Three-dimensional topographic surveying and mapping device based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of topographic surveying and mapping, and discloses an unmanned aerial vehicle-based three-dimensional topographic surveying and mapping device, which comprises an unmanned aerial vehicle aircraft, a topographic surveying and mapping mechanism is arranged at the bottom of the unmanned aerial vehicle aircraft, and the topographic surveying and mapping mechanism comprises a mounting box, a surveying and mapping assembly and an auxiliary assembly, a mirror surface of the laser range finder and a mirror surface of the camera are embedded in the front end of the equipment shell, the terrain surveying and mapping mechanism is driven by the unmanned aerial vehicle to fly in the sky, a motor is started to drive a first rotating rod to rotate, and then a piston rod is driven to do linear reciprocating motion on the inner side of an air conveying pipe; and then a piston rod continuously extrudes the dehumidified cold air in the air conveying pipe in a reciprocating manner, and then a spraying plate continuously sprays the dehumidified cold air, so that continuous heat dissipation treatment on electronic elements in a laser range finder and a camera working in the equipment shell is realized, and the accuracy of surveying and mapping data and stable operation of the equipment are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of terrain surveying and mapping, and in particular to a three-dimensional terrain surveying and mapping device based on an unmanned aerial vehicle. Background Art

[0002] Topographic surveying refers to the work of measuring the projection position and elevation of objects and terrain on the earth's surface on the horizontal plane, reducing them at a certain scale, and drawing them into topographic maps with symbols and annotations. Drone surveying is a modern surveying and mapping technology that uses high-resolution camera equipment, laser rangefinder equipment and other equipment carried by drones to quickly obtain terrain data. Through drone aerial photography, high-precision topographic maps and three-dimensional models can be generated, greatly improving the efficiency and accuracy of topographic surveying.

[0003] In the prior art, when drones are used for surveying and mapping, they are usually equipped with high-resolution camera equipment, laser rangefinder equipment and other equipment. These devices are more likely to generate heat after working for a long time. If effective heat dissipation measures are not taken, it will affect the accuracy of the surveying and mapping data and the stable operation of the equipment. Summary of the invention

[0004] Technical issues solved

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a three-dimensional terrain surveying and mapping device based on a drone, which can effectively solve the technical problems in the prior art that when drones are surveying, high-resolution camera equipment, laser rangefinder equipment and other equipment are usually carried by drones. These equipment are more likely to generate heat after working for a long time. If effective heat dissipation measures are not taken, the accuracy of the surveying and mapping data and the stable operation of the equipment will be affected.

[0006] Technical Solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] The present invention provides a three-dimensional terrain mapping device based on a drone, a three-dimensional terrain mapping device based on a drone, comprising a drone aircraft, a terrain mapping mechanism is arranged at the bottom of the drone aircraft, the terrain mapping mechanism comprises an installation box, a mapping component, and an auxiliary component, a circular through groove is opened on the outer side wall of the installation box; the mapping component comprises an equipment shell, a laser rangefinder and a camera are arranged inside the equipment shell, and a stopper is fixedly connected to the front end of the equipment shell through a connecting plate; the auxiliary component comprises a connecting plate, one end of which is fixedly connected to the inner wall of the installation box, The other end of the connecting plate is fixedly connected to a fixed cylinder passing through a circular through groove, and one end of the fixed cylinder located at the outside of the installation box is fixedly connected to the rear end opening of the equipment shell, and the inner side of the fixed cylinder is fixedly connected to an air supply pipe, and one side of the air supply pipe is fixedly connected to an air intake pipe 1, and one end of the air intake pipe 1 extends out of the installation box away from the air supply pipe, and the inner side of the air supply pipe is sealingly and slidably connected to a piston rod, and one end of the air supply pipe away from the piston rod is fixedly connected to a spray plate, a one-way valve 1 and a dehumidifier are arranged inside the air intake pipe 1, and one end of the piston rod away from the air supply pipe is fixedly connected to a reciprocating plate.

[0009] Furthermore, the topographic surveying and mapping mechanism also includes a driving assembly, which includes a motor, a vertical rod, a rectangular tube, a guide rail, a fixed seat, and a support plate. The motor is fixedly mounted on the inner wall of the mounting box, and the output end of the motor is fixedly connected to a rotating rod 1. The end of the rotating rod 1 away from the motor is rotatably mounted on the inner wall of the mounting box through a bearing. The top of the vertical rod is fixedly connected to the inner top surface of the mounting box, and the bottom of the vertical rod is fixedly connected to a mounting ring, and the inner side of the mounting ring is rotatably connected to a rotating rod 2.

[0010] Furthermore, the circumferential outer surface of the rotating rod one is fixedly connected with bevel gear one, one end of the rotating rod two is fixedly connected with bevel gear two meshing with bevel gear one, the end of the rotating rod two away from bevel gear two is fixedly connected with an adjusting arm, the end of the adjusting arm away from the rotating rod two is fixedly connected with a rotating rod, one end of the rectangular tube is fixedly connected to the inner wall of the mounting box, the inner side of the rectangular tube is slidably connected with a slide plate, the end of the slide plate away from the rectangular tube is fixedly connected with a circular ring, and the outer surface of the rotating rod is movably connected to the inner side of the circular ring.

[0011] Furthermore, a connecting folding plate is fixedly connected to the lower side of the circular ring, the guide rail is fixedly connected to the inner wall of the installation box, one side of the guide rail is slidably connected to a support frame, one end of the support frame away from the guide rail is fixedly connected to an end of the connecting folding plate away from the circular ring, and a ball is rotatably installed on one side of the support frame.

[0012] Furthermore, the bottom of the fixing seat is fixedly connected to the inner bottom surface of the installation box, the top of the fixing seat is fixedly connected with an arc plate 1, one end surface of the support plate is fixedly connected to the inner wall of the installation box, the lower surface of the support plate is connected with a spring 1, the lower end of the spring 1 is connected with a folding plate, the bottom of the folding plate is connected with an arc plate 2, a telescopic rod is provided on the inner side of the spring 1, and a rack is fixedly connected to one side of the folding plate.

