Unmanned aerial vehicle surveying and mapping high-precision positioning device

Abstract

The invention discloses an unmanned aerial vehicle surveying and mapping high-precision positioning device, and relates to the technical field of unmanned aerial vehicle surveying and mapping, the unmanned aerial vehicle surveying and mapping high-precision positioning device comprises an unmanned aerial vehicle body and a surveying and mapping probe, vertical plates and undercarriages are arranged on two sides of the bottom of the unmanned aerial vehicle body, the vertical plates are fixedly connected to the bottom of the unmanned aerial vehicle body, and the undercarriages are fixedly connected to the bottoms of the vertical plates; an adjusting assembly used for adjusting the landing stability of the unmanned aerial vehicle body is arranged on the undercarriage, the adjusting assembly comprises grounding plates, the grounding plates are arranged in the undercarriage and can vertically slide in the undercarriage, and three groups of grounding plates are uniformly distributed in the horizontal direction of the undercarriage on one side in an array manner; three groups of telescopic grounding plates are arranged at the bottom of the landing gear on the same side, so that the unmanned aerial vehicle body can stably land on uneven ground and soft sand in Gansu region, meanwhile, the condition that the unmanned aerial vehicle body is blown over by wind during landing can be further prevented by matching with a counterweight adjusting module, and the surveying and mapping precision is indirectly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV mapping, and particularly to a high-precision positioning device for UAV mapping. Background Technique

[0002] An unmanned aerial vehicle, abbreviated as "UAV" and with the English abbreviation "UAV", is an unpiloted aircraft controlled by a radio remote control device and a self-contained program control device, or is completely or intermittently autonomously controlled by an on-board computer.

[0003] When mapping the landforms in the Gansu region, the mapping UAV controls its takeoff and landing through an on-board computer. However, the landform types in the Gansu region are relatively complex, including mountains, plateaus, plains, river valleys, deserts, and gobi. When the existing mapping UAV needs to land at a designated position after mapping, the landing attitude of the mapping UAV is controlled by operating a mobile phone APP.

[0004] However, when the existing mapping UAV lands, most of them directly land at the designated position. When mapping the landforms in the Gansu region, due to the complex terrain and landform, if the mapping UAV is directly landed on different landforms, the mapping UAV may be uneven because the landing gear cannot be stably supported on different grounds, which may cause the internal horizontal measurement element to fail to reset to the initial state, resulting in an error in the standard value of the internal horizontal measurement element of the UAV during the next use, and further leading to a reduction in mapping accuracy. This phenomenon has also become an urgent problem for those in this field to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a high-precision positioning device for UAV mapping to solve the problems raised in the above background technique.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A high-precision positioning device for UAV mapping, including a UAV body and a mapping probe. On both sides of the bottom of the UAV body, there are vertical plates and landing gears. The vertical plates are fixedly connected to the bottom of the UAV body, and the landing gears are fixedly connected to the bottom of the vertical plates;

[0007] A cross plate is fixedly connected between the two landing gears. A controller is fixedly installed on the cross plate. A distance sensor and an industrial camera are arranged below the cross plate. Both the distance sensor and the industrial camera are electrically connected to the controller;

[0008] The landing gear is provided with an adjustment assembly for adjusting the landing smoothness of the UAV body, including:

[0009] A grounding plate, which is slidably arranged inside the landing gear and is used to support the UAV body during landing. There are three groups of the grounding plates evenly distributed in the horizontal direction of a single-side landing gear.

[0010] A receiving cavity, which is opened inside the landing gear.

[0011] A first drive, the fixed end of which is fixedly connected to the inner top surface of the receiving cavity. The output end of the first drive is fixedly connected to the top of the grounding plate and is vertically arranged. The first drive is electrically connected to the controller, and the first drive is electrically connected to both the distance sensor and the industrial camera.

[0012] According to the above technical solution, a bottom plate is fixedly connected to the opening end of the receiving cavity. The opening end of the receiving cavity is opened at the bottom of the landing gear. A through groove is opened on the bottom plate, and the specification of the through groove is adapted to the specification of the grounding plate. There are three groups of the through grooves evenly distributed in the horizontal direction of the bottom plate, and the outer peripheral wall of the grounding plate is in sliding contact with the inner wall of the through groove.

