Map photogrammetry device based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of map photogrammetry, and discloses an unmanned aerial vehicle-based map photogrammetry device, which comprises a high-integration-level measurement camera, a floating mechanism arranged outside the measurement camera and a connecting frame arranged below the floating mechanism and used for being hung on the bottom surface of an unmanned aerial vehicle, the floating mechanism comprises a mounting cylinder vertically arranged outside the measuring camera, a group of mounting grooves formed in the outer surface of the mounting cylinder at equal intervals in the circumferential direction, and a floating shell hinged to the upper parts of inner cavities of the mounting grooves. Through cooperative design of the measuring camera and the floating mechanism, salvage and recovery of the measuring camera by an operator are realized, the recovery difficulty is reduced, the salvage efficiency of the measuring camera is improved, the time consumption is low, the cost is low, and the problems that the measuring camera and the unmanned aerial vehicle are heavy in weight and easy to sink into water are avoided. And an operator needs to dive into water to salvage and recover the fish, so that the recovery difficulty is high, the consumed time is long and the cost is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of map photogrammetry, and specifically relates to a map photogrammetry device based on an unmanned aerial vehicle (UAV). Background Art

[0002] Map photogrammetry captures high-resolution image data of the earth's surface through a camera, and combines photogrammetry software to calculate the coordinates and elevation information of ground objects, providing basic data support for topographic maps, digital elevation models, etc.

[0003] When the map photogrammetry cameras in the prior art are in use, they are mainly divided into an integrated type with the UAV and a detachable type. Among them, most of the detachable measurement cameras are mounted under the UAV. The detachable photogrammetry camera integrates a communication module, a power module, a data calculation module, a control module for the camera angle, etc. After the operator mounts the detachable photogrammetry camera under the UAV, the power module is connected to the UAV power supply to supply power to the measurement camera, the shooting parameters of the measurement camera are set through the communication module and the data calculation module, and the camera angle is adjusted through the control module.

[0004] However, there are still corresponding drawbacks in actual use: when the UAV carrying the detachable map photogrammetry camera has a sudden failure during aerial map photography and falls into relatively deep water (such as ponds, lakes, rivers, etc.), the traditional measurement camera and the UAV are relatively heavy and are likely to sink into the water. It requires the operator to dive into the water to salvage and recover them, which is difficult, time-consuming, and costly. Summary of the Invention

[0005] Technical Problem to be Solved To solve the problems raised in the above background art, the present invention provides a map photogrammetry device based on a UAV, which has the advantages of convenient operation and easy salvage and recovery. Through the cooperative design of structures such as a measurement camera and a floating mechanism, it is convenient for the operator to salvage and recover the measurement camera, reduces the recovery difficulty, improves the salvage efficiency of the measurement camera, and has the effect of less time consumption and low cost. Technical Solution

[0006] To achieve the above object, the present invention provides the following technical solution: A map photogrammetry device based on a UAV, comprising a highly integrated measurement camera, a floating mechanism arranged outside the measurement camera, and a connecting frame arranged below the floating mechanism for mounting on the bottom surface of the UAV; The floating mechanism includes an installation cylinder vertically arranged outside the measurement camera, a set of installation grooves circumferentially and equidistantly opened on the outer surface of the installation cylinder, a floating shell hinged to the upper part of the inner cavity of the installation groove, a floating airbag arranged inside the floating shell, an annular slide plate moving up and down in the upper part of the inner cavity of the installation cylinder, a gas supply mechanism arranged in the lower part of the inner cavity of the installation cylinder for supplying gas to the floating airbag, a transmission mechanism arranged inside the floating shell for driving the floating airbag to unfold, and a warning mechanism arranged on the floating airbag; Among them, the bottom of the measurement camera is detachably connected to the inner ring of the annular slide plate. A first torsion spring for driving the floating shell to turn outwards is arranged in the upper part of the inner cavity of the installation groove. The upper part of the connecting frame is threadedly connected to the lower part of the inner cavity of the installation cylinder. The middle part of the floating airbag is fixedly connected to the inner cavity of the floating shell.

