Farmland unmanned aerial vehicle aerial surveying and mapping machine and surveying and mapping method thereof

Abstract

The invention relates to a farmland unmanned aerial vehicle aerial surveying and mapping machine and a surveying and mapping method thereof, and relates to the technical field of data surveying and mapping, four hollow pipes are further installed on the lower surface of an unmanned aerial vehicle frame, the hollow pipes are arranged in the axial direction of a first supporting rod, and liquid beads are arranged in the hollow pipes; the middle of the hollow pipe is connected with a circuit, and the four liquid beads are located in the middle of the hollow pipe respectively, so that the circuit can be conducted; the four liquid beads are located at the two ends of the hollow tube, a circuit is disconnected, and the circuit controls the main lens and the secondary lens to shoot; the shooting angle and stability of the main lens and the secondary lens in the flight process are strictly ensured; the camera in the main lens faces the opposite direction of the camera in the secondary lens, the two opposite side faces of a three-dimensional image are shot respectively, the three-dimensional image is imported into a computer for mapping, a three-dimensional surveying and mapping picture is formed, pictures of the main lens and the secondary lens are mutually verified, and surveying and mapping precision is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data mapping, and in particular to a farmland unmanned aerial vehicle (UAV) aerial mapping machine and a mapping method thereof. Background Art

[0002] The basic task of surveying and mapping is to determine and express the multi-dimensional spatial distribution, multiple attributes and dynamic changes of various natural elements, human phenomena and artificial facilities over time. The processing and analysis of surveying and mapping data is a crucial part of modern surveying and mapping technology. Through the processing and analysis of surveying and mapping data, accurate geographic information can be obtained, providing a scientific basis for land planning, urban construction, disaster prevention and control, etc. The UAV surveying and mapping system obtains high-definition image data through low-altitude photography of UAVs to generate three-dimensional point clouds and models, and realize the rapid acquisition of geographic information. UAV surveying and mapping has the advantages of high efficiency, low cost, accurate data and flexible operation. It can meet the different needs of the surveying and mapping industry, greatly save the workload of surveying and mapping personnel in field surveying, and achieve huge social and economic benefits.

[0003] With the transformation of modern agricultural production methods and the development of mechanized and large-scale agriculture, some small farmers may not be able to cope with modern agricultural production, resulting in idle land. As arable land is decreasing, the population is growing, and the contradiction between population and land is becoming increasingly serious, scientific assessment and planning of idle land through drone mapping, and reasonable layout of farmland, water systems, roads, buildings, etc. can greatly improve the utilization rate of land resources.

[0004] However, the existing farmland drone aerial photography and mapping machines still have some shortcomings in actual use, such as: when the current mapping drone is in use, since it generally uses a single front camera to measure the terrain and transmit data, there are a lot of blind spots in its mapping. Although the current front camera has a certain range of adjustment function, it still cannot achieve synchronous panoramic shooting without blind spots. In addition, the use of a single camera for surveying is prone to deviations in terrain and measurement direction. The accuracy of the survey requires multiple manual auxiliary measurements to determine and correct. The survey accuracy and practicality of the device still have room for improvement.

[0005] Secondly, when the measuring instrument is used for outdoor area measurement, such as in complex environments such as farmland, dense forests or rugged mountains, the drone will inevitably cause disturbances in the airflow when it takes off, which will cause dust to float under the drone and contaminate the lens. At the same time, since these measurement areas are filled with impurities such as dust, fine sand particles and various plant residues, and the measuring instrument body will form a strong relative movement with the surrounding air during flight, this movement will cause complex and changeable airflow phenomena, which will sweep up impurities on the ground and in the air, causing them to directly hit or adhere to the surface of the measuring instrument body, making the surface of the measuring lens dirty.

[0006] After searching, the Chinese invention patent application with application number "CN202411146782.X" discloses a land area measuring device based on a drone, which relates to the field of drone surveying and mapping technology, including a drone frame, a measuring instrument body is installed inside the drone frame, a locator is installed at the middle position of the measuring instrument body, a measuring lens is installed on the lower surface of the locator, and a measuring instrument bracket is installed on the outer wall of the measuring instrument body. The device installs the drainage plate as a whole in correspondence with the direction of the inner tangent line of the arc of the wind guide groove, thereby guiding and changing the form of natural wind flow, and changing it into a spiral flow around the measuring lens. The wind force of this flow form is more uniform and can quickly take away impurities on the surface of the instrument, which not only helps to keep the measuring lens clean, but also avoids the temperature of the measuring device caused by long-term exposure to sunlight when the device is operating at high altitude, causing measurement errors, and also reduces glare and light spots, so that the measuring lens can provide more accurate information when measuring area.