[0013] According to the above technical solution, an installation cavity is opened at the bottom of the grounding plate. A vertical plate is fixedly connected inside the installation cavity. Third drives are fixedly installed on both sides of the vertical plate. The two third drives are respectively vertically arranged with the two side walls of the vertical plate. The output ends of the two third drives are both fixedly connected with telescopic plates.

[0014] According to the above technical solution, a first rotating member is fixedly installed at the bottom of the cross plate. The first rotating member is vertically arranged with the cross plate. The output end of the first rotating member is vertically downward and is fixedly connected with a rotating plate through a coupling. A counterweight adjustment module is arranged at the bottom of the rotating plate.

[0015] According to the above technical solution, a connecting rod is fixedly connected to the bottom of the rotating plate. The bottom of the connecting rod is hinged with a counterweight box through a hinge seat. A cavity is opened inside the counterweight box, and a counterweight block is slidably arranged inside the cavity.

[0016] According to the above technical solution, a second rotating member is fixedly installed on one side wall of the counterweight box. The output shaft of the second rotating member is vertically arranged with the side wall of the counterweight box. The output shaft of the second rotating member penetrates through the side wall of the counterweight box and is fixedly connected with a threaded rod through a coupling. The end of the threaded rod away from the second rotating member is connected with the inner wall of the counterweight box through a bearing, and the counterweight block is threadedly connected with the threaded rod.

[0017] According to the above technical solution, the top of the counterweight block is in sliding contact with the inner top surface of the cavity, and the bottom of the counterweight block is in sliding contact with the inner bottom surface of the cavity.

[0018] According to the above technical solution, a counterweight liquid cavity is provided at the bottom of the counterweight block. A baffle is fixedly connected to the middle of the inner bottom surface of the counterweight liquid cavity. There is a gap between the baffle and the inner top surface of the counterweight liquid cavity. Two groups of counterweight liquid cavities are symmetrically arranged inside the counterweight block with the baffle as the symmetry axis. A horizontal sensor is provided on the counterweight box, and the horizontal sensor is electrically connected to the controller.

[0019] According to the above technical solution, a second drive is fixedly installed at the bottom of the rotating plate. The fixed end of the second drive is fixedly connected to the bottom of the rotating plate. The output end of the second drive is fixedly connected to a round rod. A spherical ball is fixedly connected to the end of the round rod away from the second drive. A mounting seat is fixedly connected to the counterweight box. A spherical groove is provided inside the mounting seat, and the spherical ball is arranged to roll within the spherical groove.

[0020] According to the above technical solution, arc-shaped plates are fixedly connected to the side walls of both landing gears. The arc-shaped plates are perpendicular to the side walls of the landing gears. Ultrasonic wind sensors are fixedly installed on the arc-shaped plates, and the ultrasonic wind sensors are electrically connected to the controller.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: By arranging three telescopic grounding plates at the bottom of the same-side landing gears, the present invention can be more suitable for the smooth landing of the UAV body on uneven and soft sandy ground in Gansu region. When landing on uneven ground, the grounding plates at the corresponding positions can be controlled by the controller to expand and contract, so that the UAV body can land smoothly on the uneven ground. At the same time, with the cooperation of the counterweight adjustment module, when the UAV body needs to land after mapping, in the case of being affected by wind at different angles, it can further prevent the UAV body from being blown over when landing, indirectly improving the mapping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0023] Figure 1 is the overall structural schematic diagram of the present invention;

[0024] Figure 2 is the bottom perspective structural schematic diagram of the present invention;

[0025] Figure 3 is the perspective structural schematic diagram of the landing gear of the present invention;

[0026] Figure 4 is the present invention Figure 3 is the enlarged schematic diagram of the structure of part A in;

[0027] Figure 5Schematic diagram of the three-dimensional structure of the ground plane of the present invention;

[0028] Figure 6 Schematic diagram of the bottom-up three-dimensional structure of the ground plane of the present invention;

[0029] Figure 7 Schematic diagram of the sectional structure of the weight adjustment module of the present invention;

[0030] Figure 8 Is the present invention Figure 7 Enlarged schematic diagram of the structure of part B in;

[0031] Figure 9 Schematic diagram of the sectional structure of the mounting seat of the present invention;

[0032] Figure 10 Schematic diagram of the module control of the present invention.

