A surveying and mapping device for urban three-dimensional terrain detection and its use method

Abstract

The present invention belongs to the technical field of surveying and mapping devices, and specifically relates to a surveying and mapping device applied to urban three-dimensional terrain detection and a method of using the same, wherein a surveying and mapping device applied to urban three-dimensional terrain detection comprises an unmanned aerial vehicle body, an installation box and a variable weight-increasing mechanism; a gyroscope is installed in the unmanned aerial vehicle body; the installation box is arranged at the lower side of the unmanned aerial vehicle body, an aerial camera is installed in the installation box, and a hysteresis connection mechanism is connected between the installation box and the unmanned aerial vehicle body; the variable weight-increasing mechanism is installed at the lower side of the installation box, the variable weight-increasing mechanism is used to enhance the wind resistance of the installation box, and the hysteresis connection mechanism comprises a universal spherical shell, which is fixedly connected to the unmanned aerial vehicle body. The present invention can realize the split connection between the aerial camera and the unmanned aerial vehicle, thereby greatly reducing the influence of the unmanned aerial vehicle flight posture on the aerial camera, ensuring the clarity and shooting quality of the aerial camera shooting picture, and facilitating subsequent data analysis.

Description

Technical Field

[0001] The present invention belongs to the technical field of surveying and mapping devices, and in particular relates to a surveying and mapping device used for urban three-dimensional terrain detection and a method of using the same. Background Art

[0002] Urban 3D topographic mapping refers to the use of modern mapping and geographic information technology to express urban terrain in a three-dimensional, objective, and time-series manner. Specifically, it uses oblique photogrammetry technology to collect images from multiple angles by carrying a high-pixel aerial camera on a flying platform, and then generates a real-life 3D model through computer processing, ultimately achieving real-time interconnection and online governance between digital space and real space. Urban 3D topographic mapping has a wide range of applications, including but not limited to urban construction and renewal, historical urban area protection, digital government, emergency response, and demolition of illegal buildings and chaos.

[0003] Existing aerial cameras are generally directly fixed to unmanned aerial vehicles. When the unmanned aerial vehicle encounters strong airflow and causes the unmanned aerial vehicle to become unstable, the aerial camera will also become unstable along with the unmanned aerial vehicle, which will easily reduce the clarity of the pictures and videos taken by the aerial camera. There is a problem of unstable shooting quality, which affects subsequent data analysis.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a surveying and mapping device for urban three-dimensional terrain detection and a method of using the same.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The object of the present invention is to provide a surveying and mapping device for urban three-dimensional terrain detection and a method of using the same, which can solve the problem of poor image quality of aerial cameras due to the instability of unmanned aerial vehicles.

[0007] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0008] A surveying and mapping device for urban three-dimensional terrain detection, comprising: a drone body, a mounting box and a variable weight-increasing mechanism;

[0009] A gyroscope is installed in the main body of the drone;

[0010] The installation box is arranged at the lower side of the drone body, an aerial camera is installed in the installation box, and a hysteresis connection mechanism is connected between the installation box and the drone body;

[0011] The variable weight-increasing mechanism is installed on the lower side of the installation box, and the variable weight-increasing mechanism is used to enhance the wind resistance of the installation box.

[0012] In one or more embodiments of the present invention, the hysteresis connection mechanism includes a universal spherical shell, which is fixedly connected to the drone body, a universal ball is rotatably connected inside the universal spherical shell, a connecting rod is fixedly connected to the universal ball, and the connecting rod is connected to the installation box. When the drone body tilts, since the installation box has inertia and the universal spherical shell is connected to the drone body, the universal ball is connected to the installation box through the connecting rod. The universal ball can rotate inside the universal spherical shell, so that the installation box will not immediately follow the tilt of the drone body, but tend to be stationary, and the aerial camera in the installation box also tends to be stationary, making the aerial camera more stable when shooting and mapping, thereby improving the clarity of pictures and videos taken by the aerial camera, and greatly improving the authenticity and accuracy of the surveying and mapping data.

[0013] In one or more embodiments of the present invention, a pair of first elastic ropes are connected between the drone body and the installation box, and the pair of first elastic ropes are symmetrical about the hysteresis connection mechanism. The first elastic ropes can play a role of auxiliary connection.

