Regional planning surveying and mapping system and surveying and mapping method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of surveying and mapping systems, and provides a regional planning surveying and mapping system and surveying and mapping method based on an unmanned aerial vehicle, which adopts an earth surface shooting unmanned aerial vehicle auxiliary form to realize the acquisition of basic information in a regional planning surveying and mapping process, the photographic lens operation is safer in the surveying and mapping process, and the cruising ability of an unmanned aerial vehicle body is longer. The unmanned aerial vehicle comprises two unmanned aerial vehicle bodies and two photographic lenses, and further comprises a vehicle body platform, each unmanned aerial vehicle body comprises an unmanned aerial vehicle frame, the bottom end of each unmanned aerial vehicle frame is provided with an open cavity, the interior of each open cavity is fixedly connected with an outer protruding frame, and the outer protruding frames are fixedly connected with the vehicle body platform. Two open cavities are formed in the two unmanned aerial vehicle frames, two transfer frames and two side rotating frames are rotationally connected into each open cavity, two reset springs are fixedly connected into each open cavity, the four reset springs are fixedly connected with the four transfer frames correspondingly, linkage structures are installed on the four side rotating frames correspondingly, and composite adjusting structures are installed in the two unmanned aerial vehicle frames correspondingly.

Description

Technical Field

[0001] The present invention relates to the technical field of surveying and mapping systems, and in particular to a regional planning and mapping system and a surveying and mapping method based on an unmanned aerial vehicle. Background Art

[0002] As we all know, the drone-based regional planning and mapping system and mapping method is a method of using drones to assist in collecting regional information, so as to provide basic data for the subsequent comprehensive integration of the attributes and entity information of the earth's space in the computer.

[0003] After searching, the patent with Chinese announcement number CN114777750A discloses a geographical terrain mapping system based on drones, which is roughly described as including an installation room and a remote control. The lower surface of the installation room is fixedly connected with a connecting rod. The geographical terrain mapping system based on drones is arranged through the installation room, connecting rod, signal receiver, connecting ring, storage, groove, telescopic rod, surveying instrument, radar receiver and radar transmitter. The connecting rod connects the signal receiver and the installation room, and the telescopic rod controls the surveying instrument to move back and forth in the groove. When it is in use, the radar receiver receives the light or echo emitted by the radar transmitter to measure the distance and angle, and can obtain the reflected light of the detection target by actively emitting laser pulses. The signal is processed and the spatial information of the surface target is obtained. The Chinese patent with the announcement number CN110879056A discloses a UAV surveying and mapping system, which is roughly described as comprising a UAV body, the top of the UAV body is symmetrically provided with propellers, the bottom is symmetrically provided with a supporting and moving mechanism, the UAV body is provided with a placement plate, the bottom of the placement plate is provided with a protective camera, the side is provided with a leveling sensor, and the UAV body is also provided with a main controller. When in use, the supporting and moving plate moves upward, driving the first sleeve to move upward, the second spring moves upward, the second spring is compressed, thereby driving the moving column to move upward, and then driving the buffer diagonal rod to move, and then the buffer block moves on the buffer rod, and the first spring stretches to achieve a buffering effect.

[0004] Although the above-mentioned existing technical solutions can all realize the auxiliary collection of regions, during the collection process, the surveying and mapping equipment is installed on the drone, and the drone carries the surveying and mapping equipment into the air to form auxiliary collection of regional information from top to bottom. However, considering that the energy consumption required by the drone during the flight is mostly provided by the battery carried by the drone, the power demand of the surveying and mapping equipment carried by the drone is also provided by the battery, so the power demand for the battery is relatively large. On the one hand, it will cause the endurance to be reduced during the surveying and mapping process. On the other hand, since the surveying and mapping equipment is in a high altitude position during the surveying and mapping process, once the drone falls due to its own operation or external interference, it is very easy to cause the loss of the surveying and mapping equipment. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a regional planning surveying and mapping system and method based on drones, which adopts the form of surface shooting drone-assisted to realize the collection of basic information in the process of regional planning surveying and mapping. The operation of the camera lens is safer during the surveying and mapping process, and the endurance of the drone body is longer. It is more practical and the amplitude and angle of a single shot are wider, the surveying and mapping efficiency is higher, and the practicality is better.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a regional planning and mapping system based on unmanned aerial vehicles, comprising two unmanned aerial vehicle bodies and two photographic lenses, and also comprising a vehicle body platform, wherein the two unmanned aerial vehicle bodies each comprise an unmanned aerial vehicle frame, the bottom ends of the two unmanned aerial vehicle frames are each provided with an open cavity, the two open cavities are each fixedly connected with an outer convex frame, the two open cavities are each rotatably connected with two central transfer frames and two side transfer frames, the two open cavities are each fixedly connected with two return springs, the four return springs are respectively fixedly connected with the four central transfer frames, the four side transfer frames are each installed with a linkage structure, the four linkage structures are respectively matched with the four central transfer frames, and the two unmanned aerial vehicle frames are each installed with a linkage structure. A combined adjustment structure, two traction ropes are installed on the two composite adjustment structures, two guide holes are opened on the two UAV frames, the four traction ropes pass through the four guide holes respectively, the four traction ropes are connected to the four side rotating frames respectively, the bottom ends of the two outer convex frames, the bottom ends of the four middle rotating frames and the bottom ends of the four side rotating frames are all installed with reflecting mirrors matching the photographic lenses, the body platform includes a mobile body, two UAV platforms and two gravity stabilization components, the two UAV platforms and the two gravity stabilization components are all installed in the vehicle bucket of the mobile body, the two UAV platforms are matched with the two UAV frames respectively, and the two photographic lenses are respectively installed in the two gravity stabilization components.