[0033] In the figure: 1, UAV body;

[0034] 2, landing gear;

[0035] 21, bottom plate; 211, through groove;

[0036] 22, ground plane; 221, installation cavity; 2211, limit groove;

[0037] 222, vertical plate; 2221, third drive;

[0038] 223, telescopic plate; 2231, limit block;

[0039] 224, first drive;

[0040] 23, vertical plate; 24, accommodation cavity;

[0041] 3, arc plate; 31, ultrasonic wind sensor;

[0042] 4, horizontal plate; 41, first rotating member; 411, rotating plate; 412, connecting rod; 413, hinge seat; 42, second drive; 421, round rod; 4211, spherical ball;

[0043] 43, mounting seat; 431, spherical groove;

[0044] 5, controller;

[0045] 6, counterweight box; 61, cavity;

[0046] 62, counterweight block; 621, counterweight liquid cavity; 622, baffle;

[0047] 63, second rotating member; 64, threaded rod;

[0048] 7. Horizontal sensor; 8. Distance sensor; 9. Industrial camera. Specific embodiments

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] Please refer to Figure 1-10 , the present invention provides a technical solution: a high-precision positioning device for UAV mapping, including a UAV body 1 and a mapping probe disposed on the UAV body 1. Vertical plates 23 are fixedly connected to both sides of the bottom of the UAV body 1. Landing gears 2 are disposed at the bottoms of the two vertical plates 23. A cross plate 4 is fixedly connected between the two landing gears 2. A controller 5 is fixedly installed on the cross plate 4. A distance sensor 8 and an industrial camera 9 are disposed below the cross plate 4. Both the distance sensor 8 and the industrial camera 9 are electrically connected to the controller 5;

[0051] An adjusting assembly for adjusting the landing smoothness of the UAV body 1 is disposed on the landing gear 2:

[0052] The adjusting assembly includes a grounding plate 22. The grounding plate 22 is disposed inside the landing gear 2. The grounding plate 22 can vertically slide inside the landing gear 2. Three groups of the grounding plates 22 are evenly distributed in the horizontal direction of a single landing gear 2;

[0053] A receiving cavity 24 is formed inside the landing gear 2. The inner top surface of the receiving cavity 24 is fixedly connected to a first driver 224. The output end of the first driver 224 is vertically downward and fixedly connected to the top of the grounding plate 22. The first driver 224 is electrically connected to the controller 5, and the first driver 224 is electrically connected to both the distance sensor 8 and the industrial camera 9.

[0054] It should be noted that the first driver 224 can be a cylinder.

[0055] It should be added that both the distance sensor 8 and the industrial camera 9 are prior arts. Among them, the distance sensor 8 measures the displacement of multiple grounding plates 22 on the landing gear 2 by emitting a laser beam and receiving the reflected signal, calculating the round-trip time or phase difference of the light wave, so as to achieve the purpose of the smooth landing of the UAV body 1. No more details will be described in this application.

[0056] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5, the top of the vertical plate 23 is fixedly connected to the bottom of the UAV body 1, and the bottom of the vertical plate 23 is fixedly connected to the top of the landing gear 2. The first drive 224 drives the grounding plate 22 to move in the vertical direction of the accommodation cavity 24 through the expansion and contraction of its output end, so as to achieve the purpose of adjusting the position of the grounding plate 22.

[0057] A bottom plate 21 is fixedly connected to the open end of the accommodation cavity 24. A through groove 211 is formed in the bottom plate 21. The through groove 211 is evenly arranged in three groups in the horizontal direction of the bottom plate 21. The outer peripheral wall of the grounding plate 22 is in sliding contact with the inner wall of the through groove 211.

[0058] Reference Figure 4 , by sliding the outer peripheral wall of the grounding plate 22 inside the through groove 211, the displacement path of the grounding plate 22 in the vertical direction of the accommodation cavity 24 can be further limited, preventing the grounding plate 22 from getting stuck when moving in the vertical direction of the accommodation cavity 24.

[0059] An installation cavity 221 is formed in the bottom of the grounding plate 22. A vertical plate 222 is fixedly connected inside the installation cavity 221. Third drives 2221 are fixedly installed on both sides of the vertical plate 222. The two third drives 2221 are respectively perpendicular to the two side walls of the vertical plate 222. The output ends of the two third drives 2221 are both fixedly connected with telescopic plates 223.

