Remote control topographic surveying and mapping robot and surveying and mapping method thereof

Abstract

The invention belongs to the technical field of topographic surveying and mapping equipment, particularly relates to a remote control topographic surveying and mapping robot and a surveying and mapping method thereof, and provides the following scheme for solving the problems that an existing topographic surveying and mapping robot cannot collect soil, camera protection is insufficient, the robot is prone to being impacted by insects and birds, and a fire may be caused by unmanned aerial vehicle falling. Comprising an unmanned aerial vehicle body, a mounting plate is fixed to the bottom of the unmanned aerial vehicle body through bolts, a connecting plate is arranged below the mounting plate, and a high-definition camera used for topographic surveying and mapping is arranged at the bottom of the connecting plate; the device comprises a connecting plate, a high-definition camera and two protective frames, the two protective frames slide at the bottom of the connecting plate, the high-definition camera is located between the two protective frames, the high-definition camera is prevented from being impacted by insects, birds and birds while surveying and mapping are conducted in the air, the connecting plate drives the protective frames to rotate, soil collection can be automatically completed, and the device is simple in structure and convenient to use. And in addition, when the unmanned aerial vehicle body falls, the high-definition camera can be effectively protected.

Description

Technical Field

[0001] The present invention relates to the technical field of terrain surveying and mapping equipment, and in particular to a remote-controlled terrain surveying and mapping robot and a surveying and mapping method thereof. Background Art

[0002] Topographic surveying refers to measuring the shape and size of the terrain on the earth's surface, and then reducing it to a certain scale and drawing it into a topographic map, so as to facilitate people's understanding and exploration of the terrain. In order to conduct topographic surveying more conveniently, people often use drones equipped with camera functions for aerial surveying.

[0003] The existing technology still has the following deficiencies in the process of aerial measurement by drones:

[0004] 1. When surveying and mapping topography, soil information needs to be collected. However, when drones conduct aerial surveys, they can only measure the shape and size of the topography on the earth’s surface, and cannot collect soil information in areas that are difficult to reach.

[0005] 2. When the drone is flying in the air for aerial measurement, insects and birds in the air may hit the high-definition camera, causing the camera to malfunction and unable to shoot normally. In addition, when the drone crashes, the camera cannot be effectively protected;

[0006] 3. When a drone crashes in a dry place with many dead branches and leaves, if the battery in the crashed drone is damaged, it may cause an internal short circuit in the battery, which can easily cause a fire under the influence of the dead branches and leaves.

[0007] In view of the above problems, the present invention document proposes a remote-controlled terrain mapping robot and a mapping method thereof. Summary of the invention

[0008] The purpose of the present invention is to solve the shortcomings of the existing inability to collect soil, inability to effectively protect the camera, insects and birds easily hitting the high-definition camera, and the high probability of fire caused by the fall of the drone, and to propose a remote-controlled terrain mapping robot and its mapping method.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A remote-controlled terrain mapping robot comprises an unmanned aerial vehicle body, a mounting plate is fixed to the bottom of the unmanned aerial vehicle body by bolts, a connecting plate is provided below the mounting plate, and a high-definition camera for terrain mapping is provided at the bottom of the connecting plate;

[0011] It also includes two protective frames, both of which are slid at the bottom of the connecting plate, the high-definition camera is located between the two protective frames, both of which are provided with mounting openings, both of which are fixed with protective screens, and both of which are rotatably provided with protective rubber plates, and the cooperation of the protective screens and the protective rubber plates can prevent insects and birds from hitting the high-definition camera;

[0012] A protective structure, disposed between the connecting plate and the protective frame, for protecting the high-definition camera when falling through the cooperation of the protective frame and the protective rubber plate;

[0013] The collecting structure is arranged between the connecting plate and the protective frame, and is used to collect soil. The protective structure can seal the soil collected in the collecting structure to prevent the soil from being lost when the drone body falls.

[0014] The buffer structure is arranged between the mounting plate and the connecting plate, and is used to reduce the impact force on the drone body and the high-definition camera when falling.

[0015] In a possible design, the protective structure includes two base plates fixed to the bottom of the connecting plate, a rotating shaft is rotatably connected between the two base plates, the high-definition camera is fixedly sleeved on the outer wall of the rotating shaft, a second motor is fixed in one of the base plates, the output shaft of the second motor is fixedly connected to one end of the rotating shaft, a plurality of card slots are provided on the sides of the two base plates away from each other, a plurality of card blocks are fixed on the sides of the two protective frames close to each other, and the card blocks cooperate with adjacent card slots to form the protective frame and the base plate as a whole, two sliding grooves are provided at the bottom of the connecting plate, and the same bidirectional screw rod is rotatably connected in the two sliding grooves , and the two-way screw rod rotates in the connecting plate, and nut blocks are threadedly sleeved on the positive and negative threaded sections of the two two-way screw rods, and the nut blocks slide in the corresponding sliding grooves, and the bottoms of the two nut blocks are respectively fixedly connected to the tops of the two protection frames, and a flip structure is provided in the two protection frames, which is used to drive the protective rubber plate to rotate out of the installation port when the protection frame moves toward the middle, and protect the high-definition camera; the motor drives the two-way screw rod to rotate, and the two-way screw rod drives the two protection frames to move toward the middle until the card block is stuck in the corresponding card slot, forming the protection frame and the substrate as a whole, which can increase the stability of the high-definition camera under the connecting plate when it falls.