[0013] Furthermore, a ventilation groove is provided on the inner wall of the fixed cylinder, an air storage box is fixedly connected to the inner wall of the fixed cylinder, an air intake pipe is fixedly connected to one side of the air storage box, one end of the air intake pipe is away from the air storage box and extends out of the installation box, a heater is provided in the air storage box, and a one-way valve is provided in the air intake pipe.

[0014] Furthermore, the topographic surveying and mapping mechanism also includes an injection assembly, which includes an annular shell and a sliding rod. The circumferential outer side of the annular shell is sealed and rotatably connected to the circumferential inner wall of the circular through groove, and the circumferential inner side of the annular shell is sealed and rotatably connected to the circumferential outer surface of the fixed cylinder. The circumferential outer side of the annular shell is fixedly connected with a gear ring, and the inside of the annular shell is sealed and slidably connected with annular piston plate 1 and annular piston plate 2. The inner wall of the annular shell is provided with a ventilation groove 2 that is compatible with the ventilation groove 1, and an air cavity is formed between the annular piston plate 1 and the annular piston plate 2.

[0015] Furthermore, a spring 2 is arranged between a side of the annular piston plate 2 away from the annular piston plate 1 and an inner wall of the annular shell, a side of the annular piston plate 1 away from the annular piston plate 2 is fixedly connected to a reciprocating rod, a reciprocating ring is arranged on the outer side of the annular shell, one end of the reciprocating rod away from the annular piston plate 1 passes through the inner wall of the annular shell and is fixedly connected to the reciprocating ring, a sliding groove is provided on the reciprocating ring, one end of the sliding rod is slidably connected in the sliding groove, and one end of the sliding rod away from the sliding groove is fixedly connected to the connecting folding plate.

[0016] Furthermore, a hollow tube 1 is provided on the outer side of the annular shell, a hollow tube 2 is fixedly connected to the inner wall of the hollow tube 1, an end of the hollow tube 2 away from the hollow tube 1 is fixedly connected to the annular piston plate 2 and is connected to the air cavity, and the ring side of the hollow tube 1 is connected to the jet part.

[0017] Furthermore, the jet part includes a curved hose, a straight plate, and a spring three, one end of the curved hose is fixedly connected to the inner wall of the hollow tube two, the end of the curved hose away from the hollow tube one is fixedly connected to the jet pipe, the outer side of the jet pipe is fixedly connected to a support block, one side of the support block is fixedly connected to a mounting bracket, the top of the straight plate is fixedly connected to the outer wall of the hollow tube two, the straight plate is connected to the mounting bracket through the spring three, and the mounting bracket has a sphere one rotatably mounted on one end away from the spring three.

[0018] Beneficial Effects

[0019] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0020] 1. A three-dimensional terrain mapping device based on an unmanned aerial vehicle of the present invention is equipped with a mapping component, an auxiliary component, and a driving component. The unmanned aerial vehicle drives the terrain mapping mechanism to fly in the sky, and the starting motor drives the rotating rod to rotate, thereby driving the piston rod to make a linear reciprocating motion on the inner side of the air pipe, so that the piston rod continuously reciprocates and squeezes the dehumidified cold air in the air pipe, and then the spray plate continuously sprays the dehumidified cold air, thereby realizing continuous heat dissipation treatment of the electronic components in the laser rangefinder and camera working in the device housing, ensuring the accuracy of the mapping data and the stable operation of the equipment, and solving the technical problem that in the prior art, when the unmanned aerial vehicle is mapping, the high-resolution camera equipment, laser rangefinder equipment and other equipment usually carried by the unmanned aerial vehicle are more likely to generate heat after working for a long time, and if effective heat dissipation measures are not taken, the accuracy of the mapping data and the stable operation of the equipment will be affected.

[0021] 2. A three-dimensional terrain mapping device based on an unmanned aerial vehicle of the present invention is provided with an injection assembly, and a starting motor drives a rotating rod 1 to rotate, so that the reciprocating ring performs a linear reciprocating motion and reciprocates forward and reversely at the same time. The linear reciprocating motion of the reciprocating ring drives the circular piston plate 1 to perform a linear reciprocating motion, so that the circular piston plate 1 continuously reciprocates and squeezes the hot air in the air cavity, and then the hot air in the air cavity is continuously ejected from the injection pipe. When the reciprocating ring reciprocates forward and reversely, it will also drive the four injection pipes to reciprocate forward and reversely, so that the hot air ejected from the injection pipe can be fully blown to the outer surface of the device shell, and the circular piston plate 2 will also drive the injection pipe to perform a linear reciprocating motion, further making the hot air ejected from the injection pipe able to fully blow to the outer surface of the device shell, thereby achieving full elimination of dew and ice on the outer surface of the device shell, and blowing away impurities and dust on the outer surface of the device shell, thereby ensuring the stable operation of the device.

[0022] 3. A three-dimensional terrain mapping device based on an unmanned aerial vehicle of the present invention is provided with an air jet part. When the annular piston plate 1 pushes the annular piston plate 2 to compress the spring 2 to the shortest, the sphere 2 and the stopper squeeze each other, and the spring 3 is compressed, so that the mounting frame moves a certain distance in the direction close to the straight plate, so that the bending hose is bent by force, and the air jet pipe is rotated forty-five degrees, so that the nozzle of the air jet pipe is directly facing the mirror surface of the laser rangefinder and the mirror surface of the camera, and the air jet pipe sprays hot air toward the mirror surface of the laser rangefinder and the mirror surface of the camera, so that the mirror surface of the laser rangefinder and the mirror surface of the camera are heated, and the water mist and ice on the mirror surface of the laser rangefinder and the mirror surface of the camera are quickly evaporated, so that the situation that the mist is refracted after the laser passes through the water droplets can be avoided, thereby ensuring the accuracy of the laser rangefinder in measuring the distance and the camera in taking pictures. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of a three-dimensional terrain surveying and mapping device based on an unmanned aerial vehicle of the present invention;

[0025] Figure 2 for Figure 1 Schematic diagram of the partially enlarged structure at A in the middle

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the topographic surveying and mapping mechanism of the present invention;

[0027] Figure 4 It is a three-dimensional structural schematic diagram of the installation box of the present invention;

[0028] Figure 5 It is a three-dimensional structural schematic diagram of the auxiliary component of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure inside the fixed cylinder of the present invention;