[0014] In one or more embodiments of the present invention, the variable weight-increasing mechanism includes a weight-increasing plate, and a connecting rope is connected between the weight-increasing plate and the installation box. By setting the weight-increasing plate, the overall counterweight of the installation box can be increased to enhance the wind resistance of the installation box, further improve the stability of the installation box during use, and avoid the installation box and the aerial camera from tilting with the drone body, so that the aerial camera is more stable when shooting and surveying.

[0015] In one or more embodiments of the present invention, the bottom wall of the installation box is provided with a receiving groove matching the weight-increasing plate, for receiving the weight-increasing plate;

[0016] A winding chamber is provided in the installation box, and a winding mechanism is installed in the winding chamber. The winding mechanism can be used to control the weight-added plate to be close to or away from the installation box. When the weight-added plate is away from the installation box, the longer the reciprocating swing time of the weight-added plate is, the further the wind resistance and stability of the installation box can be increased, making the aerial camera more stable during shooting and surveying, so as to improve the shooting effect and shooting quality of the aerial camera.

[0017] In one or more embodiments of the present invention, the winding mechanism includes a bracket, the bracket is fixedly connected to the inner wall of the winding chamber, a winding drum is rotatably connected to the bracket, one end of the connecting rope is wound around the winding drum, and the connecting rope can be wound or released by the winding drum, so that the weight-added plate is close to or away from the installation box, so as to enhance the wind resistance of the installation box according to actual conditions and improve the shooting effect and shooting quality of the aerial camera;

[0018] A servo motor is installed on the bracket, and the output end of the servo motor is connected to the winding reel. When the servo motor is running, the servo motor can drive the winding reel to rotate to achieve the winding or release of the connecting rope.

[0019] In one or more embodiments of the present invention, a storage chamber is provided in the installation box, and a flowing liquid and a submersible pump are provided in the storage chamber. The submersible pump is arranged in the flowing liquid. The flowing liquid can be used to increase the weight of the weight-increasing plate, and then weight-increasing plates of different masses can be used to improve the wind resistance of the installation box and the stability of the installation box and the aerial camera during use. When the submersible pump is running, the flowing liquid can be extracted.

[0020] In one or more embodiments of the present invention, a liquid suction pipe and a liquid discharge pipe are installed on the submersible pump, a first three-way pipe, a second three-way pipe and a first control valve are installed on the liquid suction pipe, a third three-way pipe, a fourth three-way pipe and a second control valve are installed on the liquid discharge pipe, a first branch pipe is connected between the first three-way pipe and the third three-way pipe, a second branch pipe is connected between the second three-way pipe and the fourth three-way pipe, and a third control valve is installed on both the first branch pipe and the second branch pipe, and the flow of flowing liquid in the storage chamber and the cavity can be realized through the mutual cooperation of the liquid suction pipe, the first three-way pipe, the second three-way pipe, the first control valve, the liquid discharge pipe, the third three-way pipe, the fourth three-way pipe, the second control valve, the first branch pipe, the second branch pipe, the third control valve, the fifth three-way pipe and the telescopic hose.

[0021] In one or more embodiments of the present invention, a cavity is provided in the variable weight-increasing mechanism, a fifth three-way pipe is connected to the liquid outlet pipe, a pair of telescopic hoses are connected to the fifth three-way pipe, and the pair of telescopic hoses correspond to the connecting rope to realize the flow of the flowing liquid;

[0022] The side wall of one end of the telescopic hose located in the cavity is connected to a limiting plate, which is used to increase the connection effect between the telescopic hose and the weight-increasing plate. At the same time, the cooperation between the telescopic hose and the limiting plate can also assist in fixing the weight-increasing plate to prevent the weight-increasing plate from detaching from the installation box.

[0023] A method for using the surveying and mapping device for urban three-dimensional terrain detection comprises the following steps:

[0024] S1. Use the gyroscope to monitor the flight attitude of the drone body;

[0025] S2. If the main body of the UAV tilts during flight, due to the inertia of the installation box, under the action of the hysteresis connection mechanism, the installation box will not immediately tilt with the main body of the UAV, but tend to be still, and then the aerial camera in the installation box will also tend to be still, making the aerial camera more stable when shooting and mapping;

[0026] S3. When the main body of the drone tilts during flight, the gyroscope inside the main body of the drone can detect it in time and control the servo motor to operate. The servo motor rotates the winding reel, and the rotating winding reel can release the connecting rope. The weight plate will pull the connecting rope away from the installation box under the action of gravity. The weight plate can slow down the installation box from tilting with the main body of the drone, thereby improving the stability of the aerial camera during shooting and mapping.

