruise system, and a plurality of movable survey cameras 5 are provided on the front side of a frame 2 of the survey vehicle 1; The high-altitude survey system includes a survey drone 4, on which a dynamic camera 11 is mounted, and a drone landing pad 3 is provided on the top of the frame 2 of the survey vehicle 1; The underground survey system includes a drilling trolley 9. The survey trolley 1 is provided with a storage chamber 12 for storing the drilling trolley 9. The drilling trolley 9 includes two universal joint bodies 901. The body 901 is equipped with a high-definition camera 9012 and a geological radar 9011. The body 901 is hollow. A bidirectional threaded screw 903 is rotatably installed on the body 901. The bidirectional threaded screw 903 is driven by a motor. Slide blocks 905 are threadedly installed on both threads of the bidirectional threaded screw 903. The slide block 905 is slidably matched with the body 901. A plurality of struts 907 are arranged in a circular array around the slide block 905. The struts 907 are rotatably connected to the slide block 905. The ends of the struts 907 on the same side of the two slide blocks 905 are rotatably connected with a support plate, and a crawler 908 is arranged on the support plate.

[0032] Principle details of this embodiment: A surveying and mapping device for ground and underground morphology, including a ground survey system, an aerial survey system, and an underground survey system; The ground survey system includes a survey vehicle 1, which is provided with a wireless cruise system. A plurality of movable survey cameras 5 are provided on the front side of the frame 2 of the survey vehicle 1. The survey vehicle 1 is controlled to move in the surveying area by wireless remote control through the wireless cruise system, and the moving picture is displayed on the display screen of the base station so that the technician can grasp the position of the survey vehicle 1 and the state of the environment in real time. During the moving process, the survey camera 5 is used to take images to obtain ground image information at the height of the detection range of the survey vehicle 1. The survey vehicle 1 is provided with a solar charging panel 15 whose angle can be adjusted according to the intensity of sunlight. The solar charging panel 15 is connected to a battery through photovoltaic sensors, solar controllers, AC inverters and other photoelectric elements to form a solar photovoltaic system. The solar charging panel 15 generates electricity by itself to improve the endurance.

[0033] The high-altitude survey system includes a survey drone 4, which is equipped with a dynamic camera 11, and a drone landing pad 3 is provided at the top of the frame 2 of the survey vehicle 1. While the survey vehicle is moving, the survey drone 4 takes off from the drone landing pad 3 and hovers above the survey vehicle 1. Taking advantage of the high altitude, the ground environment is imaged through the dynamic camera 11, and the three-dimensional graphic information of the ground environment is completely collected in combination with the ground survey graphic range, and with two-way cooperation, there is basically no dead angle in the survey. In addition, a magnetic resonance wireless charging device is also provided between the survey vehicle 1 and the survey drone 4: a high-frequency electromagnetic wave transmitter is provided on the drone landing pad 3. When the survey drone 4 is docked at the drone landing pad 3, the high-frequency electromagnetic wave is transmitted to the receiver on the drone through the transmitter, and energy transfer is achieved through the resonance phenomenon, thereby achieving the purpose of wireless charging. Through wireless charging, the endurance of the survey drone 4 can be extended, and there is no need to frequently replace the battery or charge it back and forth in the direction of the base station, which saves the repair time and speeds up the survey. A signal amplifier is provided between the survey drone 4 and the base station remote controller, such as adding an antenna or installing a DJI Cellular module (4G image transmission enhancement module) on the survey drone 4 to enhance the signal transmission strength. In this solution, a receiver and a memory for interacting with the survey drone 4 are separately provided on the survey vehicle 1, and the image information recorded by the dynamic camera 11 on the survey drone 4 is sent to the receiver of the survey vehicle 1 and stored in the memory. In this way, the image of the dynamic camera 11 of the survey drone 4 does not need to be wirelessly transmitted to the base station, and the survey drone 4 is suspended above the survey vehicle 1, the transmission distance is shortened, the anti-interference and signal transmission strength are enhanced, and the probability of image transmission loss is reduced.