[0030] Figure 7 It is a three-dimensional structural schematic diagram of the driving assembly of the present invention;

[0031] Figure 8 It is a perspective perspective structural diagram of the auxiliary component, the driving component and the jetting component of the present invention connected to each other;

[0032] Fig. 9It is a three-dimensional structural schematic diagram of another viewing angle of the auxiliary component, the driving component and the jetting component of the present invention connected to each other;

[0033] Fig.10 A top view of the internal structure of the installation box of the present invention;

[0034] Fig.11 It is a schematic diagram of the three-dimensional structure in which the auxiliary components and the jet components of the present invention are connected;

[0035] Fig.12 A schematic diagram of the three-dimensional structure of the jet assembly of the present invention from one perspective;

[0036] Fig.13 for Fig.12 A schematic diagram of the structure with a partial enlargement at B in the middle;

[0037] Fig.14 It is a three-dimensional structural schematic diagram of the jet assembly of the present invention from another viewing angle;

[0038] Fig.15 is a side view of the jet assembly of the present invention;

[0039] Fig.16 for Fig.15 A schematic diagram of the structure with a partial enlargement at C in the middle;

[0040] Fig.17 A schematic diagram of the internal structure of the annular shell of the present invention from one perspective;

[0041] Fig.18 It is a schematic diagram of the internal structure of the annular shell of the present invention from another perspective.

[0042] The numbers in the figure represent: 1. UAV aircraft; 2. Topographic mapping mechanism; 3. Installation box; 4. Mapping component; 5. Auxiliary component; 6. Drive component; 7. Jet component; 8. Support seat; 31. Circular through groove; 41. Equipment shell; 42. Laser rangefinder; 43. Camera; 44. Connecting plate; 45. Block; 51. Connecting plate; 52. Fixed cylinder; 53. Air pipe; 54. Intake pipe 1; 55. Piston rod; 56. Spray plate; 57. Reciprocating plate; 58. Ventilation groove 1; 59. Air storage box; 510. Intake pipe 2; 61. Motor; 62. Rotating rod 1; 63. Vertical rod; 64. Mounting ring; 65. Rotating rod 2; 66. Bevel gear 1; 67. Bevel gear 2; 68. Adjusting arm; 69. Rotating rod; 610. Rectangular tube; 611. Slide plate; 612. Reciprocating ring; 613. Connecting folding plate; 614, guide rail; 615, support frame; 616, sphere 1; 617, fixed seat; 618, arc plate 1; 619, support plate; 620, spring 1; 621, folding plate; 622, arc plate 2; 623, telescopic rod; 624, rack; 71, annular shell; 72, gear ring; 73, annular piston plate 1; 74, annular piston plate 2; 75, ventilation groove 2; 76, Air cavity; 77, spring two; 78, reciprocating rod; 79, jet part; 710, reciprocating ring; 711, hollow tube one; 712, hollow tube two; 713, sliding rod; 714, support ring one; 715, support ring two; 716, slide groove; 791, curved hose; 792, jet tube; 793, support block; 794, mounting frame; 795, straight plate; 796, spring three; 797, sphere two. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The present invention will be further described below in conjunction with the embodiments.

[0045] Embodiment 1

[0046] See also Figure 1-Figure 18A three-dimensional terrain mapping device based on a UAV includes a UAV aircraft 1, and a terrain mapping mechanism 2 is arranged at the bottom of the UAV aircraft 1. The terrain mapping mechanism 2 includes an installation box 3, a mapping component 4, an auxiliary component 5, and a driving component 6. The top of the installation box 3 is fixedly connected to the bottom of the UAV aircraft 1, a circular through groove 31 is opened on the outer side wall of the installation box 3, and a support seat 8 is arranged at the bottom of the installation box 3.

[0047] The surveying and mapping component 4 includes a device housing 41, a laser rangefinder 42, and a camera 43. The rear end of the device housing 41 is open, and the interior of the device housing 41 is hollow. The laser rangefinder 42 and the camera 43 are arranged inside the device housing 41, and the mirrors of the laser rangefinder 42 and the camera 43 are embedded and installed at the front end of the device housing 41.

[0048] The auxiliary assembly 5 includes a connecting plate 51, a fixed cylinder 52, an air delivery pipe 53, an air inlet pipe 54, a piston rod 55, a spray plate 56, and a reciprocating plate 57. The connecting plate 51 is vertically arranged, one end of the connecting plate 51 is fixedly connected to the inner wall of the installation box 3, and the other end of the connecting plate 51 is fixedly connected to the fixed cylinder 52. The fixed cylinder 52 passes through the circular through groove 31, and one end of the fixed cylinder 52 located outside the installation box 3 is fixedly connected to the rear end opening of the equipment housing 41.

[0049] An air delivery pipe 53 is fixedly connected to the inner side of the fixed cylinder 52, and the air delivery pipe 53 is arranged horizontally. An air inlet pipe 1 54 is fixedly connected to one side of the air delivery pipe 53, and the air inlet pipe 1 54 is arranged horizontally. One end of the air inlet pipe 1 54 away from the air delivery pipe 53 extends out of the installation box 3, and the end of the air inlet pipe 1 54 located outside the installation box 3 is designed as a bell mouth, which is convenient for cold air to enter the air inlet pipe 1 54. A one-way valve 1 and a dehumidifier are arranged inside the air inlet pipe 1 54. When the cold air enters the air inlet pipe 1 54, it first passes through the dehumidifier to filter out the water molecules therein, thereby reducing the humidity of the cold air and preventing the cold air with excessive humidity from entering the equipment housing 41 to damage the electronic components in the laser rangefinder 42 and the camera 43; then the dehumidified cold air flows to the air delivery pipe 53 through the one-way valve 1, and the one-way valve 1 prevents the cold air in the air inlet pipe 1 54 from flowing back.

[0050] The inner side of the gas delivery pipe 53 is sealed and slidably connected with a piston rod 55, which is arranged horizontally. The end of the gas delivery pipe 53 away from the piston rod 55 is fixedly connected with a spray plate 56, which is located inside the device housing 41. The spray plate 56 is provided with a nozzle for spraying dehumidified cold air. The end of the piston rod 55 away from the gas delivery pipe 53 is fixedly connected with a reciprocating plate 57, which is an L-shaped structure.