[0016] In a possible design, the flipping structure includes a driving shaft rotating in the mounting opening, the protective rubber plate fixing sleeve is arranged on the outer wall of the driving shaft, the outer wall sleeve of the driving shaft is provided with a torsion spring fixedly connected to one side of the protective rubber plate, the end of the driving shaft away from the protective rubber plate is fixedly connected to the inner wall of one side of the mounting opening, for resetting the protective rubber plate, the outer wall fixing sleeve of the driving shaft is provided with a winding roller, the outer wall of the winding roller is wrapped with a first pull rope, one end of the first pull rope passes through the protective frame and is fixedly connected to the bottom side of the connecting plate, for pulling the driving shaft to rotate when the protective frame moves; when the protective frame moves toward the middle, the driving shaft rotates under the action of the winding roller and the first pull rope, so that the protective rubber plate is placed horizontally, and when the card block is engaged with the card slot, the sides of the two protective rubber plates close to each other touch each other, and both are located below the high-definition camera, which can protect the high-definition camera.

[0017] In a possible design, the collection structure includes a circular groove arranged at the top of the connecting plate, a rotating disk is rotatably connected in the circular groove, a first motor is fixed to the top of the rotating disk through a frame, an output shaft of the first motor passes through the rotating disk and is fixedly connected to the bottom inner wall of the circular groove, so as to drive the connecting plate to rotate, a collecting chute is arranged in each of the two protective frames, one end of each of the two collecting chute passes through the protective frame, and one end of each of the two collecting chute passes through the protective frame in opposite directions, a shovel plate is fixed on one side of each of the two protective frames, the two shovel plates respectively cooperate with the two collecting chute plates, so as to shovel soil into the collecting chute when the protective frame rotates, a second rectangular groove connected to the collecting chute is arranged at the bottom of the two protective frames, and the two second rectangular grooves are connected to the collecting chute. A closing plate is slidably connected in the two shaped grooves, and a second pull rope is fixed on the top of the two closing plates, and the top ends of the two second pull ropes are wound around the outer walls of the corresponding driving shafts to drive the closing plates to move up and close the collecting chute; the drone body drives the protective frame to descend until the protective frame is suspended in the air, and the bottom end of the shovel plate can just be inserted into the soil, and then the first motor drives the connecting plate to rotate, and the connecting plate drives the protective frame to rotate, so that the shovel plate can shovel the soil into the collecting chute and complete the collection, which is convenient for later detection; when the drone body falls, when the driving shaft drives the protective rubber plate to rotate to protect the high-definition camera, the driving shaft pulls the closing plate into the collecting chute through the second pull rope, closes the collecting chute, and prevents the soil collected in the collecting chute from being lost during the falling process.

[0018] In a possible design, the buffer structure includes a plurality of sliding rods fixed on the top of the rotating disk, a plurality of slots are provided at the bottom of the mounting plate, the top ends of the plurality of sliding rods all slide and extend into the slots, a plurality of first springs are fixed between the mounting plate and the connecting plate, and the plurality of first springs are sleeved on the outer walls of the corresponding sliding rods, and a make way groove for making way for the first motor is provided at the bottom of the mounting plate; when falling to the ground, due to the connecting plate, the protective frame and the high-definition camera, the center of gravity is located at the bottom as a whole, so the protective frame lands first, and the protective frame and the protective rubber plate protect the high-definition camera. After the protective frame lands, it pushes the connecting plate and the sliding rod upward, and compresses the first spring, converting the kinetic energy of the impact into potential energy of the compression of the first spring, thereby reducing the impact force on the drone body and the high-definition camera.

[0019] In a possible design, a limiting plate is fixed to the inner wall of the installation openings on the side away from each other. The limiting plate is located between the protective mesh and the protective rubber plate and is used to limit the protective rubber plate.

[0020] In a possible design, the inner walls of the two sides of the mounting openings that are away from each other are each provided with a first rectangular groove, and the two first rectangular grooves are both slidably connected to limit blocks, and the two limit blocks both cooperate with the protective rubber plate to limit the protective rubber plate, and a sliding rod is fixed to the ends of the two limit blocks that are away from each other, and one end of the two slide rods both slide and extend to one side of the protective frame, and a second spring is fixed between one end of the limit block and the inner wall of one side of the first rectangular groove, and the second spring is sleeved on the outer wall of the slide rod; when the driving shaft drives the protective rubber plate to rotate to a horizontal state, the limit block loses the obstruction of the protective rubber plate and extends in the direction of the protective rubber plate under the elastic force of the second spring, and the bottom of the limit block can fit the top of the protective rubber plate in a horizontal state, thereby limiting the protective rubber plate and preventing the protective rubber plate from rotating in the opposite direction later.

[0021] In a possible design, a plurality of ventilation holes are provided in the protective rubber plate to allow air to pass through the ventilation holes, thereby reducing the wind resistance of the protective rubber plate.

