An unmanned aerial vehicle-based regional planning surveying and mapping system and surveying and mapping method

Abstract

The present invention relates to the technical field of surveying and mapping systems, and proposes a regional planning surveying and mapping system and a surveying and mapping method based on unmanned aerial vehicles. It realizes the collection of basic information in the process of regional planning surveying and mapping in the form assisted by surface shooting unmanned aerial vehicles. During the surveying and mapping process, the operation of the photographic lens is safer, the endurance of the unmanned aerial vehicle body is longer, it is more practical, and the shooting range and angle per single shot are wider, and the efficiency is higher and more practical. It includes two unmanned aerial vehicle bodies and two photographic lenses, and also includes a vehicle body platform. Both unmanned aerial vehicle bodies include unmanned aerial vehicle frames. Open cavities are provided at the bottoms of the two unmanned aerial vehicle frames. Outer convex frames are fixedly connected in the two open cavities. Two transfer frames and two side rotation frames are rotatably connected in the two open cavities. Two reset springs are fixedly connected in the two open cavities. The four reset springs are respectively fixedly connected with the four transfer frames. Linkage structures are installed on the four side rotation frames, and compound adjustment structures are installed in the two unmanned aerial vehicle frames.

Description

Technical Field

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

[0002] As is well known, a regional planning surveying and mapping system and a surveying and mapping method based on a UAV are used to assist in collecting regional information by using a UAV, so as to provide basic data for comprehensively integrating the attributes and entity information of the earth space in a computer subsequently.

[0003] After retrieval, a patent with Chinese publication number CN114777750A discloses a geographic terrain surveying and mapping system based on a UAV. It is generally described as including an installation chamber and a remote controller. A connecting rod is fixedly connected to the lower surface of the installation chamber. For this geographic terrain surveying and mapping system based on a UAV, through the settings of the installation chamber, connecting rod, signal receiver, connecting ring, storage device, groove, telescopic rod, surveying instrument, radar receiver, and radar transmitter, the connecting rod connects the signal receiver and the installation chamber, and the telescopic rod controls the surveying instrument to move back and forth in the groove. When in use, the radar receiver receives the light or echo emitted by the radar transmitter, measures the distance and angle, and can actively emit laser pulses, obtain the signal reflected back by the detection target, and process it to obtain the spatial information of the surface target. A patent with Chinese publication number CN110879056A discloses a UAV surveying and mapping system. It is generally described as including a UAV body. Propellers are symmetrically arranged at the top of the UAV body, and support and moving mechanisms are symmetrically arranged at the bottom. A placement board is provided on the UAV body. A protective camera is provided at the bottom of the placement board, and a leveling sensor is provided on the side. A main controller is also provided on the UAV body. When in use, the support and moving board moves upward, driving the first sleeve upward, the second spring upward, and the second spring compresses, thereby driving the moving column 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 achieve the auxiliary collection of regions, during the collection process, the surveying and mapping equipment is installed on the UAV, and after the UAV carries the surveying and mapping equipment into the air, the auxiliary collection of regional information is formed from top to bottom. However, considering comprehensively that most of the energy consumption required during the flight of the UAV into the air is provided by its own carried battery, the power demand of the surveying and mapping equipment carried on the UAV is also provided by the battery. Therefore, the power demand for the battery is relatively large, which will cause a reduction in the endurance during the surveying and mapping process on the one hand, and on the other hand, since the surveying and mapping equipment is at a high altitude during the surveying and mapping process, once the UAV falls due to its own operation or external interference, it is extremely easy to cause damage to the surveying and mapping equipment. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a regional planning surveying and mapping system and a surveying and mapping method based on an unmanned aerial vehicle (UAV). It realizes the collection of basic information in the process of regional planning surveying and mapping in the form of assisted surface shooting UAVs. During the surveying and mapping process, the operation of the photographic lens is safer, the endurance of the UAV body is longer, it is more practical, and the shooting range and angle are wider for each single shot, with higher surveying and mapping efficiency and better practicability.