[0051] The driving assembly 6 includes a motor 61, a rotating rod 1 62, a vertical rod 63, a mounting ring 64, a rotating rod 2 65, a bevel gear 1 66, a bevel gear 2 67, an adjusting arm 68, a rotating rod 69, a rectangular tube 610, a slide plate 611, a circular ring 612, and a connecting folding plate 613.

[0052] The motor 61 is fixedly mounted on the inner wall of the installation box 3, and the output end of the motor 61 is fixedly connected to a rotating rod 1 62, which is arranged horizontally, and the end of the rotating rod 1 62 away from the motor 61 is rotatably mounted on the inner wall of the installation box 3 through a bearing. The top of the vertical rod 63 is fixedly connected to the inner top surface of the installation box 3, and the bottom of the vertical rod 63 is fixedly connected to a mounting ring 64, and the inner side of the mounting ring 64 is rotatably connected to a rotating rod 2 65, which passes through the mounting ring 64 and is arranged horizontally.

[0053] The outer circumferential surface of the rotating rod 1 62 is fixedly connected with a bevel gear 1 66, and one end of the rotating rod 2 65 is fixedly connected with a bevel gear 2 67. The bevel gear 1 66 meshes with the bevel gear 2 67, so that the rotating rod 1 62 can drive the rotating rod 2 65 to rotate. The rectangular tube 610 is arranged horizontally, and one end of the rectangular tube 610 is fixedly connected to the inner wall of the installation box 3. The inner side of the rectangular tube 610 is slidably connected with a slide plate 611, which is arranged horizontally, and one end of the slide plate 611 away from the rectangular tube 610 is fixedly connected with a circular ring 612.

[0054] The end of the second rotating rod 65 away from the second bevel gear 67 is fixedly connected to the adjusting arm 68, and the end of the adjusting arm 68 away from the second rotating rod 65 is fixedly connected to the rotating rod 69. The outer surface of the rotating rod 69 is movably connected to the inner side of the circular ring 612, and the lower side of the circular ring 612 is fixedly connected to the connecting folding plate 613. The end of the reciprocating plate 57 away from the piston rod 55 is fixedly connected to the connecting folding plate 613.

[0055] The working principle and use process of the embodiment of the present invention are as follows:

[0056] The unmanned aerial vehicle 1 drives the terrain surveying and mapping mechanism 2 to fly in the sky, and uses the laser rangefinder 42 and the camera 43 to perform terrain surveying and mapping. Due to the wind in the sky, a large amount of cold air enters the air intake pipe 54 with the help of the wind. The cold air first passes through the dehumidifier to filter out the water molecules therein, thereby reducing the humidity of the cold air. Then, the dehumidified cold air passes through the one-way valve 1 and flows to the air delivery pipe 53. The one-way valve 1 prevents the cold air in the air intake pipe 54 from flowing back.

[0057] Next, the motor 61 is started to drive the rotating rod 1 62 to rotate, and the rotating rod 1 62 drives the rotating rod 2 65 to rotate when rotating, and the rotating rod 2 65 drives the adjusting arm 68 to rotate when rotating, and the adjusting arm 68 drives the rotating rod 69 to rotate when rotating, and the rotating rod 69 drives the circular ring 612 to make a linear reciprocating motion when the circular ring 612 makes a linear reciprocating motion, and the connecting folding plate 613 drives the reciprocating plate 57 to make a linear reciprocating motion when the connecting folding plate 613 makes a linear reciprocating motion, and the reciprocating plate 57 drives the piston rod 55 to make a linear reciprocating motion on the inner side of the gas pipe 53 when the reciprocating plate 57 makes a linear reciprocating motion, thereby making the piston rod 55 move linearly and reciprocatingly on the inner side of the gas pipe 53 ... The plug rod 55 continuously and reciprocally squeezes the dehumidified cold air in the air pipe 53, so that the spray plate 56 continuously sprays out the dehumidified cold air, thereby continuously dissipating the heat of the electronic components in the laser rangefinder 42 and the camera 43 working in the equipment housing 41, ensuring the accuracy of the surveying and mapping data and the stable operation of the equipment, and solving the technical problem in the prior art that when UAVs are surveying, high-resolution camera equipment, laser rangefinder equipment and other equipment are usually carried by UAVs. These equipment are more likely to generate heat after working for a long time. If effective heat dissipation measures are not taken, the accuracy of the surveying and mapping data and the stable operation of the equipment will be affected.

[0058] To sum up, by installing the mapping component 4, the auxiliary component 5, and the driving component 6, the UAV aircraft 1 drives the terrain mapping mechanism 2 to fly in the sky, and the starting motor 61 drives the rotating rod 62 to rotate, thereby driving the piston rod 55 to make a linear reciprocating motion on the inner side of the air pipe 53, so that the piston rod 55 continuously reciprocates and squeezes the dehumidified cold air in the air pipe 53, and then the spray plate 56 continuously sprays the dehumidified cold air, thereby realizing continuous heat dissipation treatment of the electronic components in the laser rangefinder 42 and the camera 43 working in the equipment housing 41, ensuring the accuracy of the mapping data and the stable operation of the equipment, and solving the problem in the prior art that the high-resolution camera equipment, laser rangefinder equipment and other equipment usually carried by the UAV during mapping are more likely to generate heat after working for a long time. If effective heat dissipation measures are not taken, the accuracy of the mapping data and the stable operation of the equipment will be affected.

[0059] Embodiment 2

[0060] See also Figure 1-Figure 18 , compared with Example 1, this embodiment is different from Example 1 in that:

[0061] The surveying and mapping assembly 4 further includes a connecting plate 44 and a stopper 45. The connecting plate 44 is fixedly connected to the circumferential outer surface of the front end of the equipment housing 41, and the stopper 45 is fixedly connected to the connecting plate 44. The stopper 45 is a cylindrical structure.

[0062] The driving assembly 6 also includes a guide rail 614, a support frame 615, a ball 1 616, a fixing seat 617, an arc plate 1 618, a support plate 619, a spring 1 620, a folding plate 621, an arc plate 2 622, a telescopic rod 623, and a rack 624.