[0022] In a possible design, an annular storage groove is provided in the mounting plate for storing foam fire extinguishing agent, and the annular storage groove is connected to a plurality of slots, an annular plate is sealingly and slidably connected in the annular storage groove, the top ends of the plurality of sliding rods extend into the annular storage groove and are fixedly connected to the bottom of the annular plate, a plurality of drainage channels connected to the annular storage groove are provided in the mounting plate for spraying the foam fire extinguishing agent in the annular storage groove to the outside, a plurality of bases are fixed to the top inner wall of the annular storage groove, a transmission rod is rotatably connected in the plurality of bases, and the bottom end of the transmission rod touches the top of the annular plate, a plurality of drainage channels are provided with rubber plugs for sealing the drainage channels, and the rubber plugs are located in the annular storage groove, a third pull rope is fixed to the top of one side of the transmission rod, and the third The other end of the pull rope is fixedly connected to the rubber plug, which is used to pull the rubber plug out of the drainage channel to release the blockage of the drainage channel. A guide rod is fixed in each of the multiple bases to guide the third pull rope. When the connecting plate pushes the sliding rod to move upward, the sliding rod pushes the annular plate to move upward, and the annular plate pushes the transmission rod to rotate. The top of the transmission rod pulls the third pull rope, and the third pull rope pulls the rubber plug out of the drainage channel to release the blockage of the rubber plug on the drainage channel. As the annular plate moves upward, the foam fire extinguishing agent stored in the annular storage groove can be sprayed to the surroundings through the drainage channel. The foam fire extinguishing agent produces a large amount of foam that covers the surface of the burning object to form an isolation layer that isolates the air, which can prevent air from entering the fire source, cut off the oxygen supply required for combustion, reduce the direct contact between oxygen and the surface of the burning object, and reduce the risk of combustion.

[0023] In the present application, a method for using a remotely controlled terrain mapping robot comprises the following steps:

[0024] S1. The drone uses a high-definition camera to map the terrain in the air, and uses the connecting plate and the rotating shaft to achieve multi-angle shooting. The combination of the protective frame, protective mesh and protective rubber plate effectively prevents insects and birds from hitting it, ensuring smooth shooting.

[0025] S2. When it is necessary to collect ground soil, the drone body drives the protective frame to descend to an appropriate height, the shovel is inserted into the soil, and the first motor drives the protective frame to rotate and collect the soil into the collection chute for subsequent detection;

[0026] S3. When the drone falls, the driving motor drives the bidirectional screw rod to bring the two protective frames together and lock them, and the protective rubber plate is unfolded horizontally to protect the high-definition camera. This process also automatically closes the collection chute to prevent soil loss.

[0027] S4. When falling to the ground, the protective frame touches the ground first, and the collision energy is converted into spring potential energy through the cooperation of the connecting plate, the sliding rod and the first spring, effectively reducing the impact on the drone body and the high-definition camera;

[0028] S5. During the collision, the annular plate rises and triggers the transmission mechanism, automatically releasing the blockage of the foam fire extinguishing agent in the annular storage tank. The foam fire extinguishing agent is sprayed rapidly to form an isolation layer on the burning object to isolate the air, cut off the oxygen required for combustion, and reduce the risk of combustion.

[0029] Beneficial effects: In the present invention, the two protection frames are slid at the bottom of the connecting plate, the high-definition camera is located between the two protection frames, the two protection frames are provided with mounting openings, the two mounting openings are fixed with protective gauze, and the two mounting openings are rotatably provided with protective rubber plates; during the flight of the drone body, one of the protection frames is located in front of the high-definition camera, and the other protection frame is located behind the high-definition camera, so that during the flight of the drone body, the high-definition camera can be protected by the cooperation of the protection frame, the protective gauze and the protective rubber plate, so as to prevent insects and birds in the air from hitting the high-definition camera, so that the high-definition camera can be smoothly filmed;

[0030] In the present invention, two base plates are rotated at the bottom of the connecting plate, and the high-definition camera is between the two base plates. A card slot is provided on the side of the two base plates away from each other, and a plurality of card blocks are fixed on the side of the two protective frames close to each other. A protective rubber plate is rotated in the installation opening through a driving shaft, and a first pull rope is wound around the outer wall of the driving shaft through a winding roller, and one end of the first pull rope is fixedly connected to the bottom of the connecting plate; a motor drives a bidirectional screw rod to rotate, and the bidirectional screw rod drives the two protective frames to move toward the middle until the card blocks are stuck in the corresponding card slots, so that the protective frame and the base plate form a whole, which can increase the stability of the high-definition camera under the connecting plate when falling; in addition, the driving shaft rotates under the action of the winding roller and the first pull rope until it is in a horizontal state, which can protect the high-definition camera;

[0031] In the present invention, collecting chutes are provided in the two protective frames, shovel plates are fixed on one side of the two protective frames, closing plates are slidably connected in the two second rectangular grooves, second pull ropes are fixed on the tops of the two closing plates, and the tops of the two second pull ropes are wrapped around the outer walls of the corresponding driving shafts; the connecting plate drives the protective frame to rotate, and then the shovel plate can shovel soil into the collecting chute and complete the collection, which is convenient for later detection; when the drone body falls, when the driving shaft drives the protective rubber plate to rotate to protect the high-definition camera, the driving shaft pulls the closing plate into the collecting chute through the second pull rope to close the collecting chute, thereby preventing the soil collected in the collecting chute from being lost during the falling process.

[0032] In the present invention, an annular plate is sealingly and slidingly connected in the annular storage groove, a plurality of drainage channels connected to the annular storage groove are provided in the mounting plate, a plurality of the bases are rotatably connected with transmission rods, a plurality of the drainage channels are provided with rubber plugs, a third pull rope is fixed to the top of one side of the transmission rod, and the other end of the third pull rope is fixedly connected to the rubber plug; the sliding rod moves up through the annular plate to push the transmission rod to rotate, and the transmission rod releases the rubber plug from blocking the drainage channel by pulling the third pull rope, so that the foam fire extinguishing agent can be sprayed around through the drainage channel. The foam fire extinguishing agent produces a large amount of foam covering the surface of the burning object to form an isolation layer that isolates the air, which can prevent air from entering the fire source, cut off the oxygen supply required for combustion, reduce the direct contact between oxygen and branches and leaves, and reduce the risk of combustion.