[0007] Preferably, the four linkage structures each include a linkage wheel and a linkage rod, two side connecting shafts and two middle connecting shafts are rotatably connected in the two open cavities, the four middle transfer frames are respectively fixedly connected to the four middle connecting shafts, the four side transfer frames are respectively fixedly connected to the four side connecting shafts, the four linkage wheels are respectively fixedly connected to the four side connecting shafts, linkage ropes are wound around the four linkage wheels, the four linkage ropes are respectively fixedly connected to the four linkage rods, and the four linkage rods are respectively fixedly connected to the four middle transfer frames.

[0008] Preferably, two guide limit grooves are provided in each of the two open cavities, and the four guide limit grooves are matched with four linkage rods respectively.

[0009] Preferably, the two gravity stabilization assemblies each include a spherical sleeve, the two spherical sleeves are fixedly connected in the bucket of the mobile vehicle body, the two spherical sleeves are connected to a spherical frame, the two photographic lenses are respectively installed in the two spherical frames, the bottom ends of the two spherical frames are fixedly connected to bottom bosses, the two bottom bosses are rotatably connected to counterweight rods, the bottom ends of the two counterweight rods are fixedly connected to counterweight balls, the two counterweight rods are rotatably connected to rotating frames, the two rotating frames are threadedly connected to threaded rods, the two threaded rods are rotatably connected to rotating connecting frames, and the two rotating connecting frames are rotatably connected to the two bottom bosses, respectively.

[0010] Preferably, the two composite adjustment structures each include a main rotating frame, the two main rotating frames are respectively fixedly connected in two unmanned aerial vehicle frames, two sub-adjustment rope rollers are rotatably connected in the two main rotating frames, the four traction ropes are respectively installed on the four sub-adjustment rope rollers, limiting mechanisms are installed in the four sub-adjustment rope rollers, and contact limiting surfaces matching the limiting mechanisms are provided in the two unmanned aerial vehicle frames.

[0011] Preferably, the four limit mechanisms each include a limit plug plate and an operating hand ring, the four sub-adjusting rope rollers are provided with a top mounting groove and a bottom sliding groove, the four limit plug plates are respectively slidably connected in the four bottom sliding grooves, the four top mounting grooves are respectively provided with a protruding block, the four protruding blocks are respectively provided with a transfer hole, the four operating hand rings are respectively rotatably connected in the four transfer holes, the four bottom sliding grooves are respectively provided with a side connecting groove and two spring mounting grooves, the four side connecting grooves are respectively connected with the four transfer holes, the four side connecting grooves are respectively connected with a transmission plate, the four transmission plates are respectively connected with the four limit plug plates, the four transmission plates are rotatably connected with a linkage plate, the four linkage plates are respectively rotatably connected with the four operating hand rings, the top ends of the four limit plug plates are fixedly connected with two limit springs, the eight limit springs are respectively fixedly connected in the eight spring mounting grooves, and the bottom ends of the four limit plug plates are respectively provided with a friction limit surface matching the contact limit surface.

[0012] Preferably, both ends of the two outer protruding frames are provided with recessed grooves, the four middle rotating frames are respectively inserted into the four recessed grooves, and the four side rotating frames are respectively provided with left and right overlapping areas with each other.

[0013] Preferably, four mounting holes are opened on the two UAV frames, and leg frames are fixedly connected in the four mounting holes. Electric flying wings are installed on the eight leg frames. Batteries are installed in the two UAV frames, and four power supply lines are installed in the two batteries. The eight power supply lines are electrically connected to the eight electric flying wings respectively.