[0007] The above-mentioned drone-based land area measurement device can remove impurities on the surface of the instrument, but it is found in actual use that the dirt on the surface of the instrument cannot be completely cleaned by airflow; at the same time, the accuracy of drone photography is affected by the shooting angle, and the above-mentioned land area measurement device only relies on the gravity self-adjustment of the lens, which is prone to deviations and leads to poor surveying and mapping accuracy.

[0008] In view of this, this application adheres to the rich design, development and actual production experience of many years in the relevant industry, studies and improves the existing structure and deficiencies, and provides a farmland drone aerial photography and mapping machine and its mapping method, in order to achieve a more practical and valuable purpose. Summary of the invention

[0009] In view of the shortcomings of the prior art, the present invention provides a farmland drone aerial photography surveying and mapping machine and a surveying and mapping method thereof, which solves the problem that the dirt on the surface of the existing instrument cannot be thoroughly cleaned by airflow; at the same time, the accuracy of drone photography is affected by the shooting angle, and the above-mentioned land area measurement device only relies on the gravity self-adjustment of the lens, which is prone to deviation and leads to poor surveying and mapping accuracy.

[0010] According to a first aspect of the present invention, the present invention provides a farmland UAV aerial photography and mapping machine, comprising a UAV frame, a positioning device is installed inside the UAV frame, and a measuring lens is installed on the lower surface of the UAV frame.

[0011] The measuring lens includes a primary lens and a secondary lens, the primary lens includes a lens cover and a camera, the camera is arranged inside the lens cover, the camera is rotatably installed below the drone frame, and the lens cover is fixedly installed on the lower surface of the drone frame; a motor is fixedly installed above the camera, and the operation of the motor drives the camera to rotate.

[0012] A turntable is also fixedly installed below the motor, and the turntable can rotate as the motor rotates; the turntable is rotatably installed above the bottom of the drone frame and is arranged outside the lens cover, and a bearing is installed between the lower surface of the drone frame and the turntable, so that the turntable can rotate relative to the lens cover.

[0013] An indented track is arranged on the lower surface of the drone frame, and the track is arranged in a circle with the primary lens as the center. The top of the secondary lens is engaged with the track and rotates along the track. A connecting rod is installed between the turntable and the secondary lens, and the rotation of the turntable can drive the secondary lens to rotate along the track.

[0014] The drone frame has an octagonal structure, with first support rods fixedly installed at its four corresponding corners, a support member fixedly installed at one end of the first support rod away from the drone frame, a second support rod is also provided between the drone frame and the support member, the first support rod, the second support rod and the side wall of the drone frame form a triangular structure, a driving member is fixedly installed above the support member, and fan blades are detachably installed above the driving member.

[0015] A hollow tube is also installed on the lower surface of the drone frame. There are four hollow tubes. The hollow tube is arranged along the axial direction of the first support rod, and a liquid bead is arranged inside. The middle part of the hollow tube is connected with a circuit. The four liquid beads are respectively located in the middle part of the hollow tube, so that the circuit can be conductive; the four liquid beads are located at both ends of the hollow tube, and the circuit is disconnected.

[0016] A lens brush is fixedly installed below the turntable, and the lens brush is arc-shaped and fits tightly against the lens cover for cleaning the lens cover; a connecting piece is installed on one side of the lens brush, and a spray piece is fixedly installed on the side of the connecting piece close to the lens cover, and the spray piece is used in conjunction with the lens brush to clean the surface of the lens cover; the lens brush is hollow inside, and a liquid storage tank is connected to the end of the hollow lens brush away from the lens cover, and a liquid filling tube is provided on the liquid storage tank, through which glass water can be added to the liquid storage tank.

[0017] As a preferred embodiment, a battery pack is fixedly mounted on the top of the drone frame.

[0018] As a preferred implementation, the circuit controls the primary lens and the secondary lens to shoot.

[0019] As a preferred implementation, the liquid droplets are prepared using mercury.