[0034] The underground survey system includes a drilling trolley 9, which is provided with a storage chamber 12 for storing the drilling trolley 9. The drilling trolley 9 includes two universally matched car bodies 901, and the car bodies 901 are equipped with a 214W high-definition camera 9012 and a geological radar 9011. The car body 901 is hollowed out, and a bidirectional threaded screw 903 is rotatably installed on the car body 901. The bidirectional threaded screw 903 is driven by a motor, and a slider 905 is threadedly installed on both threads of the bidirectional threaded screw 903. The slider 905 is slidably matched with the car body 901. There are multiple support rods 907 in a circular array around the slider 905, and the support rods 907 are rotatably connected to the slider 905. The ends of the support rods 907 on the same side of the two sliders 905 are rotatably connected with a support plate, and a crawler 908 is provided on the support plate. When conducting underground, downhole, and pipe surveys, the drilling trolley 9 is put down, the motor is started to drive the bidirectional threaded screw 903 to rotate, thereby driving the two sliders 905 to move relative to each other, and the two sliders 905 move relative to each other and push against the support rod 907 to drive the support plate to extend outside the vehicle body 901, and the crawler 908 contacts the ground and moves along the underground passage. Through the geological radar 9011, electromagnetic waves are emitted to the periphery of the underground passage for detection, and the surrounding visual impact is obtained through the high-definition camera 9012, and the size and distribution of the diseases such as cavities, voids, loose bodies, and water-rich bodies existing in the underground periphery and the backfill density or grouting density of the soil around the pipeline are effectively and reliably detected. Moreover, the number of turns driven by the motor to the bidirectional threaded screw 903 is different, and the spacing of the crawler 908 is different, which can be adapted to different pipe diameters, wellheads, and underground passages. The crawler 908 is used as a drive to avoid slipping and drive stably. The drilling trolley 9 is divided into two car bodies 901, and the two car bodies 901 remain stable under the action of the corresponding crawler tracks 908; and the two car bodies 901 are universally connected, which can adapt to the deformation drive at the bends of the pipeline and the wellhead, and has high environmental adaptability. And by controlling whether the crawler tracks 908 on different sides are driven, the drilling trolley 9 can be controlled to change direction at the fork, and the use flexibility is high. The car body 901 is also equipped with a light for lighting. Both sets of car bodies 901 are equipped with batteries for energy supply.

[0035] According to the above technical scheme, during the survey, the survey camera 5 on the survey vehicle 1 takes a plane image of the ground ring, and the dynamic camera 11 of the survey drone 4 takes a bird's-eye view image. The two cooperate to obtain a complete ground environment image, reducing the blind spots in surveying and mapping; the geological radar 9011 and the high-definition camera 9012 of the drilling vehicle 9 can go into the underground for mapping, and are suitable for pipelines of different diameters and fork intersections. The three cooperate to complete the mapping of the ground and underground morphology, with fewer blind spots, complete imaging, more image information, and high mapping accuracy.

[0036] Embodiment 2, in a further embodiment of the present solution, the two sections of the vehicle body 901 are connected via a universal coupling 902, thereby realizing a universal connection between the vehicle bodies 901 of the drilling trolley 9.

[0037] Embodiment 3, in a further embodiment of the present invention, a lifting tail plate 14 is provided at the end of the storage chamber 12. The lifting tail plate 14 is driven by a pneumatic rod or an electric telescopic rod to rotate at the end of the storage chamber 12, and is used to control the opening and closing of the storage chamber 12, so that when the drilling vehicle 9 is placed in the storage chamber 12, it will not fall easily with the movement of the survey vehicle 1. A buffer plate composed of a spring and a damper is provided in the storage chamber 12 for shock absorption.

[0038] Embodiment 4, in a further embodiment of the present scheme, a sinking groove is provided at the upper end of the frame 2 of the survey vehicle 1 to form a drone apron 3, and the legs of the survey drone 4 are metal parts, and an electromagnet is provided on the drone apron 3. When the survey drone 4 is parked, the legs of the survey drone 4 are adsorbed by the electromagnet, so that the survey drone 4 is adsorbed on the drone apron 3. When the survey drone 4 is charging and in a suspended state, the electromagnet is closed. Furthermore, a door that can be opened and closed is provided at the port of the drone apron 3, and the periphery of the drone apron 3 is closed, thereby forming a relatively closed placement space, so that the survey drone 4 can be safely placed on the drone apron 3, reducing the impact of the external environment and weather on the survey drone 4.