[0014] Preferably, the two UAV platforms include a platform frame, and four wide-mouth slots are opened on the two platform frames, and the eight wide-mouth slots are matched with eight leg frames respectively. The bottom ends of the eight leg frames are provided with conductor columns, and contact electrodes are provided in the eight wide-mouth slots. The two platform frames are installed in the cargo box of the mobile vehicle body, and a main battery is installed in the cargo box of the mobile vehicle body. The eight contact electrodes are electrically connected to the main battery.

[0015] A surveying and mapping method for a regional planning and mapping system based on an unmanned aerial vehicle comprises the following steps: S1. When in use, the relative position of the middle rotating frame and the outer convex frame and the relative position of the side rotating frame and the middle rotating frame are adjusted according to the width of the single-shot image. During the adjustment process, the four traction ropes are assisted by the composite adjustment structure so that the four traction ropes can pull the four side rotating frames respectively. S2, then adjust the gravity stabilization component to make the camera lens have a suitable shooting angle, so that the camera lens and the unmanned aerial vehicle frame have a suitable relative shooting angle, and then the camera lens operates to capture the image formed in the reflective mirror surface, forming the collection of basic image data; S3. During the image acquisition process, the mobile vehicle keeps moving, and the unmanned aerial vehicle follows the movement of the mobile vehicle to form a follow-up flight motion, so that images of different surface positions are formed on the reflective mirror surface. Different mirror images on the reflective mirror surface are captured through the camera lens to achieve coverage collection of basic surveying and mapping data.

[0016] Compared with the prior art, the present invention provides a regional planning and mapping system and method based on drones, which has the following beneficial effects: (1) In the present invention, the design of the drone body can form an aerial image transmission medium for the camera lens, which facilitates the acquisition of surveying and mapping photos while keeping the camera lens on the ground. The camera lens completes the collection of basic information in the surveying and mapping process without being lifted into the air. The operation of the camera lens in the surveying and mapping process is safer, and the endurance of the drone body is also longer.

[0017] (2) In the present invention, by configuring the vehicle body platform, a nest platform is provided for the drone body, which is convenient for the storage and placement of the drone body before and after use, and also provides a bracket platform for the camera lens. On the one hand, it forms the installation of the camera lens, and on the other hand, it enables the camera lens to form a follow-up movement on the ground in conjunction with the flight movement of the drone body.

[0018] (3) In the present invention, the design of the composite adjustment structure facilitates the adjustment of multiple reflective mirrors in the drone body. During the adjustment operation, the four reflective mirrors on both sides of the drone body can be adjusted synchronously and symmetrically. On the other hand, the reflective mirrors on both sides of the drone body can also be adjusted separately. The amplitude and angle of a single shot are wider, and the surveying and mapping efficiency is higher.

[0019] (4) In the present invention, through the design of the gravity stabilizing component, a specific mounting structure relative to the moving vehicle body is provided for the camera lens, which can provide a stable shooting direction for the camera lens, thereby improving the relative stability of the posture of the camera lens during the movement of the moving vehicle body, and having better practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle; Figure 3 It is a schematic diagram of the three-dimensional structure of the rotating frame, the side rotating frame and the return spring in the present invention; Figure 4 It is a partially cutaway three-dimensional structural schematic diagram of the main body rotating frame, the rope-adjusting rollers and the limit plug plate of the present invention; Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at B in the middle; Figure 6 It is a schematic diagram of the exploded three-dimensional structure of the limit plug plate, the operating wristband and the transmission plate of the present invention; Figure 7 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the drone frame, the outer convex frame and the leg frame of the present invention; Figure 8 It is a bottom-up three-dimensional structural schematic diagram of the cooperation of the drone rack, leg rack and conductor column of the present invention; Fig. 9 For the present invention Figure 8 A schematic diagram of the local enlarged structure at C in the middle; Fig.10 It is a schematic diagram of the three-dimensional structure of the rotating frame, the side rotating frame and the traction rope in the present invention; Fig.11 For the present invention Fig.10 A schematic diagram of the local enlarged structure at D in the middle; Fig.12 For the present invention Fig.10 A schematic diagram of the local enlarged structure at E in the middle; Fig.13 It is a schematic diagram of a partially cutaway bottom-up three-dimensional structure of the main body rotating frame, the rope-adjusting rollers and the limit plug plate of the present invention; Fig.14 For the present invention Fig.13 A schematic diagram of the local enlarged structure at F in the middle; Fig.15 It is a schematic diagram of the exploded three-dimensional structure of the limit plug plate, the operating wristband and the transmission plate of the present invention; Fig.16 It is a bottom-up three-dimensional structural schematic diagram of the cooperation of the drone frame, the outer convex frame and the leg frame of the present invention; Fig.17 It is a bottom-view three-dimensional structural schematic diagram of the bottom convex frame, the counterweight rod and the counterweight ball of the present invention; Fig.18 It is a schematic diagram of the exploded three-dimensional structure of the bottom convex frame, the counterweight rod and the rotating frame of the present invention; Fig.19 It is a three-dimensional structural schematic diagram of the working state of the present invention.