[0006] To achieve the above object, the present invention provides the following technical solution: A regional planning surveying and mapping system based on an unmanned aerial vehicle includes two UAV bodies and two photographic lenses, and also includes a vehicle body platform. Both of the two UAV bodies include UAV frames. At the bottom ends of the two UAV frames, open cavities are provided. In both of the two open cavities, convex frames are fixedly connected. In both of the two open cavities, two intermediate rotating frames and two side rotating frames are rotatably connected. In both of the two open cavities, two reset springs are fixedly connected. The four reset springs are respectively fixedly connected to the four intermediate rotating frames. Four linkage structures are installed on the four side rotating frames, and the four linkage structures respectively match the four intermediate rotating frames. Compound adjustment structures are installed in both of the two UAV frames. Two traction ropes are installed on both of the two compound adjustment structures. Two guiding holes are opened on both of the two UAV frames. The four traction ropes respectively pass through the four guiding holes, and the four traction ropes are respectively connected to the four side rotating frames. Reflective mirrors matching the photographic lenses are installed at the bottom ends of the two convex frames, the bottom ends of the four intermediate rotating frames, and the bottom ends of the four side rotating frames. The vehicle body platform includes a mobile vehicle body, two UAV platforms, and two gravity stabilizing components. The two UAV platforms and the two gravity stabilizing components are both installed in the cargo hold of the mobile vehicle body. The two UAV platforms respectively match the two UAV frames, and the two photographic lenses are respectively installed in the two gravity stabilizing components.

[0007] Preferably, all four of the linkage structures include linkage wheels and linkage rods. In both of the two open cavities, two side connecting shafts and two intermediate connecting shafts are rotatably connected. The four intermediate rotating frames are respectively fixedly connected to the four intermediate connecting shafts. The four side rotating 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 and installed on the four linkage wheels. The four linkage ropes are respectively fixedly connected to the four linkage rods. The four linkage rods are respectively fixedly connected to the four intermediate rotating frames.

[0008] Preferably, two guiding limiting grooves are provided in both of the two open cavities, and the four guiding limiting grooves respectively match the four linkage rods.

[0009] Preferably, both of the gravity stability components include spherical sleeves. Both of the spherical sleeves are fixedly connected inside the hopper of the mobile vehicle body. A spherical frame is connected inside both of the spherical sleeves. The two photographic lenses are respectively installed inside the two spherical frames. The bottom ends of the two spherical frames are both fixedly connected with bottom convex frames. A counterweight rod is rotatably connected to both of the bottom convex frames. The bottom ends of the two counterweight rods are both fixedly connected with counterweight balls. A rotating frame is rotatably connected inside both of the counterweight rods. A threaded rod is threadedly connected inside both of the rotating frames. A rotating connecting frame is rotatably connected to both of the threaded rods. The two rotating connecting frames are respectively rotatably connected to the two bottom convex frames.

[0010] Preferably, both of the composite adjustment structures include main body rotating frames. The two main body rotating frames are respectively fixedly connected inside the two unmanned aerial vehicle frames. Two sub-adjusting rope rollers are rotatably connected inside both of the main body rotating frames. The four traction ropes are respectively installed on the four sub-adjusting rope rollers. A limiting mechanism is installed inside all of the four sub-adjusting rope rollers. A contact limiting surface matching the limiting mechanism is arranged inside both of the unmanned aerial vehicle frames.

[0011] Preferably, all of the four limiting mechanisms include limiting plug plates and operation bracelets. A top mounting groove and a bottom sliding groove are arranged on all of the four sub-adjusting rope rollers. The four limiting plug plates are respectively slidably connected inside the four bottom sliding grooves. A raised block is arranged inside all of the four top mounting grooves. A rotating connection hole is opened inside all of the four raised blocks. The four operation bracelets are respectively rotatably connected inside the four rotating connection holes. A side connection groove and two spring mounting grooves are opened inside all of the four bottom sliding grooves. The four side connection grooves are respectively communicated with the four rotating connection holes. A transmission plate is rotatably connected inside all of the four side connection grooves. The four transmission plates are respectively connected with the four limiting plug plates. A linkage plate is rotatably connected to all of the four transmission plates. The four linkage plates are respectively rotatably connected to the four operation bracelets. Two limiting springs are fixedly connected to the top ends of the four limiting plug plates. The eight limiting springs are respectively fixedly connected inside the eight spring mounting grooves. A friction limiting surface matching the contact limiting surface is arranged at the bottom ends of the four limiting plug plates.