[0060] A limiting groove 2211 is formed on the inner top surface of the installation cavity 221. A limiting block 2231 is fixedly connected to the top of the telescopic plate 223. The limiting block 2231 is slidably connected with the limiting groove 2211, which can effectively prevent the telescopic plate 223 from getting stuck when expanding to both sides.

[0061] It should be noted that the third drive 2221 can be a cylinder.

[0062] Reference Figure 6 , the third drive 2221 drives the two telescopic plates 223 to move to both sides through the expansion and contraction of its output end, which is more suitable for the landing gear 2 to land on the soft sandy land in Gansu area, preventing the contact area between the grounding plate 22 and the soft sandy land from being too small, resulting in the grounding plate 22 sinking into the soft sandy land, and further leading to the decline of the mapping accuracy of the UAV body 1.

[0063] A first rotating member 41 is fixedly installed at the bottom of the cross plate 4. The first rotating member 41 is perpendicular to the cross plate 4. The output end of the first rotating member 41 is vertically downward and is fixedly connected with a rotating plate 411 through a coupling. A weight adjustment module is arranged at the bottom of the rotating plate 411.

[0064] It should be noted that the first rotating member 41 can be a motor.

[0065] Reference Figure 7 The first rotating member 41 can drive the rotating plate 411 to rotate through the rotation of its output shaft. While the rotating plate 411 rotates in a circle, it can indirectly drive the adjustment counterweight module below it to rotate, so as to achieve counterweight on the four sides of the UAV body 1 and prevent the UAV body 1 from tipping over when landing in strong wind conditions.

[0066] A connecting rod 412 is fixedly connected to the bottom of the rotating plate 411. The bottom of the connecting rod 412 is hinged to a counterweight box 6 through a hinge seat 413. A cavity 61 is formed inside the counterweight box 6. A second rotating member 63 is fixedly installed on one side wall of the counterweight box 6. The output shaft of the second rotating member 63 is perpendicular to the side wall of the counterweight box 6. The output shaft of the second rotating member 63 penetrates through the side wall of the counterweight box 6 and is fixedly connected to a threaded rod 64 through a coupling. The end of the threaded rod 64 away from the second rotating member 63 is connected to the inner wall of the counterweight box 6 through a bearing. A counterweight block 62 is threadedly connected to the threaded rod 64.

[0067] It should be noted that the second rotating member 63 can be a motor.

[0068] Reference Figure 7 and Figure 8 Using the connecting rod 412 to connect the rotating plate 411 and the counterweight box 6 into a whole, the first rotating member 41 can drive the connecting rod 412 to rotate through the circumferential rotation of its output shaft. By means of the hinged connection between the connecting rod 412 and the counterweight box 6, the connecting rod 412 can indirectly drive the counterweight box 6 to rotate in a circle while rotating circumferentially with the first rotating member 41. Then, the rotation of the output shaft of the second rotating member 63 is used to drive the threaded rod 64 to rotate. The threaded rod 64 indirectly drives the counterweight block 62 to move horizontally inside the cavity 61 by means of the threaded connection with the counterweight block 62, so as to be more convenient for counterweight compensation at different directions of the UAV body 1 and prevent the UAV body 1 from tipping over when landing, and thus can also further improve the accuracy of the UAV body 1 when performing topographic survey in Gansu area.

[0069] The top of the counterweight block 62 is in sliding contact with the inner top surface of the cavity 61, and the bottom of the counterweight block 62 is in sliding contact with the inner bottom surface of the cavity 61.

[0070] Reference Figure 8 By setting the top and bottom of the counterweight block 62 to be in sliding contact with the inner top surface and the inner bottom surface of the cavity 61 respectively, it can effectively prevent the phenomenon that the counterweight block 62 rotates by itself when the second rotating member 63 drives the threaded rod 64 to rotate through the rotation of its output shaft.