[0021] In the figure: 1, camera lens; 2, unmanned aerial vehicle frame; 3, external convex frame; 4, middle rotating frame; 5, side rotating frame; 6, reset spring; 7, traction rope; 8, guide hole; 9, reflective mirror; 10, mobile vehicle body; 11, linkage wheel; 12, linkage rod; 13, side connecting shaft; 14, middle connecting shaft; 15, linkage rope; 16, guide limit groove; 17, ball sleeve; 18, ball frame; 19, bottom convex frame; 20, counterweight rod; 21, counterweight ball; 22, rotating frame; 23, threaded rod; 24, rotating connecting frame; 25, Main body rotating frame; 26, sub-adjusting rope roller; 27, contact limit surface; 28, limit plug plate; 29, operating bracelet; 30, top mounting groove; 31, bottom slide groove; 32, raised block; 33, side connecting groove; 34, transmission plate; 35, limit spring; 36, friction limit surface; 37, recessed groove; 38, left and right overlapping area; 39, mounting hole; 40, outrigger frame; 41, electric flying wing; 42, battery; 43, platform frame; 44, wide-mouth groove; 45, conductor column; 46, contact electrode; 47, total battery. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0023] For examples, see Figure 1-Figure 19A regional planning and mapping system based on unmanned aerial vehicles includes two unmanned aerial vehicle bodies and two photographic lenses 1, and also includes a vehicle body platform. The two unmanned aerial vehicle bodies include unmanned aerial vehicle frames 2. The bottom ends of the two unmanned aerial vehicle frames 2 are each provided with an open cavity. The two open cavities are each fixedly connected with an outer convex frame 3. The two open cavities are each rotatably connected with two central transfer frames 4 and two side transfer frames 5. The two open cavities are each fixedly connected with two reset springs 6. The four reset springs 6 are respectively fixedly connected with the four central transfer frames 4. The four side transfer frames 5 are each installed with a linkage structure. The four linkage structures are respectively matched with the four central transfer frames 4. The four linkage structures include a linkage wheel 11 and a linkage rod 12. The two open cavities are each rotatably connected with two side connecting shafts 13 and two central connecting shafts 14. The four central transfer frames 4 are respectively fixedly connected with the four central connecting shafts 14. The four side transfer frames 5 are respectively fixedly connected with the four side connecting shafts 13. The four linkage structures include a linkage wheel 11 and a linkage rod 12. The moving wheel 11 is fixedly connected to the four side connecting shafts 13 respectively, and the four linkage wheels 11 are wound with linkage ropes 15, and the four linkage ropes 15 are fixedly connected to the four linkage rods 12 respectively, and the four linkage rods 12 are fixedly connected to the four transfer frames 4 respectively. Two guide limit grooves 16 are arranged in the two open cavities, and the four guide limit grooves 16 are matched with the four linkage rods 12 respectively. Both ends of the two outer protrusions 3 are provided with recessed grooves 37, and the four transfer frames 4 are respectively inserted into the four recessed grooves 37, and the four side rotating frames 5 are respectively provided with left and right overlapping areas 38 between the four side rotating frames 5, so as to improve the continuity of the joint between the reflecting mirror surface 9 at the bottom end of the outer protrusion 3 and the reflecting mirror surface 9 at the bottom end of the transfer frame 4, and improve the continuity of the joint between the reflecting mirror surface 9 at the bottom end of the side rotating frame 5 and the reflecting mirror surface 9 at the bottom end of the transfer frame 4, so as to ensure the imaging continuity at the transition between multiple reflecting mirror surfaces 9.