[0033] In the present invention, it is possible to avoid the collision of insects and birds with the high-definition camera while mapping in the air. The connecting plate drives the protective frame to rotate to automatically complete the collection of soil. In addition, when the drone body falls, it can not only effectively protect the high-definition camera, but also spray foam fire extinguishing agent all around when landing, thereby reducing the risk of fire caused by the fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the three-dimensional structure of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0035] Figure 2 A schematic diagram of a three-dimensional explosion structure of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0036] Figure 3 A schematic diagram of a three-dimensional exploded structure of a mounting plate, a sliding rod and a first spring of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0037] Figure 4 A schematic diagram of a three-dimensional cross-sectional structure of a connecting plate, a bidirectional lead screw and a bidirectional lead screw of a remote-controlled topographic mapping robot provided in Example 1 of the present invention;

[0038] Figure 5 A schematic diagram of a three-dimensional exploded structure of a high-definition camera, a base plate and a card block of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0039] Figure 6 A schematic diagram of a three-dimensional cross-sectional structure of a protective frame of a remote-controlled terrain surveying and mapping robot provided in Example 1 of the present invention;

[0040] Figure 7A schematic diagram of a three-dimensional explosion structure of a protective frame, a protective gauze and a protective rubber plate of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0041] Figure 8 A schematic diagram of a three-dimensional cross-sectional structure of a protective frame and a shovel plate of a remote-controlled terrain mapping robot provided in Example 1 of the present invention;

[0042] Fig. 9 for Figure 8 The enlarged structural diagram at A in the middle;

[0043] Fig.10 A schematic cross-sectional view of a mounting plate of a remote-controlled terrain mapping robot provided in Example 2 of the present invention;

[0044] Fig.11 for Fig.10 Enlarged structural diagram at B in the middle.

[0045] In the figure: 1. UAV body; 2. Mounting plate; 3. Connecting plate; 4. Ring plate; 5. Sliding rod; 6. First spring; 7. Slot; 8. Round groove; 9. Rotating plate; 10. First motor; 11. Displacement groove; 12. Sliding groove; 13. Bidirectional screw rod; 14. Nut block; 15. Protective frame; 16. Base plate; 17. Rotating shaft; 18. High-definition camera; 19. Second motor; 20. Slot; 21. Block; 22. Mounting port; 23. Protective mesh; 24. Drive Axis; 25, torsion spring; 26, protective rubber plate; 27, ventilation hole; 28, limit plate; 29, winding roller; 30, first pull rope; 31, first rectangular groove; 32, limit block; 33, slide bar; 34, second spring; 35, collecting chute; 36, shovel plate; 37, second rectangular groove; 38, closing plate; 39, second pull rope; 40, annular storage groove; 41, drainage channel; 42, rubber plug; 43, base; 44, transmission rod; 45, guide rod; 46, third pull rope. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Example 1: Reference Figure 1 and Figure 2, robot, relates to the technical field of terrain mapping equipment, and its structure includes a drone body 1. A mounting plate 2 is firmly fixed to the bottom of the drone body 1 by bolts for installing and supporting other components. Below the mounting plate 2, a connecting plate 3 is provided, and the connecting plate 3 is used to connect and support key components required for terrain mapping. At the bottom of the connecting plate 3, a high-definition camera 18 is provided, and the high-definition camera 18 is used to capture image data required for terrain mapping. In order to ensure that the high-definition camera 18 is not disturbed by external factors such as insects and birds during operation, two protective frames 15 are specially designed. The two protective frames 15 are designed to slide at the bottom of the connecting plate 3, and the high-definition camera 18 is located between the two protective frames 15.

[0048] Reference Figure 6 and Figure 7 In each protection frame 15, there is a mounting opening 22, in which not only a protective screen 23 is fixed, but also a protective rubber plate 26 is rotatably arranged. The cooperation of the protective screen 23 and the protective rubber plate 26 can effectively prevent insects, birds, etc. from hitting the high-definition camera 18, and protect its normal operation.

[0049] Reference Figure 4 and Figure 5 In order to further enhance the protection capability of the high-definition camera 18 when falling, a protection structure is designed. The protection structure includes two substrates 16, which are fixed to the bottom of the connecting plate 3, and the two substrates 16 are rotatably connected by a rotating shaft 17. The high-definition camera 18 is fixedly sleeved on the outer wall of the rotating shaft 17. A second motor 19 is also fixed in one of the substrates 16, and the output shaft of the second motor 19 is fixedly connected to one end of the rotating shaft 17, so that the high-definition camera 18 can be driven to rotate by the second motor 19. On the side where the two substrates 16 are away from each other, multiple card slots 20 are provided, and on the side where the two protection frames 15 are close to each other, multiple card blocks 21 are fixed. These card blocks 21 can cooperate with adjacent card slots 20, so that the protection frame 15 and the substrate 16 form an integral structure. At the bottom of the connecting plate 3, two sliding grooves 12 are also provided, and the same bidirectional screw rod 13 is rotatably connected in the two sliding grooves 12. Nut blocks 14 are respectively threadedly sleeved on the positive and negative thread segments of the bidirectional screw rod 13, and these nut blocks 14 can slide in the corresponding sliding grooves 12. The bottoms of the two nut blocks 14 are respectively fixedly connected to the tops of the two protection frames 15, so that when the bidirectional screw rod 13 rotates, the two protection frames 15 can be driven to move toward the middle until the clamping blocks 21 are clamped into the corresponding clamping grooves 20, thereby firmly connecting the protection frames 15 and the base plate 16 together.