[0020] As a preferred implementation, the axial direction of the connecting rod is the same as the direction of the camera inside the main lens.

[0021] As a preferred implementation, the direction of the camera inside the primary lens is opposite to the direction of the camera inside the secondary lens.

[0022] As a preferred implementation, the camera inside the main lens is oriented at 90° to the lens brush.

[0023] In addition, according to the second aspect of the present invention, the present invention provides a surveying method of a farmland unmanned aerial photography surveying machine, wherein the farmland unmanned aerial photography surveying machine is a farmland unmanned aerial photography surveying machine according to the first aspect of the present invention, and the surveying method is as follows:

[0024] S1. Arrive at the site, identify the measurement area, analyze the satellite image of the measurement area, and record the wind speed, weather, take-off and landing coordinates and other information of the day for future data reference and analysis summary;

[0025] S2. Equipment takeoff test: insert the 4G network card into the remote controller, check the SIM card installation, check the cors connection signal, and check the aircraft status, liquid level in the tank, and battery level of the remote controller;

[0026] S3. Control the drone to take off and monitor the working status of the drone: face the cut surface of the remote control antenna towards the aircraft to obtain the best signal;

[0027] S4, field mapping: control the drone to take off, spray the parts to clean the lens cover in the initial state, maintain a stable state, move at a constant speed, keep the liquid drop in the hollow tube in the middle of the hollow tube, ensure the line is conductive, turn on the main lens and the secondary lens, and determine the shooting height according to the lens focal length, pixel size and ground resolution;

[0028] S5, data and image acquisition: controlling the axial direction of the connecting rod to be the same as the direction of the camera inside the primary lens, the direction of the camera inside the primary lens being opposite to the direction of the camera inside the secondary lens, and photographing two opposite sides of the stereo image respectively;

[0029] S6. Data analysis and processing: Import the images in the SD card into the computer for mapping to form a three-dimensional surveying map.

[0030] As a preferred embodiment of the surveying method of the farmland drone aerial photography surveying machine described in the present invention, further, the relationship between the shooting height and the imaging ratio obtained in step 4 is:

[0031] H=f×GSD / a

[0032] Where H is the shooting height, f is the focal length of the lens, a is the pixel size, and GSD is the ground resolution.

[0033] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0034] 1. The present invention shows a farmland drone aerial photography and mapping machine, in which a lens brush is fixedly installed below the turntable, the lens brush is in an arc shape, closely fits the lens cover, and cleans the lens cover; a connecting piece is installed on one side of the lens brush, and a spray piece is fixedly installed on the side of the connecting piece close to the lens cover, and the spray piece is used to clean the surface of the lens cover in combination with the lens brush; at the same time, the turntable is fixedly installed below the motor, and the motor is fixedly installed above the camera, so that the operation of the motor will drive the camera, the turntable, the lens brush and the spray piece to rotate at the same time, ensuring the cleaning effect of the spray piece on the lens cover in the initial state of the drone, and further ensuring the shooting accuracy of the main lens.

[0035] 2. The present invention shows a farmland drone aerial photography and mapping machine, which sets the drone frame to an octagonal structure, with first support rods fixedly installed at the corresponding four corners, and a support member fixedly installed at one end of the first support rod away from the drone frame, and a second support rod is further arranged between the drone frame and the support member. The first support rod, the second support rod and the side wall of the drone frame form a triangular structure with stable supporting force, thereby ensuring the stable state of the fan blades in the drone, extending the service life of the equipment, and facilitating stable angle adjustment during flight.

[0036] 3. The present invention shows a farmland drone aerial photography and mapping machine. A hollow tube is installed on the lower surface of the drone frame. Four hollow tubes are arranged along the axial direction of the first support rod. Liquid beads are arranged inside. A circuit is connected to the middle of the hollow tube. Four liquid beads are respectively located in the middle of the hollow tube, so that the circuit can be conductive; the four liquid beads are located at both ends of the hollow tube, and the circuit is disconnected. The circuit controls the main lens and the secondary lens to shoot; the shooting angle and stability of the main lens and the secondary lens during flight are strictly guaranteed; the camera inside the main lens is opposite to the camera inside the secondary lens, and the two opposite sides of the stereo image are respectively photographed, which are imported into the computer for mapping to form a three-dimensional surveying and mapping map. The photos of the main lens and the secondary lens are mutually verified and verified, so as to further improve the mapping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a three-dimensional structural schematic diagram of a farmland unmanned aerial photography and mapping machine in the present invention;