[0071] A counterweight chamber 621 is formed at the bottom of the counterweight block 62. In the middle of the inner bottom surface of the counterweight chamber 621, a baffle 622 is fixedly connected. There is a gap between the baffle 622 and the inner top surface of the counterweight chamber 621. Two groups of counterweight chambers 621 are symmetrically arranged inside the counterweight block 62 with the baffle 622 as the symmetry axis. A horizontal sensor 7 is arranged on the counterweight box 6, and the horizontal sensor 7 is electrically connected to the controller 5.

[0072] It should be noted that the horizontal sensor 7 is a prior art. There are two groups of horizontal sensors 7 arranged on the counterweight box 6, and the detection directions of the two groups of horizontal sensors 7 are the east-west direction and the north-south direction respectively. The east-west horizontal sensor 7 is not shown in the figure. The horizontal sensor 7 can be a liquid capacitive inclination sensor. It encapsulates conductive liquid inside the sensor. When it is tilted, the change in the liquid level causes the capacitance value between the electrodes to change. The inclination angle is calculated through the capacitance difference. When used in alpine regions in Gansu, it needs to be used in conjunction with antifreeze. There will be no excessive elaboration in this application text.

[0073] Refer to Figure 2 、 Figure 7 and Figure 8 In the inner parts of the two counterweight chambers 621 on both sides, counterweight liquid is filled to compensate for the tilt angle of the UAV body 1 in the front-back direction, thereby improving the stability of the UAV body 1 during landing, effectively preventing the UAV body 1 from being impacted greatly during landing, resulting in errors in the detection components, and indirectly ensuring the mapping accuracy of the UAV body 1.

[0074] A second driver 42 is fixedly installed at the bottom of the rotating plate 411. The fixed end of the second driver 42 is fixedly connected to the bottom of the rotating plate 411. The output end of the second driver 42 is fixedly connected to a round rod 421. One end of the round rod 421 away from the second driver 42 is fixedly connected to a spherical ball 4211. An installation seat 43 is fixedly connected to the counterweight box 6. A spherical groove 431 is formed inside the installation seat 43, and the spherical ball 4211 is arranged to roll in the spherical groove 431.

[0075] It should be noted that the second driver 42 can be a cylinder.

[0076] Refer to Figure 7 and Figure 9 The fixed end of the second driver 42 is fixedly connected to the bottom of the rotating plate 411. The second driver 42 drives the round rod 421 to move through the expansion and contraction of its output end. The movement of the round rod 421 can drive the counterweight block 62 to adjust the angle of the UAV body 1 in the front-back direction, so as to be able to counterweight the tilt angle of the UAV body 1 in the front-back direction during landing, and prevent the UAV body 1 from tipping over when there is strong wind in the front-back direction.

[0077] Arc-shaped plates 3 are fixedly connected to the side walls of the landing gears 2 on both sides. The arc-shaped plates 3 are perpendicular to the side walls of the landing gears 2. Ultrasonic wind sensors 31 are fixedly installed on the arc-shaped plates 3, and the ultrasonic wind sensors 31 are electrically connected to the controller 5.

[0078] It should be noted that the ultrasonic wind sensor 31 is a prior art. The ultrasonic wind sensor 31 realizes non-contact wind speed / direction detection through the time difference method and multi-probe array. Its high precision and anti-dust and sand characteristics can be highly adapted to the complex terrain environment in Gansu. There will be no excessive elaboration in this application text.

[0079] Working principle:

[0080] Pre-collect high-resolution satellite images or historical surveying and mapping data of typical landforms in Gansu (such as gobi, mountains, deserts, etc.) and store them in the embedded database or cloud of the controller (5). When the UAV body 1 finishes mapping the terrain and landforms in the Gansu area and needs to land:

[0081] The industrial camera 9 captures the current ground image and processes it as follows:

[0082] Distortion correction: Eliminate the wide-angle distortion of the lens (based on camera calibration parameters).

[0083] Illumination equalization: Adapt to the contrast differences in strong sunlight or dust weather in Gansu.

[0084] Feature enhancement: Highlight the terrain texture (such as edge sharpening of gobi gravel).