[0063] The guide rail 614 is arranged horizontally, and the guide rail 614 is fixedly connected to the inner wall of the installation box 3. A support frame 615 is slidably connected to one side of the guide rail 614. The end of the support frame 615 away from the guide rail 614 is fixedly connected to the end of the connecting folding plate 613 away from the circular ring 612. A ball 616 is rotatably installed on one side of the support frame 615, and the ball 616 can rotate on its own.

[0064] The support plate 619 is arranged horizontally, and one end surface of the support plate 619 is fixedly connected to the inner wall of the installation box 3. The spring 1 620 is arranged vertically, and the upper end of the spring 1 620 is connected to the lower surface of the support plate 619, and the lower end of the spring 1 620 is connected to the folding plate 621. A telescopic rod 623 is arranged inside the spring 1 620, and the telescopic rod 623 is arranged vertically, and the upper end of the telescopic rod 623 is fixedly connected to the lower surface of the support plate 619, and the lower end of the telescopic rod 623 is fixedly connected to the folding plate 621.

[0065] The bottom of the fixed seat 617 is fixedly connected to the inner bottom surface of the installation box 3, and the top of the fixed seat 617 is fixedly connected to the arc plate 1 618, and the arc convex surface of the arc plate 1 618 faces upward. The bottom of the folding plate 621 is connected to the arc plate 2 622, and the arc convex surface of the arc plate 2 622 faces downward. The arc convex surface of the arc plate 1 618 is arranged opposite to the arc convex surface of the arc plate 2 622, and the ball 1 616 can be rotatably inserted between the arc convex surface of the arc plate 1 618 and the arc convex surface of the arc plate 2 622. A rack 624 is fixedly connected to one side of the folding plate 621, and the rack 624 is arranged vertically.

[0066] The auxiliary component 5 also includes a ventilation groove 1 58, an air storage box 59, and an air intake pipe 2 510. The inner wall of the fixed cylinder 52 is provided with a ventilation groove 1 58, and the ventilation groove 1 58 is an arc-shaped through groove. The inner wall of the fixed cylinder 52 is fixedly connected with an air storage box 59, and the interior of the air storage box 59 is connected to the ventilation groove 1 58.

[0067] One side of the air storage box 59 is fixedly connected with an air intake pipe 2 510, and one end of the air intake pipe 2 510 away from the air storage box 59 extends out of the installation box 3. The end of the air intake pipe 2 510 located outside the installation box 3 is designed as a bell mouth, which is convenient for cold air to enter the air intake pipe 2 510. A heater is provided in the air storage box 59, and the heater is preferably a resistance wire or a heating tube, which heats the cold air in the air storage box 59 to a certain temperature to form hot air. A check valve 2 is provided in the air intake pipe 2 510, and the check valve 2 prevents the cold air in the air intake pipe 2 510 from flowing back.

[0068] The topographic surveying and mapping mechanism 2 further includes an air jet assembly 7, which includes an annular housing 71, a gear ring 72, an annular piston plate 1 73, an annular piston plate 2 74, a vent groove 2 75, an air cavity 76, a spring 2 77, a reciprocating rod 78, an air jet portion 79, a reciprocating ring 710, a hollow tube 1 711, a hollow tube 2 712, a sliding rod 713, a support ring 1 714, a support ring 2 715, and a sliding groove 716. The annular housing 71 passes through the circular through groove 31, and the outer circumference of the annular housing 71 is sealed and rotatably connected to the inner circumference wall of the circular through groove 31, and the inner circumference of the annular housing 71 is sealed and rotatably connected to the outer circumference surface of the fixed cylinder 52, and the annular housing 71 cannot move horizontally.

[0069] The outer circumference of the annular housing 71 is fixedly connected with a gear ring 72, and the annular housing 71 rotates with the gear ring 72. The gear ring 72 is meshed with the rack 624, and when the rack 624 moves up and down, it can drive the gear ring 72 to reciprocate forward and reverse. The inner sealing and sliding connection of the annular housing 71 is a ring piston plate 1 73 and a ring piston plate 2 74.

[0070] The inner wall of the annular housing 71 is provided with a second ventilation groove 75 adapted to the first ventilation groove 58. The first ventilation groove 58 and the second ventilation groove 75 are interconnected. The second ventilation groove 75 is an arc-shaped through groove. The arc length of the first ventilation groove 58 is three times the arc length of the second ventilation groove 75. An air cavity 76 is formed between the first annular piston plate 73 and the second annular piston plate 74.

[0071] Four springs 2 77 are evenly arranged between the side of the annular piston plate 2 74 away from the annular piston plate 1 73 and the inner wall of the annular shell 71. The spring 2 77 is arranged horizontally, one end of the spring 2 77 is connected to the side of the annular piston plate 2 74 away from the annular piston plate 1 73, and the other end of the spring 2 77 is connected to the inner wall of the annular shell 71.

[0072] Four reciprocating rods 78 are evenly and fixedly connected to the side of the annular piston plate 1 73 away from the annular piston plate 2 74. The reciprocating rods 78 are arranged horizontally. A reciprocating ring 710 is arranged on the outer side of the annular shell 71. One end of the reciprocating rod 78 away from the annular piston plate 1 73 passes through the inner wall of the annular shell 71 and is fixedly connected to the reciprocating ring 710. The reciprocating ring 710 is located on the annular side of the fixed cylinder 52.

[0073] Four support rings 1 714 are fixedly connected to the outer side of the annular shell 71, and the reciprocating rods 78 correspond to the support rings 1 714 one by one. The reciprocating rods 78 pass through the support rings 1 714 and are slidably and sealedly connected to the inner side of the support rings 1 714. A sliding groove 716 is provided on the reciprocating ring 710, and the sliding groove 716 is a circular groove structure. One end of the sliding rod 713 is slidably connected in the sliding groove 716, and the end of the sliding rod 713 away from the sliding groove 716 is fixedly connected to the connecting folding plate 613.

[0074] The outer side of the annular shell 71 is provided with a hollow tube 1 711, which is annular in shape. The inner wall of the hollow tube 1 711 is fixedly connected with four hollow tubes 2 712, which are arranged horizontally, and the interior of the hollow tube 2 712 is interconnected with the interior of the hollow tube 1 711.