[0038] Figure 2 It is a front view structural schematic diagram of a farmland UAV aerial photography and mapping machine in the present invention;

[0039] Figure 3 for Figure 2 A schematic diagram of a local enlarged structure;

[0040] Figure 4 This is a schematic diagram of the top view of the structure of a farmland UAV aerial photography and mapping machine in the present invention;

[0041] Figure 5 This is a schematic diagram of the upward-looking structure of a farmland UAV aerial photography and mapping machine in the present invention;

[0042] Figure 6 for Figure 4 Schematic diagram of the partial cross-sectional structure.

[0043] In the figure: 1. battery pack; 2. first support rod; 3. second support rod; 4. support member; 5. driving member; 6. fan blade; 7. hollow tube; 71. liquid drop; 8. main lens; 9. turntable; 10. secondary lens; 11. lens brush; 12. connecting member; 13. spray member; 14. drone frame; 15. liquid filling pipe; 16. slide rail; 17. liquid storage tank; 18. motor; 19. positioning device; 20. connecting rod. DETAILED DESCRIPTION

[0044] First of all, it should be pointed out that in the different described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosure contained in the entire description can be transferred to the same parts with the same reference numerals or the same component names. Selected positional descriptions in the description, such as top, bottom, lateral, etc., also refer to the directly described and shown figures and are transferred to the new positions in the case of a change in position.

[0045] Embodiment 1:

[0046] A kind of farmland drone aerial photography and mapping machine, please refer to Figure 1-6 , including a drone frame 14, a positioning instrument 19 is installed inside the drone frame 14, and a measuring lens is installed on the lower surface of the drone frame 14; a battery pack 1 is fixedly installed above the drone frame 14.

[0047] See also Figure 5The measuring lens includes a primary lens 8 and a secondary lens 10. The primary lens 8 includes a lens cover and a camera. The camera is arranged inside the lens cover. The camera is rotatably installed below the drone frame 14. The lens cover is fixedly installed on the lower surface of the drone frame 14. A motor 18 is fixedly installed above the camera. The operation of the motor 18 drives the camera to rotate.

[0048] See also Figure 6 A turntable 9 is also fixedly installed below the motor 18, and the turntable 9 can rotate with the rotation of the motor 18; the turntable 9 is rotatably installed above the bottom of the drone frame 14, and is arranged outside the lens cover. A bearing is installed between the lower surface of the drone frame 14 and the turntable 9, so that the turntable 9 can rotate relative to the lens cover.

[0049] See also Figure 5 A recessed slide rail 16 is provided on the lower surface of the drone frame 14. The slide rail 16 is arranged in a circle with the primary lens 8 as the center. The top of the secondary lens 10 is engaged with the slide rail 16 and rotates along the slide rail 16. A connecting rod 20 is installed between the turntable 9 and the secondary lens 10. The rotation of the turntable 9 can drive the secondary lens 10 to rotate along the slide rail 16.

[0050] See also Figure 4 The drone frame 14 is in an octagonal structure, and the first support rods 2 are fixedly installed at the corresponding four corners. A support member 4 is fixedly installed at one end of the first support rod 2 away from the drone frame 14. A second support rod 3 is also arranged between the drone frame 14 and the support member 4. A driving member 5 is fixedly installed above the support member 4, and a fan blade 6 is detachably installed above the driving member 5. The first support rod 2, the second support rod 3 and the side wall of the drone frame 14 form a triangular structure with a stable supporting force, which ensures the stable state of the fan blade 6 in the drone, prolongs the service life of the equipment, and is beneficial to the stable adjustment of the angle during flight.

[0051] See also Figure 5A hollow tube 7 is also installed on the lower surface of the drone frame 14. There are four hollow tubes 7. The hollow tube 7 is arranged along the axial direction of the first support rod 2, and a liquid droplet 71 is arranged inside, which is made of mercury; a circuit is connected to the middle of the hollow tube 7, and the four liquid droplets 71 are respectively located in the middle of the hollow tube 7, so that the circuit can be conductive; the four liquid droplets 71 are located at both ends of the hollow tube 7, and the circuit is disconnected; the circuit controls the main lens 8 and the secondary lens 10 to shoot; the shooting angle and stability of the main lens 8 and the secondary lens 10 during flight are strictly guaranteed; the axial direction of the connecting rod 20 is the same as the direction of the camera inside the main lens 8; the direction of the camera inside the main lens 8 is opposite to the direction of the camera inside the secondary lens 10.