[0085] Then, through the image matching and comparison algorithm, match the feature points of the real-time image with the pre-stored landform library based on RANSAC (Random Sample Consensus) and calculate the similarity. Then perform position calibration: After successful matching, align the real-time image with the pre-stored map through perspective transformation, correct the positioning deviation of the UAV body 1, compare the current ground image captured by the industrial camera 9 with the pre-collected high-resolution satellite images or historical surveying and mapping data of typical landforms in Gansu (such as gobi, mountains, deserts, etc.) stored in the controller 5, and send the comparison result to the controller 5:

[0086] If the controller 5 determines that the surface of the current landing position is uneven, regard the landing position of the landing gear 2 of the UAV body 1 as a straight line and divide it into the front section, the middle section, and the rear section. The three groups of grounding plates 22 on one side are respectively recorded as the front grounding plate 22, the middle grounding plate 22, and the rear grounding plate 22:

[0087] When there is only one uneven ground at the landing position on this side, the controller 5 sends a control instruction to the first driver 224 fixedly installed on the corresponding grounding plate 22. When the ground at this place is relatively low-lying, the distance sensor 8 fixedly installed at the bottom of the counterweight box 6 is used to measure the distance to the lowest point of the low-lying place. After the measurement is completed, the distance sensor 8 sends the length that the grounding plate 22 at this place needs to extend to the controller 5 through WiFi. The controller 5 controls the first driver 224 to control the grounding plate 22 at this place to extend downward in the vertical direction to the bottom of the low-lying place for stable support. When the ground at this place is relatively convex, the distance sensor 8 fixedly installed at the bottom of the counterweight box 6 is used to measure the distance to the highest point of the convex place. After the measurement is completed, the distance sensor 8 sends the length that the grounding plate 22 at this place needs to retract to the controller 5 through WiFi. The controller 5 controls the first driver 224 to control the grounding plate 22 at this place to retract upward in the vertical direction to move the grounding plate 22 at this place upward to the top of the convex place for stable support.

[0088] When there are two uneven grounds at the landing position on this side, the industrial camera 9 is used to take pictures and identify the two terrains (if the terrain is low-lying, the first driver 224 on the corresponding grounding plate 22 is controlled to extend vertically downward; if the terrain is convex, the first driver 224 on the corresponding grounding plate 22 is controlled to retract vertically upward). The distance sensor 8 detects the best support distance between the two terrains and the grounding plate 22. The controller 5 sends a control instruction to the first driver 224 fixedly installed on the corresponding grounding plate 22 to extend or retract, so that the landing gear 2 can land stably.

[0089] When the UAV body 1 has completed mapping in the Gansu area and needs to land in strong wind weather, the directions of the landing gears 2 on both sides of the UAV body 1 are set to the east-west direction, and the direction perpendicular to the landing gear 2 is set to the north-south direction:

[0090] When landing, if there is a gentle breeze in the north-south direction of the UAV body 1 and a strong wind in the east-west direction, the ultrasonic wind sensors 31 installed on the landing gears 2 on both sides are used to detect the wind force on both sides respectively. After the detection is completed, the wind force detection results are sent to the controller 5 through WiFi. At this time:

[0091] If the wind force on the east side is greater than that on the west side, in order to prevent the strong wind on the east from blowing the UAV body 1 to the west, the controller 5 starts the second rotating member 63 to rotate clockwise. The second rotating member 63 is used to drive the threaded rod 64 to rotate clockwise, indirectly driving the counterweight block 62 threadedly connected thereto to move horizontally to the east. At this time, the east-west horizontal sensor 7 installed on the counterweight box 6 is used to detect the horizontal degree of the east and west sides. When the counterweight block 62 moves to a certain place and the horizontal degree of the east-west horizontal sensor 7 is qualified, the second rotating member 63 can be closed.

[0092] If the wind force on the west side is greater than that on the east side, to prevent the strong west wind from blowing the UAV body 1 to the east, the controller 5 activates the second rotating member 63 to rotate counterclockwise, drives the threaded rod 64 to rotate counterclockwise through the second rotating member 63, and indirectly drives the counterweight block 62 threadedly connected thereto to move horizontally to the west side. At this time, the east-west horizontal sensor 7 installed on the counterweight box 6 is used to detect the levelness of the east and west sides. When the counterweight block 62 moves to a certain position and the levelness of the east-west horizontal sensor 7 is qualified, the second rotating member 63 can be turned off.