[0075] The second hollow tube 712 passes through the annular shell 71 and the second annular piston plate 74 in sequence. One end of the second hollow tube 712 away from the first hollow tube 711 is fixedly connected to the second annular piston plate 74 , and the interior of the second hollow tube 712 is connected to the air cavity 76 .

[0076] Four supporting rings 715 are fixedly connected to the outer side of the annular shell 71 . The hollow tubes 712 correspond to the supporting rings 715 one by one. The hollow tubes 712 pass through the supporting rings 715 and are slidingly and sealingly connected to the inner side of the supporting rings 715 .

[0077] The hollow tube 1 711 is connected to four jet parts 79 on the ring side, and the jet part 79 includes a curved hose 791, a jet tube 792, a support block 793, a mounting frame 794, a straight plate 795, a spring 3 796, and a sphere 2 797. One end of the curved hose 791 is fixedly connected to the inner wall of the hollow tube 2 712, and the interior of the curved hose 791 is connected to the interior of the hollow tube 2 712.

[0078] The end of the curved hose 791 away from the hollow tube 1 711 is fixedly connected to the jet pipe 792, and the interior of the curved hose 791 is connected to the interior of the jet pipe 792. The jet pipe 792 is provided with a nozzle for ejecting hot air. A bending spring is provided inside the curved hose 791. When the curved hose 791 is subjected to force, the curved hose 791 will bend toward the inside of the hollow tube 1 711. The center line of the jet pipe 792 forms an angle of 45 degrees with the center plane of the hollow tube 1 711 (the spring 3 796 is in a free state at this time), so that the hot air ejected from the jet pipe 792 can blow away impurities and dust on the outer surface of the device housing 41.

[0079] A support block 793 is fixedly connected to the outer side of the jet pipe 792, a mounting frame 794 is fixedly connected to one side of the support block 793, the top of the straight plate 795 is fixedly connected to the outer wall of the hollow tube 2 712, a spring 3 796 is connected to one side of the straight plate 795, an end of the spring 3 796 away from the straight plate 795 is connected to the mounting frame 794, a sphere 2 797 is rotatably installed on one end of the mounting frame 794 away from the spring 3 796, and the sphere 2 797 can rotate on its own.

[0080] The rest of the structure is the same as that of the first embodiment.

[0081] In some colder areas, drones flying at high altitudes will encounter cold air, which can cause dew and ice to form on the mirrors and outer surfaces of equipment such as high-resolution cameras and laser rangefinders, thus damaging the equipment. It can also affect the accuracy of surveying and mapping data and the stable operation of the equipment.

[0082] The working principle and use process of the embodiment of the present invention are as follows:

[0083] The unmanned aerial vehicle 1 drives the terrain surveying and mapping mechanism 2 to fly in the sky, and uses the laser rangefinder 42 and the camera 43 to perform terrain surveying and mapping. Due to the wind in the high altitude, a large amount of cold air enters the second air intake pipe 510 with the help of the wind. The one-way valve 2 in the second air intake pipe 510 prevents the cold air in the second air intake pipe 510 from flowing back. Then the cold air in the second air intake pipe 510 enters the air storage box 59. The heater in the air storage box 59 heats the incoming cold air to a certain temperature to form hot air. Then the hot air in the air storage box 59 enters the interior of the annular shell 71 through the ventilation groove 1 58 and the ventilation groove 2 75 in sequence.

[0084] Then, the motor 61 is started to drive the rotating rod 1 62 to rotate, and the rotating rod 1 62 drives the rotating rod 2 65 to rotate when rotating, and the rotating rod 2 65 drives the adjusting arm 68 to rotate when rotating, and the adjusting arm 68 drives the rotating rod 69 to rotate when rotating, and the rotating rod 69 drives the circular ring 612 to make a linear reciprocating motion when the circular ring 612 makes a linear reciprocating motion, and the connecting folding plate 613 drives the supporting frame 615 to make a linear reciprocating motion when the connecting folding plate 613 makes a linear reciprocating motion, and the supporting frame 615 drives the sphere 1 616 to make a linear reciprocating motion when the supporting frame 615 makes a linear reciprocating motion, so that the sphere 1 616 is reciprocatedly inserted and pulled out between the arc convex surface of the arc plate 1 618 and the arc convex surface of the arc plate 2 622;

[0085] When the ball 1 616 is inserted between the arc convex surface of the arc plate 1 618 and the arc convex surface of the arc plate 2 622, the ball 1 616 will squeeze the arc plate 1 618 to move upward, so that the arc plate 1 618 drives the folding plate 621 to move upward, thereby compressing the spring 1 620, and then the folding plate 621 drives the rack 624 to move upward; when the ball 1 616 is pulled out from between the arc convex surface of the arc plate 1 618 and the arc convex surface of the arc plate 2 622, the tension of the spring 1 620 causes the folding plate 621 to move downward and reset, thereby causing the rack 624 to move downward and reset, thereby causing the rack 624 to move up and down reciprocatingly;

[0086] When the rack 624 moves back and forth up and down, it can drive the gear ring 72 to reciprocate forward and reverse (the maximum forward rotation number of the gear ring 72 is one-quarter of a circle, and the maximum reverse rotation number of the gear ring 72 is one-quarter of a circle). When the gear ring 72 reciprocates forward and reverse, it drives the annular shell 71 to reciprocate forward and reverse (because the arc length of the ventilation groove 1 58 is three times the arc length of the ventilation groove 2 75, when the annular shell 71 reciprocates forward and reverse, the ventilation groove 1 58 and the ventilation groove 2 75 are always connected to each other). When the annular shell 71 reciprocates forward and reverse, it drives the annular piston plate 1 73, the annular piston plate 2 74, the reciprocating rod 78, the reciprocating ring 710, and the hollow tube 2 712 to reciprocate forward and reverse together. When the hollow tube 2 712 reciprocates forward and reverse, it drives the hollow tube 1 711 to reciprocate forward and reverse. When the hollow tube 1 711 reciprocates forward and reverse, it drives the four jet pipes 792 to reciprocate forward and reverse, so that the hot air ejected from the jet pipe 792 can be fully blown to the outer surface of the equipment shell 41.