[0052] See also Figure 2-Figure 3 In order to enhance the cleaning effect, a lens brush 11 is fixedly installed below the turntable 9. The lens brush 11 is in an arc shape and fits tightly against the lens cover to clean the lens cover. The camera inside the main lens 8 is oriented at 90° to the lens brush 11. A connector 12 is installed on one side of the lens brush 11. A spray component 13 is fixedly installed on the side of the connector 12 close to the lens cover. The spray component 13 is used in conjunction with the lens brush 11 to clean the surface of the lens cover. The lens brush 11 is hollow inside. A liquid storage tank 17 is connected to the end of the hollow lens brush 11 away from the lens cover. A liquid adding pipe 15 is provided on the liquid storage tank 17. Glass water can be added to the liquid storage tank 17 through the liquid adding pipe 15. The operation of the motor 18 will simultaneously drive the camera, the turntable 9, the lens brush 11 and the spray component 13 to rotate, ensuring that the spray component 13 cleans the lens cover effectively in the initial state of the drone, further ensuring the shooting accuracy of the main lens 8.

[0053] Embodiment 2:

[0054] A surveying and mapping method of a farmland unmanned aerial photography surveying and mapping machine is as follows:

[0055] S1. Arrive at the site, identify the measurement area, analyze the satellite image of the measurement area, and record the wind speed, weather, take-off and landing coordinates and other information of the day for future data reference and analysis summary;

[0056] S2. Equipment takeoff test: insert the 4G network card into the remote controller, check the SIM card installation, check the cors connection signal, and check the aircraft status, liquid level in the liquid tank 17 and the battery power of the remote controller;

[0057] S3. Control the drone to take off and monitor the working status of the drone: face the cut surface of the remote control antenna towards the aircraft to obtain the best signal;

[0058] S4, field mapping: Control the drone to take off, in the initial state, the spray part 13 cleans the lens cover, maintains a stable state, moves at a constant speed, keeps the liquid drop 71 in the hollow tube 7 in the middle of the hollow tube 7, ensures the line is conductive, the main lens 8 and the secondary lens 10 are turned on, and the shooting height is determined according to the lens focal length, pixel size and ground resolution;

[0059] S5, data and image acquisition: control the axial direction of the connecting rod 20 to be the same as the direction of the camera inside the primary lens 8, and the direction of the camera inside the primary lens 8 is opposite to the direction of the camera inside the secondary lens 10, and respectively capture two opposite sides of the stereo image;

[0060] S6. Data analysis and processing: Import the images in the SD card into the computer for mapping to form a three-dimensional surveying map.

[0061] The photos taken by the primary lens 8 and the secondary lens 10 confirm and verify each other, further improving the surveying and mapping accuracy.

[0062] As a preferred embodiment of the surveying method of the farmland drone aerial photography surveying machine described in the present invention, further, the relationship between the shooting height and the imaging ratio obtained in step 4 is:

[0063] H=f×GSD / a

[0064] Where H is the shooting height, f is the focal length of the lens, a is the pixel size, and GSD is the ground resolution.

[0065] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0066] Although embodiments of the present invention 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 invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A farmland drone aerial photography and mapping machine, characterized in that: The invention comprises an unmanned aerial vehicle frame (14), wherein a positioning device (19) is installed inside the unmanned aerial vehicle frame (14), and a measuring lens is installed on the lower surface of the unmanned aerial vehicle frame (14); the measuring lens comprises a primary lens (8) and a secondary lens (10).

2. The farmland drone aerial photography and mapping machine according to claim 1, characterized in that: The main lens (8) comprises a lens cover and a camera, wherein the camera is arranged inside the lens cover, the camera is rotatably mounted below the drone frame (14), and the lens cover is fixedly mounted on the lower surface of the drone frame (14); a motor (18) is fixedly mounted above the camera, and the operation of the motor (18) drives the camera to rotate.