[0024] It should be further explained that a composite adjustment structure is installed in each of the two unmanned aerial vehicle frames 2, two traction ropes 7 are installed on each of the two composite adjustment structures, and the two composite adjustment structures include a main rotating frame 25, the two main rotating frames 25 are respectively fixedly connected to the two unmanned aerial vehicle frames 2, and two sub-adjustment rope rollers 26 are rotatably connected in each of the two main rotating frames 25, four traction ropes 7 are respectively installed on four sub-adjustment rope rollers 26, and limiting mechanisms are installed in the four sub-adjustment rope rollers 26, and contact limiting surfaces 27 matching the limiting mechanisms are provided in each of the two unmanned aerial vehicle frames 2, and the four limiting mechanisms include limiting plug plates 28 and operating bracelets 29, and the four sub-adjustment ropes are respectively installed on the four sub-adjustment rope rollers 26. The rollers 26 are each provided with a top mounting groove 30 and a bottom sliding groove 31, the four limit plugs 28 are respectively slidably connected in the four bottom sliding grooves 31, the four top mounting grooves 30 are each provided with a protruding block 32, the four protruding blocks 32 are each provided with a rotation hole, the four operating hand rings 29 are respectively rotatably connected in the four rotation holes, the four bottom sliding grooves 31 are each provided with a side connecting groove 33 and two spring grooves, the four side connecting grooves 33 are respectively connected with the four rotation holes, the four side connecting grooves 33 are rotatably connected with a transmission plate 34, the four transmission plates 34 are respectively connected with the four limit plugs 28, the four transmission plates 34 are rotatably connected with a linkage plate, and the four linkage plates are respectively connected with the four operating The wristband 29 is rotatably connected, the tops of the four limit plugs 28 are fixedly connected to two limit springs 35, and the eight limit springs 35 are respectively fixedly connected in the eight spring grooves. The bottom ends of the four limit plugs 28 are provided with friction limit surfaces 36 matching the contact limit surfaces 27. The design of the composite adjustment structure facilitates the adjustment of multiple reflective mirrors 9 in the drone body. During the adjustment operation, the four reflective mirrors 9 on both sides of the drone body can be synchronously and symmetrically adjusted. On the other hand, the reflective mirrors 9 on both sides of the drone body can also be adjusted separately. The amplitude and angle of a single shot are wider, the surveying and mapping efficiency is higher, and the two drone frames 2 are provided with two guide holes 8, four traction ropes 7 pass through the four guide holes 8 respectively, and the four traction ropes 7 are connected to the four side rotating frames 5 respectively. The bottom ends of the two outer convex frames 3, the bottom ends of the four middle rotating frames 4 and the bottom ends of the four side rotating frames 5 are all installed with reflecting mirrors 9 matching with the photographic lens 1. Through the design of the drone body, an aerial image transmission medium can be formed for the photographic lens 1, which facilitates the acquisition of surveying and mapping photos while making the photographic lens 1 located on the ground. The photographic lens 1 completes the collection of basic information in the surveying and mapping process without being lifted off. The operation of the photographic lens 1 in the surveying and mapping process is safer, and the endurance of the drone body is also longer.

[0025] It should be further explained that the vehicle platform includes a mobile vehicle 10, two UAV platforms and two gravity stabilization components. The two UAV platforms and the two gravity stabilization components are installed in the cargo box of the mobile vehicle 10. The two UAV platforms are matched with two UAV racks 2 respectively. The two camera lenses 1 are installed in the two gravity stabilization components respectively. Through the configuration of the vehicle platform, a nest platform is provided for the UAV body, which is convenient for the storage and placement of the UAV body before and after use, and also provides a bracket platform for the camera lens 1. On the one hand, the camera lens 1 is installed, and on the other hand, the camera lens 1 can also form a follow-up movement on the surface to match the flight movement of the UAV body. The two gravity stabilization components The two spherical sleeves 17 are both fixedly connected in the bucket of the mobile vehicle body 10, and the two spherical sleeves 17 are both connected with a spherical frame 18. The two photographic lenses 1 are respectively installed in the two spherical frames 18. The bottom ends of the two spherical frames 18 are both fixedly connected with bottom convex frames 19. The two bottom convex frames 19 are both rotatably connected with a counterweight rod 20. The bottom ends of the two counterweight rods 20 are both fixedly connected with a counterweight ball 21. The two counterweight rods 20 are both rotatably connected with a rotating frame 22. The two rotating frames 22 are both threadedly connected with a threaded rod 23. The two threaded rods 23 are both rotatably connected with a rotating connecting frame 24. The two rotating connecting frames 24 are respectively rotatably connected with the two bottom convex frames 19. Through the design of the gravity stabilization component, the photographic lenses 1 are The head 1 provides a specific installation structure relative to the mobile body 10, which can provide a stable shooting direction for the camera lens 1, so as to improve the relative stability of the posture of the camera lens 1 during the movement of the mobile body 10, and the practicality is better. Four mounting holes 39 are provided on the two unmanned aerial vehicle frames 2, and the four mounting holes 39 are fixedly connected with the outriggers 40. The eight outriggers 40 are installed with electric flying wings 41. The two unmanned aerial vehicle frames 2 are installed with batteries 42. The two batteries 42 are installed with four power supply lines, and the eight power supply lines are electrically connected to the eight electric flying wings 41 respectively. The two unmanned aerial vehicle platforms include a platform frame 43. The two platform frames 43 are provided with four wide-mouthed slots 44, and the eight wide-mouthed slots 44 are provided with the four wide-mouthed slots 44. The grooves 44 are matched with eight leg frames 40 respectively, and the bottom ends of the eight leg frames 40 are all provided with conductor columns 45. Contact electrodes 46 are all provided in the eight wide-mouth grooves 44. The two platform frames 43 are both installed in the cargo box of the mobile vehicle body 10. A total battery 47 is installed in the cargo box of the mobile vehicle body 10. The eight contact electrodes 46 are all electrically connected to the total battery 47. When the drone frame 2 lands relative to the platform frame 43, the leg frame 40 will be inserted into the corresponding wide-mouth groove 44. Thereafter, the conductor column 45 will contact the contact electrode 46 to form an electrical connection between the total battery 47 and the storage battery 42. On the one hand, the bracket of the drone body is temporarily stored, and on the other hand, the energy storage of the drone body is realized to prepare for the launch application of the drone body.