[0087] At the same time, when the connecting folding plate 613 performs linear reciprocating motion, it can also drive the sliding rod 713 to perform linear reciprocating motion. When the sliding rod 713 performs linear reciprocating motion, it drives the reciprocating ring 710 to perform linear reciprocating motion (the reciprocating ring 710 rotates while performing linear reciprocating motion, and at this time, the sliding rod 713 slides along the sliding groove 716). The linear reciprocating motion of the reciprocating ring 710 drives the annular piston plate 1 73 to perform linear reciprocating motion, so that the annular piston plate 1 73 continuously reciprocates and squeezes the hot air in the air cavity 76, and then the hot air in the air cavity 76 is continuously ejected from the jet pipe 792, thereby eliminating the dew and ice on the outer surface of the device housing 41.

[0088] When the annular piston plate 1 73 contacts the annular piston plate 2 74, the annular piston plate 1 73 continues to move and pushes the annular piston plate 2 74 to compress the spring 2 77. When the annular piston plate 1 73 is reset, the annular piston plate 2 74 is reset under the action of the tension of the spring 2 77. When the annular piston plate 2 74 is reset, it squeezes the hot air in the air cavity 76 again, and the hot air in the air cavity 76 is ejected from the jet pipe 792 again. At this time, the annular piston plate 2 74 drives the jet pipe 792 to perform a linear reciprocating motion, and further enables the hot air ejected from the jet pipe 792 to fully blow to the outer surface of the device housing 41, thereby fully eliminating the dew and ice on the outer surface of the device housing 41, and blowing away the impurities and dust on the outer surface of the device housing 41, thereby ensuring the stable operation of the device.

[0089] When the annular piston plate 1 73 pushes the annular piston plate 2 74 to compress the spring 2 77 to the shortest, the sphere 2 797 and the stopper 45 squeeze each other, the spring 3 796 is compressed, and the mounting frame 794 moves a certain distance toward the straight plate 795, so that the bending hose 791 is bent by force, and the jet pipe 792 is rotated forty-five degrees (at this time, the center line of the jet pipe 792 is parallel to the center plane of the hollow pipe 1 711), so that the nozzle of the jet pipe 792 is facing the mirror surface of the laser rangefinder 42 and the mirror surface of the camera 43, so that the jet pipe 792 is facing the laser rangefinder 42. The mirrors of the optical rangefinder 42 and the camera 43 eject hot air, which in turn heats the mirrors of the laser rangefinder 42 and the camera 43, thereby quickly evaporating the water mist and ice on the mirrors of the laser rangefinder 42 and the camera 43, thereby avoiding the refraction of the mist after the laser passes through the water droplets, thereby ensuring the accuracy of the distance measurement by the laser rangefinder 42 and the photo taking by the camera 43. When the sphere 2 797 and the block 45 are separated from each other, the jet pipe 792, the support block 793 and the mounting bracket 794 will be reset under the tension of the spring 3 796, thereby resetting the bent hose 791.

[0090] In summary, by setting the jet assembly 7, the starter motor 61 drives the rotating rod 62 to rotate, so that the reciprocating ring 710 performs a linear reciprocating motion and reciprocates forward and reverse at the same time. The reciprocating ring 710 performs a linear reciprocating motion and drives the annular piston plate 73 to perform a linear reciprocating motion, so that the annular piston plate 73 continuously reciprocates and squeezes the hot air in the air cavity 76, and then the hot air in the air cavity 76 is continuously ejected from the jet pipe 792. When the reciprocating ring 710 reciprocates forward and reversely, it will also drive the four jet pipes 792 to reciprocate forward and reversely, so that the hot air ejected from the jet pipe 792 can be fully blown to the outer surface of the equipment shell 41, and the annular piston plate 2 74 will also drive the jet pipe 792 to perform a linear reciprocating motion, further making the hot air ejected from the jet pipe 792 can be fully blown to the outer surface of the equipment shell 41, so as to fully eliminate the dew and ice on the outer surface of the equipment shell 41, and blow away the impurities and dust on the outer surface of the equipment shell 41, ensuring The stable operation of the equipment is ensured; by setting the jet part 79, when the annular piston plate 1 73 pushes the annular piston plate 2 74 to compress the spring 2 77 to the shortest, the sphere 2 797 and the stopper 45 are squeezed against each other, and the spring 3 796 is compressed, so that the mounting frame 794 moves a certain distance toward the direction close to the straight plate 795, so that the bending hose 791 is bent by force, and the jet pipe 792 is rotated forty-five degrees, so that the jet pipe 792 is directly facing the mirror surface of the laser rangefinder 42 and the mirror surface of the camera 43, and the jet pipe 792 sprays hot air toward the mirror surface of the laser rangefinder 42 and the mirror surface of the camera 43, so as to heat the mirror surface of the laser rangefinder 42 and the mirror surface of the camera 43, so as to quickly evaporate the water mist and ice on the mirror surface of the laser rangefinder 42 and the mirror surface of the camera 43, so as to avoid the situation that the laser is refracted by the mist after passing through the water droplets, thereby ensuring the accuracy of the laser rangefinder 42 in measuring the distance and the camera 43 in taking pictures.

[0091] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional terrain mapping device based on an unmanned aerial vehicle, comprising an unmanned aerial vehicle (1), characterized in that: A topographic surveying and mapping mechanism (2) is arranged at the bottom of the unmanned aerial vehicle (1), and the topographic surveying and mapping mechanism (2) comprises an installation box (3), a surveying and mapping component (4), and an auxiliary component (5), and a circular through groove (31) is provided on the outer side wall of the installation box (3); The surveying and mapping component (4) comprises a device housing (41), a laser rangefinder (42) and a camera (43) are arranged inside the device housing (41), and a stopper (45) is fixedly connected to the front end of the device housing (41) via a connecting plate (44); The auxiliary component (5) comprises a connecting plate (51), one end of which is fixedly connected to the inner wall of the installation box (3), the other end of which is fixedly connected to a fixed cylinder (52) passing through the circular through groove (31), one end of which is located outside the installation box (3) and is fixedly connected to the rear end opening of the equipment housing (41), the inner side of which is fixedly connected to an air supply pipe (53), and one side of which is fixed to the air supply pipe (53). An air inlet pipe (54) is connected, and one end of the air inlet pipe (54) away from the air supply pipe (53) extends out of the installation box (3). The inner side of the air supply pipe (53) is sealingly and slidably connected to a piston rod (55). One end of the air supply pipe (53) away from the piston rod (55) is fixedly connected to a spray plate (56). A one-way valve and a dehumidifier are arranged inside the air inlet pipe (54), and one end of the piston rod (55) away from the air supply pipe (53) is fixedly connected to a reciprocating plate (57).

2. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 1, characterized in that: The topographic surveying and mapping mechanism (2) further comprises a driving assembly (6), the driving assembly (6) comprising a motor (61), a vertical rod (63), a rectangular tube (610), a guide rail (614), a fixing seat (617), and a supporting plate (619); the motor (61) is fixedly mounted on the inner wall of the mounting box (3); the output end of the motor (61) is fixedly connected to a rotating rod 1 (62); the end of the rotating rod 1 (62) away from the motor (61) is rotatably mounted on the inner wall of the mounting box (3) via a bearing; the top of the vertical rod (63) is fixedly connected to the inner top surface of the mounting box (3); the bottom of the vertical rod (63) is fixedly connected to a mounting ring (64); the inner side of the mounting ring (64) is rotatably connected to a rotating rod 2 (65).

3. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 2, characterized in that: The circumferential outer surface of the rotating rod 1 (62) is fixedly connected to a bevel gear 1 (66); one end of the rotating rod 2 (65) is fixedly connected to a bevel gear 2 (67) meshing with the bevel gear 1 (66); one end of the rotating rod 2 (65) away from the bevel gear 2 (67) is fixedly connected to an adjustment arm (68); one end of the adjustment arm (68) away from the rotating rod 2 (65) is fixedly connected to a rotating rod (69); one end of the rectangular tube (610) is fixedly connected to the inner wall of the installation box (3); a slide plate (611) is slidably connected to the inner side of the rectangular tube (610); one end of the slide plate (611) away from the rectangular tube (610) is fixedly connected to a circular ring (612); and the outer surface of the rotating rod (69) is movably connected to the inner side of the circular ring (612).

4. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 3, characterized in that: A connecting folding plate (613) is fixedly connected to the lower side of the circular ring (612); the guide rail (614) is fixedly connected to the inner wall of the installation box (3); a support frame (615) is slidably connected to one side of the guide rail (614); an end of the support frame (615) away from the guide rail (614) is fixedly connected to an end of the connecting folding plate (613) away from the circular ring (612); and a ball (616) is rotatably mounted on one side of the support frame (615).

5. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 4, characterized in that: The bottom of the fixing seat (617) is fixedly connected to the inner bottom surface of the installation box (3); the top of the fixing seat (617) is fixedly connected to an arc plate 1 (618); one end surface of the support plate (619) is fixedly connected to the inner wall of the installation box (3); the lower surface of the support plate (619) is connected to a spring 1 (620); the lower end of the spring 1 (620) is connected to a folding plate (621); the bottom of the folding plate (621) is connected to an arc plate 2 (622); a telescopic rod (623) is provided on the inner side of the spring 1 (620); and a rack (624) is fixedly connected to one side of the folding plate (621).

6. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 5, characterized in that: The inner wall of the fixed cylinder (52) is provided with a ventilation groove (58), the inner wall of the fixed cylinder (52) is fixedly connected to an air storage box (59), one side of the air storage box (59) is fixedly connected to an air intake pipe (510), one end of the air intake pipe (510) away from the air storage box (59) extends out of the installation box (3), a heater is provided in the air storage box (59), and a one-way valve (2) is provided in the air intake pipe (510).

7. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 6, characterized in that: The topographic surveying and mapping mechanism (2) also includes an air jet assembly (7), which includes an annular shell (71) and a sliding rod (713). The outer circumferential side of the annular shell (71) is sealingly rotatably connected to the inner circumferential wall of the circular through groove (31), and the inner circumferential side of the annular shell (71) is sealingly rotatably connected to the outer circumferential surface of the fixed cylinder (52). The outer circumferential side of the annular shell (71) is fixedly connected to a gear ring (72). The inner part of the annular shell (71) is sealingly slidably connected to an annular piston plate 1 (73) and an annular piston plate 2 (74). The inner wall of the annular shell (71) is provided with an air vent 2 (75) matched with the air vent 1 (58), and an air cavity (76) is formed between the annular piston plate 1 (73) and the annular piston plate 2 (74).

8. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 7, characterized in that: A spring 2 (77) is arranged between a side of the annular piston plate 2 (74) away from the annular piston plate 1 (73) and the inner wall of the annular shell (71); a reciprocating rod (78) is fixedly connected to a side of the annular piston plate 1 (73) away from the annular piston plate 2 (74); a reciprocating ring (710) is arranged on the outer side of the annular shell (71); an end of the reciprocating rod (78) away from the annular piston plate 1 (73) penetrates the inner wall of the annular shell (71) and is fixedly connected to the reciprocating ring (710); a sliding groove (716) is provided on the reciprocating ring (710); one end of the sliding rod (713) is slidably connected in the sliding groove (716); and one end of the sliding rod (713) away from the sliding groove (716) is fixedly connected to the connecting folding plate (613).

9. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 8, characterized in that: A hollow tube 1 (711) is arranged on the outside of the annular shell (71), and a hollow tube 2 (712) is fixedly connected to the inner wall of the hollow tube 1 (711), and one end of the hollow tube 2 (712) away from the hollow tube 1 (711) is fixedly connected to the annular piston plate 2 (74) and communicated with the air cavity (76), and the ring side of the hollow tube 1 (711) is connected to the jet part (79).

10. The three-dimensional terrain mapping device based on an unmanned aerial vehicle according to claim 9, characterized in that: The jet part (79) comprises a curved hose (791), a straight plate (795), and a spring (796). One end of the curved hose (791) is fixedly connected to the inner wall of the hollow tube (712). The end of the curved hose (791) away from the hollow tube (711) is fixedly connected to the jet pipe (792). The outer side of the jet pipe (792) is fixedly connected to a support block (793). One side of the support block (793) is fixedly connected to a mounting frame (794). The top of the straight plate (795) is fixedly connected to the outer wall of the hollow tube (712). The straight plate (795) is connected to the mounting frame (794) via the spring (796). The end of the mounting frame (794) away from the spring (796) is rotatably mounted with a ball (797).

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