[0012] Preferably, concave grooves are arranged at both ends of both of the outer convex frames. The four middle transfer frames are respectively inserted into the four concave grooves. There is a left-right overlapping area between the four middle transfer frames and the four side rotating frames respectively.

[0013] Preferably, four mounting holes are opened on both of the unmanned aerial vehicle frames. Leg frames are fixedly connected inside the four mounting holes. Electric flight wings are installed on all of the eight leg frames. Storage batteries are installed inside both of the unmanned aerial vehicle frames. Four power supply lines are installed on both of the storage batteries. The eight power supply lines are respectively electrically connected to the eight electric flight wings.

[0014] Preferably, both of the two drone platforms include platform frames. Four wide-mouth slots are provided on each of the two platform frames. The eight wide-mouth slots respectively match with eight leg frames. Conductor columns are provided at the bottom ends of the eight leg frames. Contact electrodes are provided in the eight wide-mouth slots. Both of the two platform frames are installed in the cargo box of the mobile vehicle body. A main battery is installed in the cargo box of the mobile vehicle body. The eight contact electrodes are all electrically connected to the main battery.

[0015] A mapping method of a regional planning mapping system based on drones includes the following steps:

[0016] S1. During use, according to the width of the single-shot image required, adjust the relative positions of the transfer frame and the convex frame and the relative positions between the side-rotating frame and the transfer frame. During the adjustment process, auxiliary adjustment of the four traction ropes is realized through the composite adjustment structure, so that the four traction ropes respectively form traction on the four side-rotating frames.

[0017] S2. Then, adjust the gravity stabilization component to make the camera lens have an appropriate imaging angle, so that there is an appropriate relative shooting angle between the camera lens and the ascending drone frame. Then, the camera lens operates to capture the image formed in the reflecting mirror surface, forming the acquisition of basic image data.

[0018] S3. During the image acquisition process, the mobile vehicle body keeps moving forward, and the drone frame follows the movement of the mobile vehicle body to form a following flight movement, so that images of different ground positions are formed in the reflecting mirror surface. The camera lens captures different mirror images in the reflecting mirror surface to achieve the coverage collection of the basic mapping data.

[0019] Compared with the prior art, the present invention provides a regional planning mapping system and mapping method based on drones, which have the following beneficial effects:

[0020] (1) In the present invention, through the design of the drone body, an air image conduction medium can be formed for the camera lens, which is convenient for taking mapping photos and at the same time makes the camera lens located on the ground. The camera lens completes the acquisition of basic information in the mapping process in a non-ascending form. The operation of the camera lens is safer during the mapping process, and the battery life of the drone body is also longer.

[0021] (2) In the present invention, through the provision of 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 support platform for the camera lens. On the one hand, the installation of the camera lens is formed, and on the other hand, the camera lens can also form a follow-up movement on the ground in matching with the flight movement of the drone body.

[0022] (3) In the present invention, through the design of the composite adjustment structure, it is convenient to adjust multiple reflecting mirrors inside the UAV body. During the adjustment operation, synchronous and symmetric adjustment can be achieved for the four reflecting mirrors on both sides of the UAV body. On the other hand, separate adjustment of the reflecting mirrors on both sides of the UAV body can also be realized, with a wider amplitude and angle for a single shot and higher mapping efficiency.