[0027] S4. At the same time, when the weight-added plate is away from the installation box, the submersible pump is running, the third control valve is closed, the first control valve and the second control valve are opened, the submersible pump extracts the flowing liquid in the storage cavity through the liquid extraction pipe, and transports the flowing liquid to the cavity through the liquid outlet pipe, the fifth three-way pipe and the telescopic hose, so as to increase the overall counterweight of the weight-added plate and further improve the stability of the installation box;

[0028] S5. When the gyroscope in the drone body detects that the drone body is flying smoothly and the weight-added plate needs to be recovered, the submersible pump is operated, the third control valve is opened, the first control valve and the second control valve are closed, and the submersible pump extracts the flowing liquid in the cavity through the liquid extraction pipe, the second branch pipe, the liquid outlet pipe, the fifth three-way pipe and the telescopic hose, and re-transports the flowing liquid to the storage cavity through the liquid outlet pipe, the first branch pipe and the liquid extraction pipe to reduce the weight of the weight-added plate;

[0029] S6. At the same time, the servo motor runs, and the servo motor causes the winding reel to rotate. The rotating winding reel can wind the connecting rope, and the connecting rope will pull the weight-increasing plate closer to the installation box until the weight-increasing plate is stored in the receiving groove.

[0030] Compared with the prior art, the surveying and mapping device for urban three-dimensional terrain detection and the use method thereof of the present invention can realize the split connection between the aerial camera and the unmanned aerial vehicle, thereby greatly reducing the influence of the flight posture of the unmanned aerial vehicle on the aerial camera, ensuring the clarity and shooting quality of the aerial camera's pictures, and facilitating subsequent data analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A stereoscopic diagram of a normal flight state of a surveying and mapping device used for urban three-dimensional terrain detection in one embodiment of the present invention;

[0033] Figure 2 for Figure 1Schematic diagram of the structure at A in the middle;

[0034] Figure 3 It is a front view of a first state of strong wind resistance of a surveying and mapping device applied to urban three-dimensional terrain detection in one embodiment of the present invention;

[0035] Figure 4 for Figure 3 Schematic diagram of the structure at B in the middle;

[0036] Figure 5 It is a front view of a second state of strong wind resistance of a surveying and mapping device applied to urban three-dimensional terrain detection in one embodiment of the present invention;

[0037] Figure 6 It is a front cross-sectional view of a part of the structure of a surveying and mapping device applied to urban three-dimensional terrain detection in one embodiment of the present invention;

[0038] Figure 7 for Figure 6 Schematic diagram of the structure at C in the middle;

[0039] Figure 8 for Figure 6 Schematic diagram of the structure at D in the middle;

[0040] Fig. 9 for Figure 6 Schematic diagram of the structure at E in the middle;

[0041] Fig.10 A partial structural side cross-sectional view of a surveying and mapping device for urban three-dimensional terrain detection in one embodiment of the present invention;

[0042] Fig.11 A stereoscopic diagram of a strong wind resistance state of a surveying and mapping device used for urban three-dimensional terrain detection in one embodiment of the present invention;

[0043] Fig.12 for Fig.11 Schematic diagram of the structure at F in the middle;

[0044] Fig.13 This is a liquid flow diagram of the weight-increasing process of the weight-increasing plate in one embodiment of the present invention;

[0045] Fig.14 This is a liquid flow diagram of the weight-increasing plate weight-reducing process in one embodiment of the present invention.