[0093] When landing, if there is a gentle breeze in the east-west direction of the UAV body 1 and a strong wind in the north-south direction, the north-south horizontal sensor 7 installed on the counterweight box 6 is used to detect the levelness of the north-south direction. After the detection is completed, the levelness detection result is sent to the controller 5 via WiFi. At this time:

[0094] If the wind force on the south side is greater than that on the north side, to prevent the strong south wind from blowing the UAV body 1 to the north, the controller 5 activates the output shaft of the second drive 42 to extend vertically downward. The round rod 421 and the spherical ball 4211 installed on the second drive 42 cooperate with the mounting seat 43 fixedly installed on the counterweight box 6 to adjust the south side of the UAV body 1 downward. At this time, the counterweight block 62 provided in the counterweight box 6 also has a state where the south side is lower than the north side. The counterweight liquid in the north counterweight liquid chamber 621 will flow across the baffle 622 into the south counterweight liquid chamber 621 to increase the weight of the south side of the UAV body 1 until the north-south horizontal sensor 7 detects that the north-south levelness of the UAV body 1 is qualified, and then the controller 5 turns off the second drive 42.

[0095] If the wind force on the north side is greater than that on the south side, to prevent the strong north wind from blowing the UAV body 1 to the south, the controller 5 activates the output shaft of the second drive 42 to retract vertically upward. The round rod 421 and the spherical ball 4211 installed on the second drive 42 cooperate with the mounting seat 43 fixedly installed on the counterweight box 6 to adjust the north side of the UAV body 1 downward. At this time, the counterweight block 62 provided in the counterweight box 6 also has a state where the north side is lower than the south side. The counterweight liquid in the south counterweight liquid chamber 621 will flow across the baffle 622 into the north counterweight liquid chamber 621 to increase the weight of the north side of the UAV body 1 until the north-south horizontal sensor 7 detects that the north-south levelness of the UAV body 1 is qualified, and then the controller 5 turns off the second drive 42.

[0096] When landing, if the UAV body 1 is affected by wind to varying degrees in the east-west and north-south directions, the ultrasonic wind sensors 31 installed on the two landing gears 2 respectively detect the wind forces on the east and west sides, and the north-south horizontal sensor 7 installed on the counterweight box 6 detects the north-south levelness. After the detection is completed, both the levelness detection result and the wind forces on the east and west sides are sent to the controller 5 via WiFi. The controller 5 controls the first rotating member 41 to drive the rotating plate 411 to rotate, thereby adjusting the acting angle of the counterweight block 62 inside the counterweight box 6. Through the above adjustment method, the landing attitude of the UAV body 1 under the influence of wind is adjusted to make it land smoothly, and thus the accuracy of the UAV body 1 when conducting topographic mapping in Gansu region can be further improved.

[0097] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0098] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A high-precision positioning device for unmanned aerial vehicle surveying and mapping, comprising an unmanned aerial vehicle body (1) and a surveying and mapping probe, characterized in that: Both sides of the bottom of the drone body (1) are provided with a vertical plate (23) and a landing gear (2); the vertical plate (23) is fixedly connected to the bottom of the drone body (1), and the landing gear (2) is fixedly connected to the bottom of the vertical plate (23); A transverse plate (4) is fixedly connected between the landing gears (2) on both sides, a controller (5) is fixedly mounted on the transverse plate (4), a distance sensor (8) and an industrial camera (9) are arranged below the transverse plate (4), and both the distance sensor (8) and the industrial camera (9) are electrically connected to the controller (5); The landing gear (2) is provided with an adjustment component for adjusting the landing stability of the drone body (1), comprising: A grounding plate (22), the grounding plate (22) being slidably disposed inside the landing gear (2) and used to support the drone body (1) when landing, and the grounding plate (22) being evenly distributed in three groups in a horizontal array on a single-side landing gear (2); An accommodating chamber (24), wherein the accommodating chamber (24) is opened inside the landing gear (2); A first drive (224), wherein a fixed end of the first drive (224) is fixedly connected to an inner top surface of the accommodating cavity (24), an output end of the first drive (224) is fixedly connected to the top of the grounding plate (22) and is vertically arranged, the first drive (224) is electrically connected to a controller (5), and the first drive (224) is electrically connected to both a distance sensor (8) and an industrial camera (9).