[0023] (4) In the present invention, through the design of the gravity stability maintenance component, a specific installation structure for the photographic lens relative to the moving vehicle body is provided, which can provide a stable shooting direction for the photographic lens to improve the relative stability of the posture of the photographic lens during the movement of the moving vehicle body, with better practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a three-dimensional structure schematic diagram of the whole of the present invention;

[0025] Figure 2 is of the present invention Figure 1 a partial enlarged structure schematic diagram at A in;

[0026] Figure 3 is a three-dimensional structure schematic diagram of the cooperation of the turntable, side turntable, return spring, etc. in the present invention;

[0027] Figure 4 is a three-dimensional structure schematic diagram of the partial cross-section of the cooperation of the main turntable, sub-adjustment rope roller, limit insertion plate, etc. in the present invention;

[0028] Figure 5 is of the present invention Figure 4 a partial enlarged structure schematic diagram at B in;

[0029] Figure 6 is a disassembled three-dimensional structure schematic diagram of the cooperation of the limit insertion plate, operation bracelet, transmission plate, etc. in the present invention;

[0030] Figure 7 is a three-dimensional structure schematic diagram of the partial cross-section of the cooperation of the UAV frame, outer convex frame, leg frame, etc. in the present invention;

[0031] Figure 8 is a bottom-up three-dimensional structure schematic diagram of the cooperation of the UAV frame, leg frame, conductor column, etc. in the present invention;

[0032] Figure 9 is of the present invention Figure 8 a partial enlarged structure schematic diagram at C in;

[0033] Figure 10 is a three-dimensional structure schematic diagram of the cooperation of the turntable, side turntable, traction rope, etc. in the present invention;

[0034] Figure 11 is of the present invention Figure 10Schematic diagram of the locally enlarged structure at position D in the [device];

[0035] Figure 12 This is the present invention Figure 10 Schematic diagram of the locally enlarged structure at position E in the [device];

[0036] Figure 13 This is a perspective view of the locally sectional bottom view of the cooperation of the main body turntable, sub-adjusting rope roller, limit insertion plate, etc. of the present invention;

[0037] Figure 14 This is the present invention Figure 13 Schematic diagram of the locally enlarged structure at position F in the [device];

[0038] Figure 15 This is an exploded perspective view of the cooperation of the limit insertion plate, operation hand ring, transmission plate, etc. of the present invention;

[0039] Figure 16 This is a perspective view of the bottom view of the cooperation of the drone frame, outer convex frame, leg frame, etc. of the present invention;

[0040] Figure 17 This is a perspective view of the bottom view of the cooperation of the bottom convex frame, counterweight rod, counterweight ball, etc. of the present invention;

[0041] Figure 18 This is an exploded perspective view of the cooperation of the bottom convex frame, counterweight rod, rotating frame, etc. of the present invention;

[0042] Figure 19 This is a perspective view of the present invention in the working state.

[0043] In the figure: 1, camera lens; 2, drone frame; 3, outer convex frame; 4, transfer frame; 5, side rotating frame; 6, return spring; 7, towing rope; 8, guiding hole; 9, reflecting mirror surface; 10, moving vehicle body; 11, linkage wheel; 12, linkage rod; 13, side connecting shaft; 14, middle connecting shaft; 15, linkage rope; 16, guiding limit groove; 17, spherical sleeve; 18, spherical frame; 19, bottom convex frame; 20, counterweight rod; 21, counterweight ball; 22, rotating frame; 23, threaded rod; 24, rotating connecting frame; 25, main body turntable; 26, sub-adjusting rope roller; 27, contact limit surface; 28, limit insertion plate; 29, operation hand ring; 30, top mounting groove; 31, bottom sliding 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, leg frame; 41, electric flight wing; 42, storage battery; 43, platform frame; 44, wide mouth groove; 45, conductor column; 46, contact electrode; 47, main battery. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] For the embodiments, please refer to Figures 1 - 19 , a regional planning surveying and mapping system based on an unmanned aerial vehicle, comprising two unmanned aerial vehicle bodies and two photographic lenses 1, further comprising a vehicle body platform. Both unmanned aerial vehicle bodies include unmanned aerial vehicle frames 2. Open cavities are provided at the bottoms of the two unmanned aerial vehicle frames 2. Outer convex frames 3 are fixedly connected in the two open cavities. Two intermediate rotating frames 4 and two side rotating frames 5 are rotatably connected in the two open cavities. Two reset springs 6 are fixedly connected in the two open cavities. The four reset springs 6 are respectively fixedly connected to the four intermediate rotating frames 4. Linkage structures are installed on the four side rotating frames 5. The four linkage structures respectively match the four intermediate rotating frames 4. The four linkage structures all include linkage wheels 11 and linkage rods 12. Two side connecting shafts 13 and two intermediate connecting shafts 14 are rotatably connected in the two open cavities. The four intermediate rotating frames 4 are respectively fixedly connected to the four intermediate connecting shafts 14. The four side rotating 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 and installed on the four linkage wheels 11. The four linkage ropes 15 are respectively fixedly connected to the four linkage rods 12. The four linkage rods 12 are respectively fixedly connected to the four intermediate rotating frames 4. Two guiding limiting grooves 16 are provided in the two open cavities. The four guiding limiting grooves 16 respectively match the four linkage rods 12. Concave grooves 37 are provided at both ends of the two outer convex frames 3. The four intermediate rotating frames 4 are respectively inserted into the four concave grooves 37. There are left-right overlapping areas 38 between the four intermediate rotating frames 4 and the four side rotating frames 5 respectively, improving the continuity of the joint between the reflecting mirror surface 9 at the bottom of the outer convex frame 3 and the reflecting mirror surface 9 at the bottom of the intermediate rotating frame 4, improving the continuity of the joint between the reflecting mirror surface 9 at the bottom of the side rotating frame 5 and the reflecting mirror surface 9 at the bottom of the intermediate rotating frame 4, and ensuring the imaging continuity at the transition between multiple reflecting mirror surfaces 9.