[0026] The camera lens 1, the mobile body 10, the electric flying wing 41, the storage battery 42 and the total battery 47 in this embodiment are all conventional equipment purchased on the market and known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged and operated according to the requirements of the instruction manual, and will not be described in detail here.

[0027] In summary, the working principle of the regional planning surveying and mapping system and surveying and mapping method based on drones is that, when in use, the relative position adjustment of the middle rotating frame 4 and the outer convex frame 3 and the relative position adjustment between the side rotating frame 5 and the middle rotating frame 4 are formed according to the width of the required single camera format. During the adjustment process, the auxiliary adjustment of the four traction ropes 7 is realized through the composite adjustment structure, and the two sub-adjustment rope rollers 26 in the composite adjustment structure are synchronously rotated and adjusted, so that the four traction ropes 7 respectively form traction on the four side rotating frames 5, thereby achieving the adjustment of the relative angle between the two side rotating frames 5 located in the same open cavity. The rotation of the frame 5 will drive the linkage wheel 11 to rotate. During the rotation of the linkage wheel 11, the winding degree of the linkage rope 15 will be controlled. When the linkage rope 15 is retracted and released, it will pull the linkage rod 12, so that the intermediate transfer frame 4 can be adjusted in linkage with the rotation of the side transfer frame 5. Therefore, during the adjustment process, the relative positions of the five reflective mirrors 9 located in the same open cavity can be adjusted, so that the five reflective mirrors 9 form different imaging frames, and the angles between the two intermediate transfer frames 4 and the outer convex frame 3 located in the same open cavity have two forms of same angle adjustment and different angle adjustment, so as to enrich In the case where the relative angles between the five reflective mirror surfaces 9 located in the same open cavity are adjustable, when the sub-adjusting rope roller 26 is rotated for adjustment, the operating bracelet 29 is first rotated relative to the protruding block 32, and the rotation of the operating bracelet 29 drives the transmission plate 34 to rotate through the linkage plate, and the rotation of the transmission plate 34 drives the limit plug 28 to move, so that the friction limit surface 36 at the bottom end of the limit plug 28 is separated from the contact limit surface 27, and then the rotation limit effect between the sub-adjusting rope roller 26 and the main rotating frame 25 is invalid, and the invalid state is maintained. By applying an auxiliary force for rotation adjustment to the operating bracelet 29, the sub-adjusting can be achieved. The rotation adjustment of the rope roller 26 and the rotation of the sub-adjustable rope roller 26 can realize the retraction and release control of the traction rope 7. After the adjustment is completed, the control operating bracelet 29 is rotated and reset relative to the protruding block 32. Under the elastic action of the limit spring 35, the friction limit surface 36 is in contact and tight with the contact limit surface 27, so as to realize the rotation limit of the sub-adjustable rope roller 26 again, and also realize the limit of the retraction and release state of the traction rope 7. Since the reset spring 6 will form elastic deformation when the intermediate rotating frame 4 rotates, the elastic reset of the reset spring 6 and the traction action of the traction rope 7 can achieve the stability of the posture of the intermediate rotating frame 4 and the side rotating frame 5.