[0046] Description of main reference numerals:

[0047] 1-UAV body, 2-installation box, 201-universal ball shell, 202-universal ball, 203-connecting rod, 204-first elastic rope, 205-winding chamber, 206-storage chamber, 207-flowing liquid, 208-submersible pump, 209-liquid extraction pipe, 2091-first three-way pipe, 2092-second three-way pipe, 2093-first control valve, 210-liquid outlet pipe, 2101-third three-way pipe, 2102-fourth three-way pipe, 2103- The second control valve, 211-the first branch pipe, 212-the second branch pipe, 213-the third control valve, 214-the telescopic hose, 2141-the limit plate, 215-the elastic pad, 3-the variable weight-increasing mechanism, 301-the weight-increasing plate, 3011-the cavity, 302-the connecting rope, 303-the bracket, 304-the winding reel, 305-the servo motor, 4-the anti-collision ring, 401-the reinforcing rod, 402-the second elastic rope, 403-the connecting ear, 404-the bolt. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] like Figures 1 to 14 As shown, a surveying and mapping device for urban three-dimensional terrain detection in one embodiment of the present invention includes an unmanned aerial vehicle body 1, an installation box 2 and a variable weight-increasing mechanism 3.

[0050] Among them, a gyroscope is installed in the drone body 1, and the flight posture of the drone body 1 can be monitored by the gyroscope. If the gyroscope detects that the flight posture of the drone body 1 is poor, that is, the drone body 1 is tilted due to strong wind, it will promptly send an alarm message to the control unit in the drone body 1, and control the operation of the servo motor 305 and the submersible pump 208 according to the tilt angle to reduce the impact of the tilt of the drone body 1 on the installation box 2 and the aerial camera. At the same time, it can also stabilize the drone body 1 and prevent the drone body 1 from tilting further.

[0051] like Figures 1 to 14 As shown, the installation box 2 is arranged at the lower side of the drone body 1, and an aerial camera is installed in the installation box 2. The aerial camera can be used to perform three-dimensional terrain mapping of the city to meet the user's usage needs.

[0052] At the same time, the present invention installs the aerial camera on the installation box 2, and the installation box 2 is connected to the drone body 1 through a hysteresis connection mechanism, that is, the aerial camera and the drone body 1 adopt a split connection method, rather than directly installing the aerial camera on the drone body 1, thereby reducing the impact of the flight tilt of the drone body 1 on the aerial camera, ensuring the clarity and shooting quality of the aerial camera's shooting picture, and facilitating subsequent data analysis.

[0053] Among them, a hysteresis connection mechanism is connected between the installation box 2 and the drone body 1. The hysteresis connection mechanism can be used to connect the installation box 2 to the drone body 1. At the same time, it can also prevent the installation box 2 from directly tilting with the drone body 1, that is, the frequency and time of the installation box 2 tilting will be much smaller than the frequency and time of the drone body 1 tilting, reducing the impact of the flight tilt of the drone body 1 on the aerial camera, and ensuring the clarity and shooting quality of the aerial camera.

[0054] In addition, if the tilt amplitude of the UAV body 1 during flight is small and the mounting box 2 maintains inertia, the tilt of the UAV body 1 cannot even cause the mounting box 2 and the aerial camera to tilt, thereby making the aerial camera more stable during the shooting and mapping process, which can greatly improve the clarity and shooting quality of the pictures and videos taken by the aerial camera, and facilitate subsequent data analysis.

[0055] like Figures 1 to 14 As shown, the hysteresis connection mechanism includes a universal ball shell 201, which is fixedly connected to the drone body 1, a universal ball 202 is rotatably connected inside the universal ball shell 201, a connecting rod 203 is fixedly connected to the universal ball 202, and the connecting rod 203 is connected to the installation box 2.

[0056] When the drone body 1 tilts in flight due to strong wind, Figure 5 In the state shown, since the installation box 2 needs to maintain inertia, and the universal ball shell 201 is connected to the drone body 1, the universal ball 202 is connected to the installation box 2 through the connecting rod 203. The universal ball 202 can rotate in the universal ball shell 201, so that the installation box 2 will not immediately follow the tilt of the drone body 1, but will appear hysteresis, that is, the installation box 2 and the aerial camera will tend to be still, making the aerial camera more stable when shooting and mapping, thereby improving the clarity of the pictures and videos taken by the aerial camera, and greatly improving the authenticity and accuracy of the mapping data.

[0057] Among them, a pair of first elastic ropes 204 are also connected between the drone body 1 and the installation box 2. The pair of first elastic ropes 204 are symmetrical about the hysteresis connection mechanism. The first elastic ropes 204 can play a role in assisting the connection between the drone body 1 and the installation box 2. At the same time, they can also buffer the flight tilt of the drone body 1 and extend the hysteresis time of the tilt of the installation box 2.