[0046] It should be further noted that composite adjustment structures are installed in both of the two drone frames 2. Two traction ropes 7 are installed on each of the two composite adjustment structures. The two composite adjustment structures each include a main body rotating frame 25. The two main body rotating frames 25 are respectively fixedly connected inside the two drone frames 2. Two sub-adjustment rope rollers 26 are rotatably connected inside each of the two main body rotating frames 25. The four traction ropes 7 are respectively installed on the four sub-adjustment rope rollers 26. Limit mechanisms are installed inside each of the four sub-adjustment rope rollers 26. Contact limit surfaces 27 matching the limit mechanisms are provided inside both of the two drone frames 2. The four limit mechanisms each include a limit insertion plate 28 and an operation bracelet 29. Top mounting grooves 30 and bottom sliding grooves 31 are provided on each of the four sub-adjustment rope rollers 26. The four limit insertion plates 28 are respectively slidably connected inside the four bottom sliding grooves 31. Protruding blocks 32 are provided inside each of the four top mounting grooves 30. Rotating connection holes are opened inside each of the four protruding blocks 32. The four operation bracelets 29 are respectively rotatably connected inside the four rotating connection holes. Side connection grooves 33 and two spring mounting grooves are opened inside each of the four bottom sliding grooves 31. The four side connection grooves 33 are respectively communicated with the four rotating connection holes. Transmission plates 34 are respectively rotatably connected inside the four side connection grooves 33. The four transmission plates 34 are respectively connected to the four limit insertion plates 28. Linking plates are rotatably connected to each of the four transmission plates 34. The four linking plates are respectively rotatably connected to the four operation bracelets 29. Two limit springs 35 are fixedly connected to the top ends of the four limit insertion plates 28. The eight limit springs 35 are respectively fixedly connected inside the eight spring mounting grooves. Friction limit surfaces 36 matching the contact limit surfaces 27 are provided at the bottom ends of the four limit insertion plates 28. Through the design of the composite adjustment structure, it is convenient to adjust the multiple reflecting mirrors 9 inside the drone body. During the adjustment operation process, synchronous and symmetric adjustment can be formed for the four reflecting mirrors 9 on both sides of the drone body. On the other hand, separate adjustment of the reflecting mirrors 9 on both sides of the drone body can also be realized. The amplitude and angle of a single shot are both wider, and the mapping efficiency is higher. Two guiding holes 8 are opened on each of the two drone frames 2. The four traction ropes 7 respectively pass through the four guiding holes 8. The four traction ropes 7 are respectively connected to the four side rotating frames 5. Reflecting mirrors 9 matching the photographic lens 1 are installed at 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. Through the design of the drone body, an air image conduction medium can be formed for the photographic lens 1, which is convenient for realizing the acquisition of mapping photos while making the photographic lens 1 located on the ground. The photographic lens 1 completes the acquisition of basic information during the mapping process in a non-lifting form. The operation of the photographic lens 1 is safer during the mapping process, and the endurance of the drone body is also longer.