[0050] Reference Figure 4 and Figure 6-Figure 9In order to further improve the protection effect of the high-definition camera 18 when falling, a flip structure is provided in each protection frame 15. The flip structure includes a drive shaft 24 rotating in the installation opening 22, and a protective rubber plate 26 fixedly sleeved on the outer wall of the drive shaft 24. The outer wall of the drive shaft 24 is also sleeved with a torsion spring 25 fixedly connected to one side of the protective rubber plate 26, and a winding roller 29 fixedly sleeved on the outer wall of the drive shaft 24. The outer wall of the winding roller 29 is wound with a first pull rope 30, one end of which passes through the protection frame 15 and is fixedly connected to one side of the bottom of the connecting plate 3.

[0051] Specifically, when the protection frame 15 moves toward the middle, the first pull rope 30 pulls the drive shaft 24 to rotate, thereby causing the protection rubber plate 26 to rotate out of the installation opening 22 and be placed horizontally. When the block 21 is engaged with the slot 20, the two sides of the protection rubber plates 26 that are close to each other will touch each other and are both located below the high-definition camera 18, thereby providing all-round protection for the high-definition camera 18.

[0052] Reference Figure 2 and Figure 8 In terms of collecting soil, a collection structure can be set between the connecting plate 3 and the protective frame 15. The collection structure includes a circular groove 8 at the top of the connecting plate 3, and a rotating disk 9 is rotatably connected in the circular groove 8. A first motor 10 is fixedly installed on the top of the rotating disk 9 through a frame, and the output shaft of the first motor 10 passes through the rotating disk 9 and is fixedly connected to the bottom inner wall of the circular groove 8. When the first motor 10 is started, its output shaft drives the rotating disk 9 and the entire connecting plate 3 to rotate in the circular groove 8. Inside the two protective frames 15, a collecting chute 35 is provided. One end of the two collecting chute 35 passes through the side wall of the protective frame 15, and the two collecting chute 35 passes through the one end of the protective frame 15 in opposite directions. This design can ensure that the soil can be shoveled into the collecting chute 35 when the protective frame 15 rotates. On one side of the two protective frames 15, a shovel plate 36 is fixed, and the two shovel plates 36 are respectively matched with the two collecting chute 35.

[0053] Specifically, when the drone body 1 drives the protection frame 15 to descend, until the protection frame 15 is suspended in the air, the bottom end of the shovel plate 36 can just be inserted into the soil. At this time, the first motor 10 drives the connecting plate 3 to rotate, and the connecting plate 3 drives the protection frame 15 to rotate, and then the shovel plate 36 can shovel the soil into the collection chute 35, completing the soil collection work, which is convenient for later detection.

[0054] Reference Figure 8At the bottom of the two protection frames 15, a second rectangular groove 37 connected to the collecting chute 35 is provided. In the two second rectangular grooves 37, a closing plate 38 is slidably connected. A second pull rope 39 is fixed to the top of the two closing plates 38, and the top ends of the two second pull ropes 39 are wound around the outer wall of the corresponding driving shaft 24.

[0055] Specifically, when the drone body 1 falls, the drive shaft 24 will drive the protective rubber plate 26 to rotate to protect the high-definition camera 18. At the same time, the drive shaft 24 will also pull the closing plate 38 into the collecting chute 35 through the second pull rope 39 to close the collecting chute 35 to prevent the soil collected in the collecting chute 35 from being lost during the fall.

[0056] Reference Figure 2 and Figure 3 In order to reduce the impact force on the drone body 1 and the high-definition camera 18 when falling, a buffer structure is also provided between the mounting plate 2 and the connecting plate 3. The buffer structure includes a plurality of sliding rods 5 fixed on the top of the rotating disk 9. At the bottom of the mounting plate 2, a plurality of slots 7 corresponding to the sliding rods 5 are provided, and the top ends of these sliding rods 5 all slide and extend into the corresponding slots 7. Between the mounting plate 2 and the connecting plate 3, a plurality of first springs 6 are fixed, and these first springs 6 are sleeved on the outer walls of the corresponding sliding rods 5. At the same time, at the bottom of the mounting plate 2, a clearance groove 11 for making way for the first motor 10 is also provided.

[0057] Specifically, when the drone body 1 falls to the ground, the center of gravity of the entire device is located at the bottom due to the weight of the connecting plate 3, the protective frame 15 and the high-definition camera 18. Therefore, the protective frame 15 will land first and protect the high-definition camera 18 together with the protective rubber plate 26. After the protective frame 15 lands, it will push the connecting plate 3 and the sliding rod 5 upward and compress the first spring 6. In this way, the kinetic energy of the impact can be converted into the potential energy of the compression of the first spring 6, thereby reducing the impact force on the drone body 1 and the high-definition camera 18.

[0058] Reference Figure 7 In addition, a limit plate 28 is fixed on the inner wall of the mounting opening 22 away from each other. The limit plates 28 are located between the protective gauze 23 and the protective rubber plate 26, and are used to limit the protective rubber plate 26 to prevent it from deflecting or falling off during the rotation process.

[0059] Reference Figure 8 and Fig. 9, first rectangular grooves 31 are provided on the inner walls on both sides of the mounting opening 22, and the two first rectangular grooves 31 are used to install the limit blocks 32. The limit blocks 32 can slide in the first rectangular grooves 31, and cooperate with the protective rubber plate 26 to limit the protective rubber plate 26. When the protective rubber plate 26 needs to be limited, the limit blocks 32 will fit on the top of the protective rubber plate 26. In order to realize the automatic resetting and limiting functions of the limit blocks 32, a slide bar 33 is fixed at one end of the limit block 32 away from the first rectangular groove 31, and one end of the slide bar 33 slides and extends to one side of the protective frame 15. At the same time, a second spring 34 is fixed between one end of the limit block 32 and the inner wall of one side of the first rectangular groove 31, and the second spring 34 is sleeved on the outer wall of the slide bar 33.