[0058] like Figures 1 to 14 As shown, a storage cavity 206 is provided in the installation box 2, and a flowing liquid 207 and a submersible pump 208 are provided in the storage cavity 206, and the submersible pump 208 is arranged in the flowing liquid 207. When the flowing liquid 207 enters the cavity 3011, the counterweight of the weight-added plate 301 can be increased, and then the inertia of the weight-added plate 301 can be increased, and the shaking of the weight-added plate 301 under strong wind can be slowed down, so as to reduce the impact of the strong wind on the installation box 2 and ensure the stability of the aerial camera shooting.

[0059] Preferably, the flowing liquid 207 is water, and the volume of the flowing liquid 207 entering the cavity 3011 can be adjusted according to the tilt state of the drone body 1, that is, by injecting different volumes of flowing liquid 207 into the cavity 3011, the weight-added plate 301 can present different masses. The wind resistance of the installation box 2 is improved by using weight-added plates 301 of different masses, thereby improving the stability of the installation box 2 and the aerial camera when in use. When the submersible pump 208 is running, the flowing liquid 207 can be extracted.

[0060] In addition, the submersible pump 208 is equipped with a suction pipe 209 and a liquid outlet pipe 210. The suction pipe 209 is equipped with a first three-way pipe 2091, a second three-way pipe 2092 and a first control valve 2093. The liquid outlet pipe 210 is equipped with a third three-way pipe 2101, a fourth three-way pipe 2102 and a second control valve 2103. A first branch pipe 211 is connected between the first three-way pipe 2091 and the third three-way pipe 2101. A second branch pipe 212 is connected between the second three-way pipe 2092 and the fourth three-way pipe 2102. The first branch pipe 211 and the second branch pipe 212 are both equipped with a third control valve 213. Through the mutual cooperation of the liquid extraction pipe 209, the first three-way pipe 2091, the second three-way pipe 2092, the first control valve 2093, the liquid outlet pipe 210, the third three-way pipe 2101, the fourth three-way pipe 2102, the second control valve 2103, the first branch pipe 211, the second branch pipe 212, the third control valve 213, the fifth three-way pipe and the telescopic hose 214, the flowing liquid 207 can flow flexibly between the storage chamber 206 and the cavity 3011 to flexibly change the mass of the weight-increasing plate 301.

[0061] like Figures 1 to 14 As shown, a cavity 3011 is provided in the variable weight-increasing mechanism 3 , and the cavity 3011 is used to temporarily store the flowing liquid 207 so as to change the mass of the weight-increasing plate 301 .

[0062] The liquid outlet pipe 210 is connected to a fifth three-way pipe, and the fifth three-way pipe is connected to a pair of telescopic hoses 214 . The pair of telescopic hoses 214 correspond to the connecting rope 302 , and the flowing liquid 207 in the storage chamber 206 can enter the cavity 3011 .

[0063] In addition, the side wall of one end of the telescopic hose 214 located in the cavity 3011 is connected to a limiting plate 2141, which is used to increase the connection effect between the telescopic hose 214 and the weight-increasing plate 301. At the same time, the cooperation between the telescopic hose 214 and the limiting plate 2141 can also assist in fixing the weight-increasing plate 301 and prevent the weight-increasing plate 301 from detaching from the installation box 2.

[0064] Specifically, an elastic pad 215 is connected to the side wall of the installation box 2. The elastic pad 215 cooperates with the anti-collision ring 4 to play an anti-collision role, thereby preventing the installation box 2 from colliding with the drone body 1 when the drone body 1 is tilted at too large an angle.

[0065] like Figures 1 to 14 As shown, the variable weight-increasing mechanism 3 is installed on the lower side of the installation box 2. The variable weight-increasing mechanism 3 is used to enhance the wind resistance of the installation box 2 and further alleviate the tilting of the installation box 2, thereby ensuring the clarity and shooting quality of the picture taken by the aerial camera and facilitating subsequent data analysis.