3. The farmland drone aerial photography and mapping machine according to claim 2, characterized in that: A turntable (9) is fixedly mounted below the motor (18), and the turntable (9) can rotate along with the rotation of the motor (18); the turntable (9) is rotatably mounted above the bottom of the drone frame (14), and is arranged outside the lens cover; a bearing is installed between the lower surface of the drone frame (14) and the turntable (9), so that the turntable (9) can rotate relative to the lens cover.

4. The farmland drone aerial photography and mapping machine according to claim 3, characterized in that: The lower surface of the drone frame (14) is provided with an inwardly recessed slide rail (16), the slide rail (16) being arranged on a circle with the primary lens (8) as the center, the top of the secondary lens (10) being engaged with the slide rail (16) and being rotated along the slide rail (16); a connecting rod (20) is installed between the turntable (9) and the secondary lens (10), and the rotation of the turntable (9) can drive the secondary lens (10) to rotate along the slide rail (16).

5. The farmland drone aerial photography and mapping machine according to claim 4, characterized in that: The drone frame (14) is in an octagonal structure, and first support rods (2) are fixedly installed at the four corresponding corners thereof; a support member (4) is fixedly installed at one end of the first support rod (2) away from the drone frame (14); a second support rod (3) is also arranged between the drone frame (14) and the support member (4); the first support rod (2), the second support rod (3) and the side wall of the drone frame (14) form a triangular structure; a driving member (5) is fixedly installed above the support member (4); and a fan blade (6) is detachably installed above the driving member (5).

6. The farmland drone aerial photography and mapping machine according to claim 5, characterized in that: A hollow tube (7) is also installed on the lower surface of the drone frame (14), and there are four hollow tubes (7). The hollow tube (7) is arranged along the axial direction of the first support rod (2), and a liquid bead (71) is arranged inside. The middle part of the hollow tube (7) is connected to a circuit, and the four liquid beads (71) are respectively located in the middle part of the hollow tube (7), so that the circuit can be conductive; the four liquid beads (71) are located at both ends of the hollow tube (7), and the circuit is disconnected.

7. The farmland drone aerial photography and mapping machine according to claim 6, characterized in that: A lens brush (11) is fixedly mounted below the turntable (9); the lens brush (11) is arc-shaped and fits tightly against the lens cover for cleaning the lens cover; a connecting piece (12) is mounted on one side of the lens brush (11); a spray piece (13) is fixedly mounted on a side of the connecting piece (12) close to the lens cover; the spray piece (13) is used in conjunction with the lens brush (11) to clean the surface of the lens cover; the lens brush (11) is hollow inside.

8. The farmland drone aerial photography and mapping machine according to claim 6, characterized in that: The circuit controls the main lens (8) and the secondary lens (10) to shoot.

9. The farmland drone aerial photography and mapping machine according to claim 6, characterized in that: The liquid droplets (71) are made of mercury.

10. A method for surveying and mapping farmland by using a drone aerial photography surveying machine according to any one of claims 7-8, characterized in that: The details are as follows: S1. Arrive at the site, identify the measurement area, analyze the satellite image of the measurement area, and record the wind speed, weather, take-off and landing coordinates and other information of the day for future data reference and analysis summary; S2. Equipment takeoff test: insert the 4G network card into the remote controller, check the SIM card installation, check the cors connection signal, and check the aircraft status, the liquid level of the liquid storage tank (17) and the battery power of the remote controller; S3. Control the drone to take off and monitor the working status of the drone: face the cut surface of the remote control antenna towards the aircraft to obtain the best signal; S4, field mapping: Control the drone to take off, in the initial state, the spray part (13) cleans the lens cover, maintains a stable state, moves at a constant speed, keeps the liquid drop (71) in the hollow tube (7) in the middle of the hollow tube (7), ensures the line is conductive, turns on the main lens (8) and the secondary lens (10), and determines the shooting height according to the lens focal length, pixel size and ground resolution; S5, data and image acquisition: controlling the axial direction of the connecting rod (20) to be the same as the direction of the camera inside the primary lens (8), the direction of the camera inside the primary lens (8) being opposite to the direction of the camera inside the secondary lens (10), and photographing two opposite sides of the stereo image respectively; S6. Data analysis and processing: Import the images in the SD card into the computer for mapping to form a three-dimensional surveying map.

Images