[0028] Further, the camera lens 1 is adjusted to have a suitable shooting angle by adjusting the gravity stabilization component, so that the camera lens 1 and the unmanned aerial vehicle frame 2 in the air have a suitable relative shooting angle. Then the camera lens 1 is operated to capture the image formed in the reflective mirror surface 9 to form the collection of basic image data. That is, when the unmanned aerial vehicle frame 2 is launched, the shooting target area of ​​the camera lens 1 corresponds to the reflective mirror surface 9. The specific principle is as shown in the attached figure. Fig.19 As shown in the figure, when adjusting the gravity stabilizing assembly, the relative distance between the main rotating frame 25 and the rotating frame 22 is adjusted by rotating the threaded rod 23, and finally the relative angle between the counterweight rod 20 and the bottom convex frame 19 is adjusted. Since the center of gravity of the counterweight rod 20 and the counterweight ball 21 is lower than the center of gravity of the ball frame 18, the counterweight ball 21 is always in a relatively low position relative to the ball frame 18, so as to maintain the relative posture of the ball frame 18, so that the camera lens 1 has a stable camera angle, and the camera lens 1 has an automatic focus function to form automatic focus and shooting relative to the reflective mirror surface 9, and the image is collected. During the collection process, the mobile body 10 keeps moving, and the unmanned aerial vehicle frame 2 follows the movement of the mobile body 10 to form a following flight motion, so that images of different surface positions are formed in the reflective mirror surface 9, and different mirror images in the reflective mirror surface 9 are captured by the camera lens 1 to realize the coverage collection of surveying and mapping basic data. Since the camera lens 1 does not follow the unmanned aerial vehicle frame 2 to form a synchronous launch, the camera lens 1 will not be at risk of falling from a high altitude, and the equipment safety is better. In addition, there is no power-consuming equipment for image collection in the unmanned aerial vehicle frame 2, so the power consumption of the unmanned aerial vehicle body is further reduced, and its endurance is also improved.

[0029] 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 regional planning and mapping system based on drones, comprising two drone bodies and two camera lenses (1), characterized in that: It also includes a vehicle body platform, the two drone bodies each include a drone frame (2), the bottom ends of the two drone frames (2) are each provided with an open cavity, the two open cavities are each fixedly connected to an outer convex frame (3), the two open cavities are each rotatably connected to two central transfer frames (4) and two side transfer frames (5), the two open cavities are each fixedly connected to two return springs (6), the four return springs (6) are respectively fixedly connected to the four central transfer frames (4), the four side transfer frames (5) are each installed with a linkage structure, the four linkage structures are respectively matched with the four central transfer frames (4), the two drone frames (2) are each installed with a composite adjustment structure, the two composite adjustment structures are each installed with two traction ropes (7), the two drones The frame (2) is provided with two guide holes (8), and the four traction ropes (7) pass through the four guide holes (8) respectively. The four traction ropes (7) are connected to the four side rotating frames (5) respectively. The bottom ends of the two outer convex frames (3), the bottom ends of the four middle rotating frames (4) and the bottom ends of the four side rotating frames (5) are all installed with reflecting mirrors (9) matching the photographic lenses (1). The vehicle platform includes a mobile vehicle body (10), two unmanned aerial vehicle platforms and two gravity stabilization components. The two unmanned aerial vehicle platforms and the two gravity stabilization components are installed in the vehicle bucket of the mobile vehicle body (10). The two unmanned aerial vehicle platforms are matched with the two unmanned aerial vehicle frames (2) respectively, and the two photographic lenses (1) are respectively installed in the two gravity stabilization components.

2. The regional planning and mapping system based on drone according to claim 1, characterized in that: The four linkage structures each comprise a linkage wheel (11) and a linkage rod (12); two side connecting shafts (13) and two middle connecting shafts (14) are rotatably connected in the two open cavities; the four middle transfer frames (4) are respectively fixedly connected to the four middle connecting shafts (14); the four side transfer frames (5) are respectively fixedly connected to the four side connecting shafts (13); the four linkage wheels (11) are respectively fixedly connected to the four side connecting shafts (13); linkage ropes (15) are wound around the four linkage wheels (11); the four linkage ropes (15) are respectively fixedly connected to the four linkage rods (12); and the four linkage rods (12) are respectively fixedly connected to the four middle transfer frames (4).

3. The regional planning and mapping system based on drone according to claim 2 is characterized in that: Two guide limit slots (16) are provided in each of the two open cavities, and the four guide limit slots (16) are matched with four linkage rods (12) respectively.

4. The regional planning and mapping system based on drone according to claim 3 is characterized in that: The two gravity stabilization components each comprise a spherical sleeve (17), the two spherical sleeves (17) are both fixedly connected in the bucket of the mobile vehicle body (10), the two spherical sleeves (17) are both connected to a spherical frame (18), the two photographic lenses (1) are respectively mounted in the two spherical frames (18), the bottom ends of the two spherical frames (18) are both fixedly connected to a bottom boss (19), the two bottom bosses (19) are both rotatably connected to a counterweight rod (20), the bottom ends of the two counterweight rods (20) are both fixedly connected to a counterweight ball (21), the two counterweight rods (20) are both rotatably connected to a rotating frame (22), the two rotating frames (22) are both threadedly connected to a threaded rod (23), the two threaded rods (23) are both rotatably connected to a rotating connecting frame (24), and the two rotating connecting frames (24) are respectively rotatably connected to the two bottom bosses (19).