2. The high-precision positioning device for UAV surveying and mapping according to claim 1, characterized in that: The open end of the accommodating cavity (24) is fixedly connected to a bottom plate (21), the open end of the accommodating cavity (24) is opened at the bottom of the landing gear (2), a through groove (211) is opened on the bottom plate (21), the specification of the through groove (211) is adapted to the specification of the grounding plate (22), the through groove (211) is evenly distributed in an array in three groups in the horizontal direction of the bottom plate (21), and the outer peripheral wall of the grounding plate (22) is in sliding contact with the inner wall of the through groove (211).

3. The high-precision positioning device for UAV surveying and mapping according to claim 2, characterized in that: The bottom of the grounding plate (22) is provided with an installation cavity (221), the interior of the installation cavity (221) is fixedly connected to a vertical plate (222), both sides of the vertical plate (222) are fixedly installed with a third driver (2221), the third drivers (2221) on both sides are respectively vertically arranged between the two side walls of the vertical plate (222), and the output ends of the third drivers (2221) on both sides are fixedly connected to a telescopic plate (223).

4. The high-precision positioning device for UAV surveying and mapping according to claim 1, characterized in that: A first rotating member (41) is fixedly mounted at the bottom of the transverse plate (4), the first rotating member (41) is vertically arranged between the transverse plate (4), an output end of the first rotating member (41) is vertically downward and fixedly connected to a rotating plate (411) via a coupling, and a counterweight adjustment module is arranged at the bottom of the rotating plate (411).

5. The high-precision positioning device for UAV surveying and mapping according to claim 4, characterized in that: The bottom of the rotating plate (411) is fixedly connected to a connecting rod (412), the bottom of the connecting rod (412) is hingedly connected to a counterweight box (6) via a hinge seat (413), a cavity (61) is provided inside the counterweight box (6), and a counterweight block (62) is slidably arranged inside the cavity (61).

6. The high-precision positioning device for UAV surveying and mapping according to claim 5, characterized in that: A second rotating member (63) is fixedly mounted on one side wall of the counterweight box (6), and an output shaft of the second rotating member (63) is vertically arranged between the side wall of the counterweight box (6). The output shaft of the second rotating member (63) passes through the side wall of the counterweight box (6) and is fixedly connected to a threaded rod (64) via a coupling. One end of the threaded rod (64) away from the second rotating member (63) is connected to an inner wall of the counterweight box (6) via a bearing, and the counterweight block (62) is threadedly connected to the threaded rod (64).

7. The high-precision positioning device for UAV surveying and mapping according to claim 6, characterized in that: The top of the counterweight block (62) is in sliding contact with the inner top surface of the cavity (61), and the bottom of the counterweight block (62) is in sliding contact with the inner bottom surface of the cavity (61).

8. The high-precision positioning device for UAV surveying and mapping according to claim 7, characterized in that: A counterweight liquid chamber (621) is provided at the bottom of the counterweight block (62), a baffle (622) is fixedly connected to the middle of the inner bottom surface of the counterweight liquid chamber (621), a gap exists between the baffle (622) and the inner top surface of the counterweight liquid chamber (621), two groups of the counterweight liquid chamber (621) are symmetrically arranged with the baffle (622) inside the counterweight block (62), a level sensor (7) is arranged on the counterweight box (6), and the level sensor (7) is electrically connected to the controller (5).

9. The high-precision positioning device for UAV surveying and mapping according to claim 8, characterized in that: A second drive (42) is fixedly mounted on the bottom of the rotating plate (411), a fixed end of the second drive (42) is fixedly connected to the bottom of the rotating plate (411), an output end of the second drive (42) is fixedly connected to a round rod (421), an end of the round rod (421) away from the second drive (42) is fixedly connected to a round ball (4211), a mounting seat (43) is fixedly connected to the counterweight box (6), a spherical groove (431) is provided inside the mounting seat (43), and the round ball (4211) is rollingly arranged between the spherical groove (431).

10. The high-precision positioning device for UAV surveying and mapping according to claim 1, characterized in that: The side walls of the landing gear (2) on both sides are fixedly connected with arc plates (3), the arc plates (3) are vertically arranged between the side walls of the landing gear (2), and ultrasonic wind sensors (31) are fixedly installed on the arc plates (3), and the ultrasonic wind sensors (31) are electrically connected to the controller (5).

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