[0066] The variable weight-increasing mechanism 3 includes a weight-increasing plate 301, and a connecting rope 302 is connected between the weight-increasing plate 301 and the installation box 2. When the weight-increasing plate 301 is away from the installation box 2, the weight-increasing plate 301 can swing along the connecting rope 302 under the action of wind. The swing of the connecting rope 302 is used to release the wind force on the installation box 2, reduce the frequency and time of the tilt of the installation box 2, and thus enhance the wind resistance of the installation box 2, further improve the stability of the installation box 2 in a strong wind environment, and make the aerial camera more stable when shooting and mapping.

[0067] In addition, the bottom wall of the installation box 2 is provided with a receiving groove matching the weight-increasing plate 301 , and when the weight-increasing plate 301 is not needed to slow down the tilting of the installation box 2 , the weight-increasing plate 301 will be stored in the receiving groove.

[0068] like Figures 1 to 14 As shown, a winding chamber 205 is provided in the installation box 2, and a winding mechanism is installed in the winding chamber 205. The winding mechanism can be used to control the weight plate 301 to be close to or away from the installation box 2. When the weight plate 301 is away from the installation box 2, the reciprocating swing time of the weight plate 301 is longer, and the frequency and time of the tilting of the installation box 2 can be reduced, so as to increase the wind resistance and stability of the installation box 2, so that the aerial camera is more stable when shooting and mapping, thereby improving the shooting effect and shooting quality of the aerial camera. When the weight plate 301 is close to the installation box 2, the flight resistance of the drone body 1 can be reduced.

[0069] The winding mechanism includes a bracket 303, which is fixedly connected to the inner wall of the winding chamber 205. A winding reel 304 is rotatably connected to the bracket 303, and one end of the connecting rope 302 is wound around the winding reel 304. The connecting rope 302 can be wound or released by the winding reel 304, so that the weight-added plate 301 is close to or away from the installation box 2, so as to enhance the wind resistance of the installation box 2 according to actual conditions and improve the shooting effect and shooting quality of the aerial camera.

[0070] In addition, a servo motor 305 is installed on the bracket 303, and the output end of the servo motor 305 is connected to the winding reel 304. When the servo motor 305 is running, the servo motor 305 can drive the winding reel 304 to rotate, so as to realize the winding or release of the connecting rope 302.

[0071] Preferably, the servo motor 305 is a forward and reverse motor that can perform forward and reverse rotation to achieve winding or releasing of the connecting rope 302.

[0072] Specifically, the servo motor 305 has a self-locking function, which can realize the locking and fixing of the winding reel 304 , that is, the distance between the weight-increasing plate 301 and the installation box 2 can be fixed.

[0073] like Figures 1 to 14 As shown, an anti-collision ring 4 is provided on the outside of the installation box 2, and a plurality of reinforcing rods 401 evenly distributed around the circumference are connected between the anti-collision ring 4 and the drone body 1. The anti-collision ring 4 is fixedly connected to the drone body 1 through the plurality of reinforcing rods 401.

[0074] In addition, through the cooperation between the elastic pad 215 and the anti-collision ring 4, the installation box 2 can be prevented from colliding with the drone body 1, thereby ensuring the safety of the drone body 1 in flight.

[0075] Specifically, the bottom of the anti-collision ring 4 is connected to a plurality of second elastic ropes 402 evenly distributed around the circumference, and the end of the second elastic rope 402 away from the anti-collision ring 4 is connected to a connecting ear 403, and a bolt 404 is threadedly connected to the connecting ear 403, and the connecting ear 403 is connected to the weight-added plate 301 through the bolt 404. When the weight-added plate 301 is away from the installation box 2, the connecting ear 403 will be pulled and stretched. By setting a plurality of connecting ears 403, the resistance of the weight-added plate 301 when swinging in a strong wind environment can be increased, that is, the inertia of the weight-added plate 301 when swinging can be increased, and the installation box 2 is prevented from shaking with the weight-added plate 301, thereby increasing the stability of the installation box 2 in strong winds, ensuring the clarity and shooting quality of the pictures taken by the aerial camera, and facilitating subsequent data analysis.

[0076] At the same time, through the mutual cooperation between the weight-increasing plate 301 and the plurality of connecting ears 403, a reverse effect can also be exerted on the drone body 1, so as to increase the stability of the drone body 1 during flight and facilitate user operation.