[0060] Specifically, when the driving shaft 24 drives the protective rubber plate 26 to rotate to a horizontal state, the limit block 32 loses the obstruction of the protective rubber plate 26 and extends toward the protective rubber plate 26 under the elastic force of the second spring 34 until the bottom of the limit block 32 is attached to the top of the protective rubber plate 26 in a horizontal state, thereby limiting the protective rubber plate 26 and preventing it from rotating in the opposite direction later.

[0061] Reference Figure 7 In order to reduce the wind resistance of the protective rubber plate 26, a plurality of ventilation holes 27 are provided in the protective rubber plate 26. The ventilation holes 27 allow air to pass through, thereby reducing the wind resistance of the protective rubber plate 26 during movement.

[0062] Example 2: Reference Fig.10 and Fig.11 , based on the improvement of Example 1: an annular storage groove 40 is also provided in the mounting plate 2 for storing the foam fire extinguishing agent. The annular storage groove 40 is connected with a plurality of slots 7, so that the foam fire extinguishing agent can be added conveniently. In the annular storage groove 40, the annular plate 4 is sealed and slidably connected, and the top ends of the plurality of sliding rods 5 extend into the annular storage groove 40 and are fixedly connected to the bottom of the annular plate 4. When the connecting plate 3 pushes the sliding rod 5 to move upward, the sliding rod 5 drives the annular plate 4 to move upward in the annular storage groove 40.

[0063] refer to Fig.10 and Fig.11In order to spray the foam fire extinguishing agent in the annular storage groove 40 to the outside, a plurality of drainage channels 41 connected to the annular storage groove 40 are arranged in the mounting plate 2. In the drainage channel 41, a rubber plug 42 is arranged to block the drainage channel 41. The rubber plug 42 is located in the annular storage groove 40, and when the annular plate 4 moves up, it will push the transmission rod 44 to rotate. A third pull rope 46 is fixed to the top of the transmission rod 44, and the other end of the third pull rope 46 is fixedly connected to the rubber plug 42. Therefore, when the transmission rod 44 rotates, the rubber plug 42 will be pulled out of the drainage channel 41 through the third pull rope 46, thereby releasing the blockage of the drainage channel 41. In order to guide the third pull rope 46, a guide rod 45 is fixed in the base 43.

[0064] Specifically, when the annular plate 4 continues to move upward, the foam fire extinguishing agent stored in the annular storage groove 40 will be sprayed around through the unblocked drainage channel 41. The foam fire extinguishing agent will produce a large amount of foam covering the surface of the burning object, forming an isolation layer that isolates the air. This isolation layer can prevent air from entering the fire source, cut off the oxygen supply required for combustion, reduce the direct contact between oxygen and the surface of the burning object, and thus reduce the risk of combustion.

[0065] A method for using a remotely controlled terrain mapping robot comprises the following steps:

[0066] S1. When the drone body 1 is flying in the air and the high-definition camera 18 is used to perform terrain mapping, the high-definition camera 18 is driven to rotate by the second motor 19, and the connecting plate 3 is driven to rotate by the first motor 10, so that the high-definition camera 18 can perform terrain mapping from different angles. In addition, during the flight of the drone body 1, one of the protective frames 15 is located in front of the high-definition camera 18, and the other protective frame 15 is located behind the high-definition camera 18. Therefore, during the flight of the drone body 1, the high-definition camera 18 can be protected by the cooperation of the protective frame 15, the protective gauze 23 and the protective rubber plate 26 to prevent insects and birds in the air from hitting the high-definition camera 18, so that the high-definition camera 18 can be smoothly filmed;

[0067] S2. When it is necessary to collect ground soil, the drone body 1 drives the protection frame 15 to descend until the protection frame 15 is suspended in the air and the bottom end of the shovel plate 36 can just be inserted into the soil. Then the first motor 10 drives the connecting plate 3 to rotate, and the connecting plate 3 drives the protection frame 15 to rotate, so that the shovel plate 36 can shovel the soil into the collection chute 35 and complete the collection, which is convenient for later detection;

[0068] S3. When the drone body 1 falls, the motor drives the bidirectional screw rod 13 to rotate, and the bidirectional screw rod 13 drives the two protective frames 15 to move toward the middle until the block 21 is inserted into the corresponding slot 20, so that the protective frame 15 and the base plate 16 form a whole, and the stability of the high-definition camera 18 under the connecting plate 3 is increased. When the protective frame 15 moves toward the middle, the drive shaft 24 rotates under the action of the winding roller 29 and the first pull rope 30, so that the protective rubber plate 26 is placed horizontally. When the block 21 is engaged with the slot 20, the two protective rubber plates 26 touch each other on their sides and are both located under the high-definition camera 18, so as to protect the high-definition camera 18. When the drive shaft 24 rotates to protect the high-definition camera 18, the drive shaft 24 pulls the closing plate 38 into the collecting chute 35 through the second pull rope 39, closes the collecting chute 35, and prevents the soil collected in the collecting chute 35 from being lost during the falling process.