[0039] Embodiment 5, in a further embodiment of the present invention, the vehicle body 901 is provided with a guide rod 904 between two support rods 907, and the slider 905 is provided with a side foot 906 sleeved on the guide rod 904. Thus, the slider 905 and the vehicle body 901 are slidably matched, and the slider 905 is prevented from deflecting when the bidirectional threaded screw 903 rotates, thereby affecting the lifting and lowering of the crawler 908.

[0040] Embodiment 6, in a further embodiment of this solution, the vehicle body 901 includes two mounting plates 909, and a connecting plate 9010 is connected at the corners between the two mounting plates 909. The hollow vehicle body 901 structure is formed to leave a gap space for the lifting of the crawler 908.

[0041] Embodiment 7, in a further embodiment of this solution, the dynamic camera 11 is mounted on the survey drone 4 via a pan-tilt platform. The imaging range of the dynamic camera 11 is expanded by the pan-tilt platform, and the survey drone 4 does not need to rotate when it is suspended above the survey vehicle 1 when taking images.

[0042] Embodiment 8, in a further embodiment of the present scheme, the wireless cruise system includes a pathfinder camera 13, a searchlight, an obstacle avoidance system 10, a four-wheel drive driving system, and a positioning system. The pathfinder camera 13 is used to obtain the road conditions in the direction of travel and provide the base station with an empty space picture. The searchlight is used to provide illumination when surveying in the dark or at night. The obstacle avoidance system 10 is an ultrasonic obstacle avoidance system, including an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic wave emitted by the ultrasonic transmitter will be reflected on the ultrasonic receiver when encountering an obstacle. The ultrasonic speed is known. The measured distance can be calculated by the time difference between emission and reception. In combination with the distance between the transmitter and the receiver, the actual distance of the obstacle can be calculated. Alternatively, visual obstacle avoidance can be selected: two or more groups of obstacle avoidance cameras are set up, combined with the pathfinder camera 13, and multi-angle and multi-directional image information is obtained to form a 3D image effect. The four-wheel drive driving system is a four-wheel drive system, including four wheels, matching shock absorbers, drive motors, etc., which are used to control the movement and change of direction of the survey vehicle 1. The positioning system includes three subsystems. The survey drone 4, the survey vehicle 1, and the drilling vehicle 9 are each provided with a positioning subsystem, so as to monitor the three devices in real time.

[0043] Embodiment 9, in a further embodiment of the present scheme, a suspension 6 is provided on the front side of the frame 2 of the survey vehicle 1, a slide rail 7 is provided on the suspension 6, a base is slidably mounted on the slide rail 7, the survey camera 5 is fastened to the base, and a limiter 8 is provided at the sliding portion between the base and the slide rail 7. Thus, the movement of the survey camera 5 on the frame 2 of the survey vehicle 1 is realized. The simplest limiter 8 is a card fastened on the suspension 6 and installed parallel to the slide rail 7, and a plurality of threaded holes are provided on the card at intervals along the length direction. After the survey camera 5 moves to the position point, the bolt is screwed into the threaded hole, and the bolt is against the base of the survey camera 5, thereby fastening the base and fixing the survey camera 5. The survey camera 5 can be moved, and the position can be adjusted as required to show the imaging state at different angles.

[0044] In this solution, the survey camera 5, the dynamic camera 11, and the high-definition camera 9012 can all obtain high-definition quality pictures, and have a dynamic calibration function, that is, lens anti-shake, so that the obtained pictures will not be blurred due to shaking during operation.

[0045] In this solution, the base station is a temporary monitoring point in the surveying and mapping area. Technicians place computers and other equipment at the temporary monitoring point. The image information recorded by the survey vehicle 1, the survey drone 4, and the drilling vehicle 9 is transmitted to the receiving device of the base station through the wireless transmission system, and a three-dimensional model of the image is intelligently drawn by the computer AI to facilitate image display and obtain information from the image.