[0047] It should be further noted that the vehicle body platform includes a mobile vehicle body 10, two UAV platforms and two gravity stability components. The two UAV platforms and the two gravity stability components are both installed in the cargo box of the mobile vehicle body 10. The two UAV platforms are respectively matched with the two UAV racks 2, and the two camera lenses 1 are respectively installed in the two gravity stability components. Through the configuration of the vehicle body platform, a nest platform is provided for the UAV body, facilitating the storage and placement of the UAV body before and after use. And it also provides a support platform for the camera lens 1. On the one hand, it forms the installation of the camera lens 1, and on the other hand, it enables the camera lens 1 to also move following the flight of the UAV body and form a follow-up movement on the ground. The two gravity stability components both include spherical sleeves 17. The two spherical sleeves 17 are both fixedly connected in the cargo box of the mobile vehicle body 10. A spherical frame 18 is connected in each of the two spherical sleeves 17. The two camera 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. A counterweight rod 20 is rotatably connected to each of the two bottom convex frames 19. A counterweight ball 21 is fixedly connected to the bottom end of each of the two counterweight rods 20. A rotating frame 22 is rotatably connected in each of the two counterweight rods 20. A threaded rod 23 is threadedly connected in each of the two rotating frames 22. A rotating connecting frame 24 is rotatably connected to each of the two threaded rods 23. The two rotating connecting frames 24 are respectively rotatably connected to the two bottom convex frames 19. Through the design of the gravity stability components, a specific installation structure for the camera lens 1 relative to the mobile vehicle body 10 is provided, which can provide a stable shooting direction for the camera lens 1 to improve the relative stability of the posture of the camera lens 1 during the movement of the mobile vehicle body 10, and the practicability is better. Four mounting holes 39 are opened on each of the two UAV racks 2. A leg support 40 is fixedly connected in each of the four mounting holes 39. An electric flying wing 41 is installed on each of the eight leg supports 40. A storage battery 42 is installed in each of the two UAV racks 2. Each of the two storage batteries 42 is provided with four power supply lines. The eight power supply lines are respectively electrically connected to the eight electric flying wings 41. The two UAV platforms both include platform frames 43. Four wide-mouth slots 44 are opened on each of the two platform frames 43. The eight wide-mouth slots 44 are respectively matched with the eight leg supports 40. A conductor column 45 is provided at the bottom end of each of the eight leg supports 40. A contact electrode 46 is provided in each of the eight wide-mouth slots 44. The two platform frames 43 are both installed in the cargo box of the mobile vehicle body 10. A main 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 main battery 47. When the UAV rack 2 lands relative to the platform frame 43, the leg support 40 will insert into the corresponding wide-mouth slot 44. Thereafter, the conductor column 45 will contact the contact electrode 46, forming an electrical connection between the main battery 47 and the storage battery 42. On the one hand, it realizes the temporary storage of the UAV body's support, and on the other hand, it realizes the energy storage of the UAV body for the takeoff application of the UAV body.

[0048] The photographic lens 1, the mobile vehicle body 10, the electric flying wing 41, the storage battery 42, and the main battery 47 in this embodiment are all conventional devices well-known to those skilled in the art and purchased on the market. In the present invention, we only use them without improving their structures and functions. For those skilled in the art, their setting methods, installation methods, and electrical connection methods can be debugged and operated according to the requirements of their user manuals, and will not be elaborated herein.