[0077] A method for using a surveying and mapping device for urban three-dimensional terrain detection comprises the following steps:

[0078] S1. The flight attitude of the drone body 1 can be monitored by using a gyroscope;

[0079] S2. If the drone body 1 tilts during flight, due to the inertia of the installation box 2, under the action of the hysteresis connection mechanism, the installation box 2 will not immediately tilt with the drone body 1, but tend to be still, thereby making the aerial camera in the installation box 2 also tend to be still, making the aerial camera more stable when shooting and mapping;

[0080] S3, when the drone body 1 tilts during flight in strong wind weather, Figure 5 In the state shown, the gyroscope in the drone body 1 can also monitor it in time and control the servo motor 305 to operate. The servo motor 305 rotates the winding reel 304. The rotating winding reel 304 can release the connecting rope 302. The weight-added plate 301 pulls the connecting rope 302 under the action of gravity and moves away from the installation box 2. The weight-added plate 301 swings under the action of wind. The swing of the weight-added plate 301 is used to release the installation box 2 from the wind, thereby reducing the inclination of the installation box 2, increasing the wind resistance of the installation box 2, and improving the stability of the aerial camera during shooting and mapping.

[0081] S4. At the same time, when the weight-added plate 301 is away from the installation box 2, the submersible pump 208 is running, the third control valve 213 is closed, the first control valve 2093 and the second control valve 2103 are opened, and the submersible pump 208 extracts the flowing liquid 207 in the storage chamber 206 through the liquid extraction pipe 209, and transports the flowing liquid 207 to the cavity 3011 through the liquid outlet pipe 210, the fifth three-way pipe and the telescopic hose 214. Fig.13 The flow diagram shown is used to increase the overall weight of the weight-added plate 301, that is, to increase the inertia of the weight-added plate 301, slow down the frequency and time of the shaking of the weight-added plate 301, and further improve the stability of the installation box 2;

[0082] S5. When the weight-added plate 301 is away from the installation box 2, the connecting ear 403 will be pulled and stretched. By setting a plurality of connecting ears 403, the resistance of the weight-added plate 301 when swinging can be increased, that is, the inertia of the weight-added plate 301 when swinging can be increased, and the probability of the installation box 2 shaking with the weight-added plate 301 can be further reduced, thereby greatly improving the stability of the installation box 2, ensuring the clarity and shooting quality of the picture taken by the aerial camera, and facilitating subsequent data analysis;

[0083] S6. When the gyroscope in the drone body 1 detects that the drone body 1 is flying steadily and the weight plate 301 needs to be recovered, the submersible pump 208 is operated, the third control valve 213 is opened, the first control valve 2093 and the second control valve 2103 are closed, and the submersible pump 208 extracts the flowing liquid 207 in the cavity 3011 through the liquid extraction pipe 209, the second branch pipe 212, the liquid outlet pipe 210, the fifth three-way pipe and the telescopic hose 214, and re-transports the flowing liquid 207 to the storage chamber 206 through the liquid outlet pipe 210, the first branch pipe 211 and the liquid extraction pipe 209, that is, Fig.14 The flow diagram shown is used to reduce the weight of the weight-added plate 301;

[0084] S7. At the same time, the servo motor 305 is running, and the servo motor 305 makes the winding reel 304 rotate. The rotating winding reel 304 can wind the connecting rope 302, and the connecting rope 302 will pull the weight-added plate 301 close to the installation box 2 until the weight-added plate 301 is stored in the receiving groove. Figure 1 Status shown.

[0085] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0086] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A surveying and mapping device for urban three-dimensional terrain detection, characterized in that: include: A drone body, wherein a gyroscope is installed in the drone body; An installation box is arranged at the lower side of the drone body, an aerial camera is installed in the installation box, and a hysteresis connection mechanism is connected between the installation box and the drone body; A variable weight-increasing mechanism is installed on the lower side of the installation box, and the variable weight-increasing mechanism is used to enhance the wind resistance of the installation box.

2. A surveying and mapping device for urban three-dimensional terrain detection according to claim 1, characterized in that: The hysteresis connection mechanism includes a universal ball shell, which is fixedly connected to the drone body. A universal ball is rotatably connected inside the universal ball shell, a connecting rod is fixedly connected to the universal ball, and the connecting rod is connected to the installation box.

3. A surveying and mapping device for urban three-dimensional terrain detection according to claim 1, characterized in that: A pair of first elastic ropes are connected between the drone body and the installation box, and the pair of first elastic ropes are symmetrical with respect to the hysteresis connection mechanism.