[0007] In the above technical solution, preferably, the gas supply mechanism includes a high-pressure gas storage cylinder arranged in the lower part of the inner cavity of the installation cylinder, a dissolved trigger detachably communicated with the air outlet at the bottom of the high-pressure gas storage cylinder, a shunt shell fixedly sleeved outside the dissolved trigger, a set of communicating pipes circumferentially and equidistantly communicated with the outer surface of the shunt shell, an installation cavity vertically opened between the installation groove and the inner cavity of the installation cylinder, a sliding pipe vertically moving up and down in the inner cavity of the installation cavity, a vertical rod vertically fixed on the bottom surface of the inner cavity of the installation cavity, a sealing block fixed at the top of the vertical rod and movably connected with the inner cavity of the sliding pipe, a contraction spring movably sleeved on the outer surface of the vertical rod, and a hose fixed at the top of the sliding pipe for communicating the inner cavity of the sliding pipe with the inner cavity of the floating airbag; Among them, the inner cavity of the shunt shell is communicated with the air outlet hole of the dissolved trigger. The inner cavity of the communicating pipe is communicated with the lower part of the inner cavity of the installation cavity. The outer surface of the sliding pipe fits with the inner cavity of the installation cavity. The upper and lower ends of the contraction spring are respectively fixedly connected to the bottom surface of the sliding pipe and the bottom surface of the inner cavity of the installation cavity. A one-way valve for introducing gas into the hose is arranged in the upper part of the inner cavity of the sliding pipe.

[0008] In the above technical solution, preferably, a set of positioning blocks are circumferentially and equidistantly arranged in the inner cavity of the installation cylinder. The left end of the positioning block is movably connected with the bottom surface and the side wall of the annular slide plate. The right end of the positioning block penetrates into the inner cavity of the installation cavity. The right end of the positioning block is movably connected with the outer surface of the sliding pipe. And a groove is vertically opened on the outer surface of the sliding pipe. The right end of the positioning block is movably connected with the inner cavity of the groove.

[0009] In the above technical solution, preferably, a card hole communicating with the inner cavity of the installation cavity is provided in the upper part of the inner cavity of the installation groove, a plastic buckle adapted to the card hole is fixedly installed on the bottom surface of the floating shell, a docking groove is provided on one side of the outer surface of the sliding tube close to the card hole, and the plastic buckle is movably connected to the bottom surface of the inner cavity of the docking groove.

[0010] In the above technical solution, preferably, the transmission mechanism includes two main struts symmetrically arranged on the bottom surface of the inner cavity of the floating shell, a secondary strut arranged above the main strut, an installation rod arranged above the main strut for driving the floating airbag to unfold, and a limiting member arranged on the bottom surface of the main strut for restricting the secondary strut; Among them, one end of the main strut close to the upper part of the inner cavity of the installation groove is hinged to the bottom surface of the inner cavity of the floating shell, a second torsion spring for driving the main strut to turn outwards is arranged on the bottom surface of the inner cavity of the floating shell, the other end of the main strut is hinged to the bottom surface of the installation rod, a placement groove is provided on the upper surface of the main strut, one end of the secondary strut away from the installation groove is hinged to the bottom surface of the inner cavity of the placement groove, a third torsion spring for driving the secondary strut to turn outwards is arranged on the bottom surface of the inner cavity of the placement groove, a pin rod is vertically and fixedly installed at the other end of the upper surface of the secondary strut, a pin slot adapted to the pin rod is provided on the bottom surface of the installation rod, and a magnetic strip is fixedly installed on one side of the outer surface of the installation rod.

[0011] In the above technical solution, preferably, the limiting member includes a limiting rod vertically arranged on the bottom surface of the inner cavity of the placement groove, a limiting groove opened on the bottom surface of the secondary strut, and a spring sleeve fixedly sleeved on the bottom of the outer surface of the limiting rod; Among them, the limiting rod is movably connected to the limiting groove, the bottom end of the limiting rod penetrates below the main strut, the bottom end of the limiting rod is movably connected to the bottom surface of the inner cavity of the floating shell, and the upper surface of the spring sleeve is fixedly connected to the bottom surface of the main strut.

[0012] In the above technical solution, preferably, a convex block is vertically and fixedly installed on the bottom surface of the inner cavity of the placement groove close to the hinged end of the secondary strut, and the outer surface of the convex block is movably connected to the outer surface of the secondary strut.