[0069] S4. When falling to the ground, the center of gravity is located at the bottom as a whole due to the connection plate 3, the protection frame 15 and the high-definition camera 18, so the protection frame 15 lands first, and the protection frame 15 and the protection rubber plate 26 protect the high-definition camera 18. After the protection frame 15 lands, it pushes the connection plate 3 and the sliding rod 5 to move upward, and compresses the first spring 6, converting the kinetic energy of the impact into the potential energy of the compression of the first spring 6, thereby reducing the impact force on the drone body 1 and the high-definition camera 18;

[0070] S5. When the connecting plate 3 pushes the sliding rod 5 to move upward, the sliding rod 5 pushes the annular plate 4 to move upward, and the annular plate 4 pushes the transmission rod 44 to rotate. The top end of the transmission rod 44 pulls the third pull rope 46, and the third pull rope 46 pulls the rubber plug 42 out of the drainage channel 41, releasing the rubber plug 42 from the drainage channel 41. As the annular plate 4 moves upward, the foam fire extinguishing agent stored in the annular storage groove 40 can be sprayed around through the drainage channel 41. The foam fire extinguishing agent produces a large amount of foam that covers the surface of the burning object to form an isolation layer that isolates the air, which can prevent air from entering the fire source, cut off the oxygen supply required for combustion, reduce the direct contact between oxygen and branches and leaves, and reduce the risk of combustion.

[0071] However, as is well known to those skilled in the art, the working principles and wiring methods of the high-definition camera 18, the second motor 19 and the first motor 10 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art can make any optional selections according to their needs or convenience.

[0072] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A remote-controlled terrain mapping robot, characterized in that: The invention comprises an unmanned aerial vehicle body (1), a mounting plate (2) being fixed to the bottom of the unmanned aerial vehicle body (1) by means of bolts, a connecting plate (3) being provided below the mounting plate (2), and a high-definition camera (18) for terrain mapping being provided at the bottom of the connecting plate (3); The device further comprises two protective frames (15), the two protective frames (15) are slidably mounted on the bottom of the connecting plate (3), the high-definition camera (18) is located between the two protective frames (15), the two protective frames (15) are provided with mounting openings (22), the two mounting openings (22) are provided with protective screens (23), the two mounting openings (22) are provided with rotatable protective rubber plates (26), and the cooperation of the protective screens (23) and the protective rubber plates (26) can prevent insects and birds from colliding with the high-definition camera (18); A protective structure, arranged between the connecting plate (3) and the protective frame (15), for protecting the high-definition camera (18) when falling through the cooperation of the protective frame (15) and the protective rubber plate (26); A collection structure is arranged between the connecting plate (3) and the protective frame (15) and is used for collecting soil. The protective structure can seal the soil collected in the collection structure to prevent the soil from being lost when the drone body (1) falls. The buffer structure is arranged between the mounting plate (2) and the connecting plate (3) and is used to reduce the impact force on the drone body (1) and the high-definition camera (18) when falling.

2. A remote-controlled terrain mapping robot according to claim 1, characterized in that: The protective structure comprises two base plates (16) fixed at the bottom of the connecting plate (3), a rotating shaft (17) being rotatably connected between the two base plates (16), the high-definition camera (18) being fixedly sleeved on the outer wall of the rotating shaft (17), a second motor (19) being fixed in one of the base plates (16), an output shaft of the second motor (19) being fixedly connected to one end of the rotating shaft (17), a plurality of card slots (20) being provided on the sides of the two base plates (16) away from each other, a plurality of card blocks (21) being fixed on the sides of the two protective frames (15) close to each other, and the card blocks (21) being matched with adjacent card slots (20) to form the protective frame (15) and the base plates (16) into a whole. The bottom of the connecting plate (3) is provided with two sliding grooves (12), and the same bidirectional screw rod (13) is rotatably connected in the two sliding grooves (12), and the bidirectional screw rod (13) rotates in the connecting plate (3), and nut blocks (14) are threadedly sleeved on the positive and negative threaded sections of the two bidirectional screw rods (13), and the nut blocks (14) slide in the corresponding sliding grooves (12), and the bottoms of the two nut blocks (14) are respectively fixedly connected to the tops of the two protection frames (15), and the two protection frames (15) are provided with a flip structure, which is used to drive the protective rubber plate (26) to rotate out of the installation port (22) when the protection frame (15) moves toward the middle, and protect the high-definition camera (18).

3. A remote-controlled terrain mapping robot according to claim 2, characterized in that: The flip structure includes a driving shaft (24) rotating in the mounting opening (22); the protective rubber plate (26) is fixedly sleeved on the outer wall of the driving shaft (24); the outer wall of the driving shaft (24) is sleeved with a torsion spring (25) fixedly connected to one side of the protective rubber plate (26); one end of the driving shaft (24) away from the protective rubber plate (26) is fixedly connected to the inner wall of one side of the mounting opening (22) for resetting the protective rubber plate (26); the outer wall of the driving shaft (24) is fixedly sleeved with a winding roller (29); a first pull rope (30) is wound around the outer wall of the winding roller (29); one end of the first pull rope (30) passes through the protective frame (15) and is fixedly connected to one side of the bottom of the connecting plate (3) for pulling the driving shaft (24) to rotate when the protective frame (15) moves.