4. The surveying and mapping device for urban three-dimensional terrain detection according to claim 1, characterized in that: The variable weight-increasing mechanism comprises a weight-increasing plate, and a connecting rope is connected between the weight-increasing plate and the installation box.

5. A surveying and mapping device for urban three-dimensional terrain detection according to claim 4, characterized in that: The bottom wall of the installation box is provided with a receiving groove matching the weight-increasing plate, and a winding cavity is provided in the installation box, and a winding mechanism is installed in the winding cavity.

6. A surveying and mapping device for urban three-dimensional terrain detection according to claim 5, characterized in that: The winding mechanism includes a bracket, which is fixedly connected to the inner wall of the winding chamber. A winding drum is rotatably connected to the bracket, one end of the connecting rope is wound around the winding drum, and a servo motor is installed on the bracket, and the output end of the servo motor is connected to the winding drum.

7. A surveying and mapping device for urban three-dimensional terrain detection according to claim 4, characterized in that: A storage cavity is arranged in the installation box, a flowing liquid and a submersible pump are arranged in the storage cavity, and the submersible pump is arranged in the flowing liquid.

8. The surveying and mapping device for urban three-dimensional terrain detection according to claim 7, characterized in that: The submersible pump is equipped with a liquid suction pipe and a liquid discharge pipe, the liquid suction pipe is equipped with a first three-way pipe, a second three-way pipe and a first control valve, the liquid discharge pipe is equipped with a third three-way pipe, a fourth three-way pipe and a second control valve, a first branch pipe is connected between the first three-way pipe and the third three-way pipe, a second branch pipe is connected between the second three-way pipe and the fourth three-way pipe, and the first branch pipe and the second branch pipe are both equipped with a third control valve.

9. A surveying and mapping device for urban three-dimensional terrain detection according to claim 8, characterized in that: A cavity is provided in the variable weight-increasing mechanism, a fifth three-way pipe is connected to the liquid outlet pipe, a pair of telescopic hoses are connected to the fifth three-way pipe, the pair of telescopic hoses correspond to the connecting rope, and a side wall at one end of the telescopic hose located in the cavity is connected to a limiting plate.

10. A method for using the surveying and mapping device for urban three-dimensional terrain detection according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Use the gyroscope to monitor the flight attitude of the drone body; S2. If the main body of the UAV tilts during flight, due to the inertia of the installation box, under the action of the hysteresis connection mechanism, the installation box will not immediately tilt with the main body of the UAV, but tend to be still, and then the aerial camera in the installation box will also tend to be still, making the aerial camera more stable when shooting and mapping; S3. When the main body of the drone tilts during flight, the gyroscope inside the main body of the drone can detect it in time and control the servo motor to operate. The servo motor rotates the winding reel, and the rotating winding reel can release the connecting rope. The weight plate will pull the connecting rope away from the installation box under the action of gravity. The weight plate can slow down the installation box from tilting with the main body of the drone, thereby improving the stability of the aerial camera during shooting and mapping. S4. At the same time, when the weight-added plate is away from the installation box, the submersible pump is running, the third control valve is closed, the first control valve and the second control valve are opened, the submersible pump extracts the flowing liquid in the storage cavity through the liquid extraction pipe, and transports the flowing liquid to the cavity through the liquid outlet pipe, the fifth three-way pipe and the telescopic hose, so as to increase the overall counterweight of the weight-added plate and further improve the stability of the installation box; S5. When the gyroscope in the drone body detects that the drone body is flying smoothly and the weight-added plate needs to be recovered, the submersible pump is operated, the third control valve is opened, the first control valve and the second control valve are closed, and the submersible pump extracts the flowing liquid in the cavity through the liquid extraction pipe, the second branch pipe, the liquid outlet pipe, the fifth three-way pipe and the telescopic hose, and re-transports the flowing liquid to the storage cavity through the liquid outlet pipe, the first branch pipe and the liquid extraction pipe to reduce the weight of the weight-added plate; S6. At the same time, the servo motor runs, and the servo motor causes the winding reel to rotate. The rotating winding reel can wind the connecting rope, and the connecting rope will pull the weight-increasing plate closer to the installation box until the weight-increasing plate is stored in the receiving groove.

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