[0049] In summary, the working principle of the drone-based regional planning surveying and mapping system and surveying method is as follows. When in use, according to the width of the single-shot imaging area required, the relative position adjustment between the transfer frame 4 and the convex frame 3 and the relative position adjustment between the side rotation frame 5 and the transfer frame 4 are formed. During the adjustment process, the auxiliary adjustment of the four traction ropes 7 is realized through the composite adjustment structure, and the synchronous rotation adjustment of the two sub-adjustment rope rollers 26 in the composite adjustment structure is achieved, so that the four traction ropes 7 respectively form traction on the four side rotation frames 5, thereby achieving the adjustment of the relative angle between the two side rotation frames 5 located in the same open cavity. Since the rotation of the side rotation frame 5 will drive the rotation of the linkage wheel 11, and the winding degree of the linkage rope 15 will be controlled during the rotation of the linkage wheel 11. When the linkage rope 15 is retracted and released, it will form traction on the linkage rod 12, so that the transfer frame 4 will form a linkage rotation adjustment along with the rotation of the side rotation frame 5. Therefore, during this adjustment process, the relative position adjustment of the five reflecting mirrors 9 located in the same open cavity can be achieved, so that the five reflecting mirrors 9 form different imaging areas. And the angles between the two transfer frames 4 and the convex frame 3 located in the same open cavity have two forms: the same angle adjustment and different angle adjustments, so as to enrich the adjustable relative angles between the five reflecting mirrors 9 located in the same open cavity. When the sub-adjustment rope roller 26 rotates and adjusts, first rotate the operation bracelet 29 relative to the convex block 32. The rotation of the operation bracelet 29 drives the transmission plate 34 to rotate through the linkage plate. The rotation of the transmission plate 34 drives the movement of the limit insertion plate 28, so that the friction limit surface 36 at the bottom end of the limit insertion plate 28 is separated from the contact limit surface 27. After that, the rotation limit function between the sub-adjustment rope roller 26 and the main rotation frame 25 fails. Keeping this failure state, by applying an auxiliary force for rotational adjustment to the operation bracelet 29, the rotational adjustment of the sub-adjustment rope roller 26 can be realized. The rotation of the sub-adjustment rope roller 26 can realize the control of the retraction and release of the traction rope 7. After the adjustment is completed, control the operation bracelet 29 to rotate and reset relative to the convex block 32. Under the elastic action of the limit spring 35, the friction limit surface 36 is in mutual contact and tight fit with the contact limit surface 27, realizing the re-rotation limit of the sub-adjustment rope roller 26 and also realizing the limit of the retraction and release state of the traction rope 7. Since the rotation of the transfer frame 4 will cause the elastic deformation of the reset spring 6, under the elastic reset of the reset spring 6 and the traction of the traction rope 7, the attitude stability of the transfer frame 4 and the side rotation frame 5 can be realized.

[0050] Further, the gravity stabilization component is adjusted later to enable the photographic lens 1 to have a suitable imaging angle, so that there is a suitable relative shooting angle between the photographic lens 1 and the ascending drone frame 2. After that, the photographic lens 1 operates to capture the image formed in the reflecting mirror 9, forming the acquisition of basic image data. That is, when the drone frame 2 ascends, the shooting target area of the photographic lens 1 corresponds to the reflecting mirror 9. The specific principle is as shown in the appendix Figure 19 As shown, when adjusting the gravity stabilization component, by rotating the threaded rod 23, the relative distance between the main body rotating frame 25 and the rotating frame 22 is adjusted, 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 spherical frame 18, the counterweight ball 21 is always in a relatively lower position relative to the spherical frame 18, so as to maintain the relative attitude of the spherical frame 18 and enable the photographic lens 1 to have a stable imaging angle. The photographic lens 1 has an autofocus function to perform autofocus and shooting relative to the reflecting mirror 9. During the image acquisition process, the moving vehicle body 10 keeps moving forward, and the drone frame 2 follows the movement of the moving vehicle body 10 to form a following flight movement, so that images of different ground positions are formed in the reflecting mirror 9. The photographic lens 1 captures different images in the reflecting mirror 9 to achieve the coverage collection of the basic surveying and mapping data. Since the photographic lens 1 does not ascend synchronously with the drone frame 2, the photographic lens 1 will not risk falling from a high altitude, and the equipment safety is better. Moreover, there is no power-consuming device for image acquisition in the drone frame 2, so the power consumption of the drone body is further reduced, and its endurance is also improved.

[0051] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. 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, 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 intermediate transfer frames (4) are respectively inserted into the four recessed grooves (37), and left and right overlapping areas (38) are respectively provided between the four intermediate transfer frames (4) and the four side transfer 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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