4. A remote-controlled terrain mapping robot according to claim 3, characterized in that: The collecting structure comprises a circular groove (8) arranged at the top of the connecting plate (3), a rotating disk (9) is rotatably connected in the circular groove (8), a first motor (10) is fixed to the top of the rotating disk (9) through a frame, an output shaft of the first motor (10) passes through the rotating disk (9) and is fixedly connected to the bottom inner wall of the circular groove (8), and is used to drive the connecting plate (3) to rotate, and a collecting chute (35) is provided in each of the two protective frames (15), one end of each of the two collecting chute (35) passes through the protective frame (15), and the two collecting chute (35) passes through one end of the protective frame (15) in opposite directions, and the two protective frames (15) are A shovel plate (36) is fixed on one side of each of the two shovel plates (36), and the two shovel plates (36) are respectively matched with the two collecting chutes (35) and are used to shovel soil into the collecting chutes (35) when the protective frame (15) rotates. The bottoms of the two protective frames (15) are provided with second rectangular grooves (37) connected to the collecting chutes (35). The two second rectangular grooves (37) are slidably connected with closing plates (38). The tops of the two closing plates (38) are fixed with second pull ropes (39). The top ends of the two second pull ropes (39) are wound around the outer walls of the corresponding driving shafts (24) and are used to drive the closing plates (38) to move upward to close the collecting chutes (35).

5. A remote-controlled terrain mapping robot according to claim 4, characterized in that: The buffer structure comprises a plurality of sliding rods (5) fixed on the top of the rotating disk (9); a plurality of slots (7) are provided at the bottom of the mounting plate (2); the top ends of the plurality of sliding rods (5) are slidably extended into the slots (7); a plurality of first springs (6) are fixed between the mounting plate (2) and the connecting plate (3); and the plurality of first springs (6) are sleeved on the outer walls of the corresponding sliding rods (5); and a clearance groove (11) for making way for the first motor (10) is provided at the bottom of the mounting plate (2).

6. The remote-controlled terrain mapping robot according to claim 5, characterized in that: A limiting plate (28) is fixed to the inner wall of the mounting opening (22) on one side away from each other. The limiting plate (28) is located between the protective gauze (23) and the protective rubber plate (26) and is used to limit the position of the protective rubber plate (26).

7. A remote-controlled terrain mapping robot according to claim 6, characterized in that: The inner wall of the mounting opening (22) on the side away from each other is provided with a first rectangular groove (31), and the two first rectangular grooves (31) are slidably connected with a limiting block (32), and the two limiting blocks (32) cooperate with the protective rubber plate (26) to limit the protective rubber plate (26), and the ends of the two limiting blocks (32) away from each other are fixed with a sliding rod (33), and one end of the two sliding rods (33) slides and extends to one side of the protective frame (15), and a second spring (34) is fixed between one end of the limiting block (32) and the inner wall of one side of the first rectangular groove (31), and the second spring (34) is sleeved on the outer wall of the sliding rod (33).

8. The remote-controlled terrain mapping robot according to claim 7, characterized in that: The protective rubber plate (26) is provided with a plurality of ventilation holes (27).

9. The remote-controlled terrain mapping robot according to claim 8, characterized in that: The mounting plate (2) is provided with an annular storage groove (40) for storing foam fire extinguishing agent, and the annular storage groove (40) is connected to a plurality of slots (7). An annular plate (4) is sealingly and slidably connected to the annular storage groove (40). The top ends of the plurality of sliding rods (5) extend into the annular storage groove (40) and are fixedly connected to the bottom of the annular plate (4). The mounting plate (2) is provided with a plurality of drainage channels (41) connected to the annular storage groove (40) for spraying the foam fire extinguishing agent in the annular storage groove (40) to the outside. A plurality of bases (43) are fixed to the top inner wall of the annular storage groove (40). The plurality of bases (43) A transmission rod (44) is rotatably connected therein, and the bottom end of the transmission rod (44) contacts the top of the annular plate (4); a plurality of the drainage channels (41) are provided with rubber plugs (42) for blocking the drainage channels (41), and the rubber plugs (42) are located in the annular storage groove (40); a third pull rope (46) is fixed to the top of one side of the transmission rod (44), and the other end of the third pull rope (46) is fixedly connected to the rubber plug (42) for pulling the rubber plug (42) out of the drainage channel (41) to release the blockage of the drainage channel (41); a guide rod (45) is fixed therein, and is used to guide the third pull rope (46).

10. A method for using the remote-controlled terrain mapping robot according to claim 9, characterized in that: The following steps are involved: S1. The drone body (1) uses a high-definition camera (18) to perform terrain mapping in the air, and realizes multi-angle shooting through the connecting plate (3) and the rotating shaft (17); the combination of the protective frame (15), the protective gauze (23) and the protective rubber plate (26) effectively prevents insects and birds from hitting, ensuring smooth shooting; S2. When it is necessary to collect ground soil, the drone body (1) drives the protective frame (15) to descend to an appropriate height, the shovel plate (36) is inserted into the soil, and the first motor (10) drives the protective frame (15) to rotate and collect the soil into the collection chute (35) for subsequent detection; S3, when the drone falls, the driving motor drives the bidirectional screw rod (13) to bring the two protection frames (15) together and lock them, and at the same time the protective rubber plate (26) is unfolded horizontally to protect the high-definition camera (18); this process also automatically closes the collection chute (35) to prevent soil loss; S4. When falling to the ground, the protective frame (15) touches the ground first, and the collision energy is converted into spring potential energy through the cooperation of the connecting plate (3), the sliding rod (5) and the first spring (6), thereby effectively reducing the impact on the drone body (1) and the high-definition camera (18); S5. During the collision, the annular plate (4) rises to trigger the transmission mechanism, automatically releasing the blockage of the foam fire extinguishing agent in the annular storage groove (40). The foam fire extinguishing agent is rapidly sprayed to form an air-isolating isolation layer on the burning object, cutting off the oxygen required for combustion and reducing the risk of combustion.

Images