5. The regional planning and mapping system based on drone according to claim 4 is characterized in that: The two composite adjustment structures each comprise a main rotating frame (25), the two main rotating frames (25) being respectively fixedly connected to the two unmanned aerial vehicle frames (2), the two main rotating frames (25) being rotatably connected to two separate rope adjustment rollers (26), the four traction ropes (7) being respectively mounted on the four separate rope adjustment rollers (26), the four separate rope adjustment rollers (26) being respectively mounted with a limiting mechanism, and the two unmanned aerial vehicle frames (2) being provided with a contact limiting surface (27) matching the limiting mechanism.

6. The regional planning and mapping system based on drone according to claim 5, characterized in that: The four limiting mechanisms each comprise a limiting plug plate (28) and an operating wristband (29); the four rope-adjusting rollers (26) are each provided with a top mounting groove (30) and a bottom sliding groove (31); the four limiting plug plates (28) are respectively slidably connected in the four bottom sliding grooves (31); the four top mounting grooves (30) are each provided with a protruding block (32); the four protruding blocks (32) are each provided with a rotation hole; the four operating wristbands (29) are respectively rotationally connected in the four rotation holes; the four bottom sliding grooves (31) are each provided with a side connecting groove (33) and two spring mounting grooves; the four side connecting grooves (33) are respectively ... The four side connection grooves (33) are connected to four rotation holes respectively, and transmission plates (34) are rotatably connected in the four side connection grooves. The four transmission plates (34) are connected to four limit plug plates (28) respectively, and the four transmission plates (34) are rotatably connected to linkage plates. The four linkage plates are rotatably connected to four operating wristbands (29) respectively. The top ends of the four limit plug plates (28) are fixedly connected to two limit springs (35). The eight limit springs (35) are fixedly connected in the eight spring installation grooves respectively. The bottom ends of the four limit plug plates (28) are provided with friction limit surfaces (36) matching the contact limit surfaces (27).

7. The regional planning and mapping system based on unmanned aerial vehicle according to claim 6, characterized in that: Both ends of the two outer protruding frames (3) are provided with recessed grooves (37), the four middle rotating frames (4) are respectively inserted into the four recessed grooves (37), and the four side rotating frames (5) are respectively provided with left and right overlapping areas (38) between the four side rotating frames (5).

8. The regional planning and mapping system based on drone according to claim 7, characterized in that: Four mounting holes (39) are provided on the two unmanned aerial vehicle frames (2), leg frames (40) are fixedly connected in the four mounting holes (39), electric flying wings (41) are installed on the eight leg frames (40), batteries (42) are installed in the two unmanned aerial vehicle frames (2), four power supply lines are installed in the two batteries (42), and the eight power supply lines are electrically connected to the eight electric flying wings (41) respectively.

9. The regional planning and mapping system based on drone according to claim 8, characterized in that: The two UAV platforms each comprise a platform frame (43), and four wide-mouthed slots (44) are provided on the two platform frames (43), and the eight wide-mouthed slots (44) are matched with the eight leg frames (40) respectively, and the bottom ends of the eight leg frames (40) are each provided with a conductor column (45), and contact electrodes (46) are each provided in the eight wide-mouthed slots (44), and the two platform frames (43) are each installed in the cargo box of the mobile vehicle body (10), and a main battery (47) is installed in the cargo box of the mobile vehicle body (10), and the eight contact electrodes (46) are each electrically connected to the main battery (47).

10. A surveying and mapping method for a regional planning and mapping system based on an unmanned aerial vehicle, characterized in that: A regional planning and mapping system based on a drone according to any one of claims 1 to 9 is used, comprising the following steps: S1. When in use, the relative position of the middle rotating frame (4) and the outer convex frame (3) and the relative position of the side rotating frame (5) and the middle rotating frame (4) are adjusted according to the width of the image to be taken in a single shot. During the adjustment process, the four traction ropes (7) are assisted in adjustment by the composite adjustment structure, so that the four traction ropes (7) respectively traction the four side rotating frames (5); S2, then adjusting the gravity stabilization component so that the camera lens (1) has a suitable shooting angle, so that the camera lens (1) and the lifted unmanned aerial vehicle frame (2) have a suitable relative shooting angle, and then the camera lens (1) operates to capture the image formed in the reflective mirror surface (9), thereby forming the collection of basic image data; S3. During the image acquisition process, the mobile vehicle (10) continuously moves, and the unmanned aerial vehicle frame (2) follows the movement of the mobile vehicle (10) to form a follow-up flight motion, so that images of different surface positions are formed in the reflection mirror surface (9). Different mirror images in the reflection mirror surface (9) are captured through the camera lens (1), thereby realizing the coverage collection of basic surveying and mapping data.

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