[0046] Embodiment 10, a method for surveying and mapping ground and underground morphology: S1: Set the ground as the reference surface; S2: Acquire the planar image data of the surveying area through the survey camera 5 of the survey vehicle 1, and acquire the aerial survey image data of the surveying area through the dynamic camera 11 of the survey drone 4, so as to acquire complete ground feature data of the surveying area; S3: At the base station, a ground model of the survey area is constructed based on ground feature data through computer programs, AI and other measures (such as DJI Map, Reconstruction Master, Mirauge3D, Smart3D, etc.); S4: Obtain underground characteristic data through the geological radar 9011 and the high-definition camera 9012 of the drilling vehicle 9, such as detecting the size and distribution of cavities, voids, loose bodies, water-rich bodies and other diseases around the underground, as well as the backfill density or grouting density of the soil around the pipeline; S5: At the base station, a computer program, AI and other measures (such as DJI Map, Reconstruction Master, Mirauge3D, Smart3D, etc.) are used to build an underground model of the survey area based on underground feature data; S6: The ground model of the surveying area and the underground model of the surveying area are combined with the reference surface as the base surface to form a three-dimensional model of the surveying area.

[0047] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed in the present application according to the technical solution and application concept of the present application, which should be covered by the protection scope of the present application.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0049] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A device for surveying and mapping ground and underground morphology, characterized in that: Including ground survey system, aerial survey system and underground survey system; The ground survey system comprises a survey vehicle (1), the survey vehicle (1) is provided with a wireless cruise system, and a plurality of movable survey cameras (5) are provided on the front side of a vehicle frame (2) of the survey vehicle (1); The high-altitude survey system comprises a survey drone (4), the survey drone (4) is equipped with a dynamic camera (11), and a drone landing pad (3) is provided on the top of the frame (2) of the survey vehicle (1); The underground survey system comprises a drilling trolley (9). The survey trolley (1) is provided with a storage chamber (12) for storing the drilling trolley (9). The drilling trolley (9) comprises two universally matched car bodies (901). The car bodies (901) are equipped with a high-definition camera (9012) and a geological radar (9011). The car body (901) is hollowed out. A bidirectional threaded screw (903) is rotatably mounted on the car body (901). The bidirectional threaded screw (903) is driven by a motor. Slide blocks (905) are threadedly mounted on both threads of the bidirectional threaded screw (903). The slide blocks (905) are slidably matched with the car body (901). A plurality of support rods (907) are provided in an annular array around the slide blocks (905). The support rods (907) are rotatably connected to the slide blocks (905). The ends of the support rods (907) on the same side of the two slide blocks (905) are rotatably connected to a support plate. The support plate is provided with a crawler track (908).

2. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: The two sections of the vehicle body (901) are connected via a universal coupling (902).

3. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: A lifting tail plate (14) is provided at the end of the storage cavity (12).

4. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: The vehicle body (901) is provided with a guide rod (904) between two support rods (907), and the slider (905) is provided with a side foot (906) sleeved on the guide rod (904).

5. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: The vehicle body (901) comprises two mounting plates (909), and a connecting plate (9010) is connected between the two mounting plates (909) at the corners.

6. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: The dynamic camera (11) is mounted on the survey drone (4) via a pan-tilt platform.

7. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: The wireless cruise system comprises a path finding camera (13), a searchlight, an obstacle avoidance system (10), and a four-wheel drive system.

8. A device for surveying and mapping ground and underground morphology according to claim 1, characterized in that: A suspension (6) is provided on the front side of the frame (2) of the survey vehicle (1), a slide rail (7) is provided on the suspension (6), and a survey camera (5) is slidably mounted on the guide rail and a limiter (8) is provided at the sliding position.

9. A method for mapping ground and underground morphology, characterized in that: include: S1: Set the ground as the reference surface; S2: Obtain the plane and aerial survey ground feature data of the survey area; S3: Construct a ground model of the surveying area based on ground feature data; S4: Acquire underground characteristic data; S5: Construct an underground model of the surveying area based on underground feature data; S6: The ground model of the surveying area and the underground model of the surveying area are combined with the reference surface as the base surface to form a three-dimensional model of the surveying area.

Images