[0013] In the above technical solution, preferably, the warning mechanism includes a group of warning lights fixedly installed in the middle of the upper surface of the floating airbag, an extension rod arranged in the middle of the inner cavity of the floating airbag, a fixed contact piece fixedly sleeved on the extension rod, a moving contact piece slidably sleeved on one end of the extension rod close to the installation groove, two rotating rods symmetrically hinged in the inner cavity of the floating airbag, one end of the rotating rod is hinged to the outer surface of the moving contact piece, and a button power supply arranged at the end of the extension rod away from the installation groove; Wherein, the moving contact piece is movably connected to the fixed contact piece, the warning light is electrically connected to the fixed contact piece and the moving contact piece, the fixed contact piece and the moving contact piece are electrically connected to the button power supply, one end of the extension rod away from the installation groove penetrates outside the inner cavity of the floating shell, and a knob is fixedly installed at one end of the extension rod. The knob is threadedly connected to one side of the outer surface of the floating shell, and the button power supply is located in the inner cavity of the knob.

[0014] In the above technical solution, preferably, a group of clamping blocks are circumferentially and equidistantly fixedly installed at the lower part of the inner cavity of the installation cylinder. A two-stage retractable spring column is vertically fixedly installed on the upper surface of the clamping block. The top end of the output shaft of the two-stage retractable spring column is fixedly connected to the bottom surface of the annular sliding plate, and the outer surface of the clamping block is movably connected to the outer surface of the high-pressure gas cylinder.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the cooperative design of structures such as a measurement camera and a floating mechanism in the present invention, the air supply mechanism is operated under the action of water. After the air supply mechanism operates, under the pulling force of the two-stage retractable spring column, the annular sliding plate can drive the measurement camera to slide into the installation cylinder, which is convenient for protecting the measurement camera and reducing the damage caused by collision with debris in the water. At the same time, after the air supply mechanism operates, under the elastic drive of the first torsion spring, the floating shell flips out of the installation groove and assumes a horizontal state. After the floating shell flips to a horizontal state, the floating airbags can be automatically deployed through the transmission mechanism. After multiple floating airbags are deployed, they can form a circular ring, which can reduce the collision force of debris in the water. Moreover, the air supply mechanism can inflate the deployed floating airbags, so that the floating airbags generate buoyancy after inflation to drive the measurement camera and the drone to float on the water surface, which is convenient for the operator to salvage and recover the measurement camera, reduces the recovery difficulty, improves the salvage efficiency of the measurement camera, takes less time and has low cost, and solves the problems in the prior art that the measurement camera and the drone are heavy, easy to sink into the water, and need the operator to dive into the water to salvage and recover them, with high recovery difficulty, long time consumption and high cost.

[0016] 2. Through the cooperative design of structures such as floating airbags, floating shells, and warning mechanisms in the present invention, when the floating airbags generate buoyancy after inflation to drive the measurement camera and the drone to float on the water surface, at this time, the measurement camera is located on the water surface driven by the buoyancy of the floating airbags, and the drone is under the water surface. During the deployment process of the floating airbags, the inner cavity of the floating airbags can drive the rotating rod to move. When the rotating rod moves, it can make the moving contact piece move into contact with the fixed contact piece to activate the operation of the warning light. Through the light color emitted when the warning light operates, it is convenient for the operator to quickly observe the measurement camera in the water, improving the efficiency and effect of the operator's search. Description of the Drawings

[0017] Figure 1 Schematic diagram of the structure of the present invention; Figure 2 Schematic diagram of the structure of the present invention in the initial state; Figure 3 Front view sectional structure diagram of the installation cylinder of the present invention; Figure 4 Exploded view of the structure of the measurement camera, installation cylinder, annular slide plate, connecting frame, and high-pressure gas storage tank of the present invention; Figure 5 Partial front view sectional structure diagram of the sliding tube, docking groove, clamping hole, positioning block, and groove of the present invention; Figure 6 Partial front view sectional structure diagram of the installation cavity, sliding tube, vertical tube, sealing block, and compression spring of the present invention; Figure 7 Schematic diagram of the structure of the floating shell, floating airbag, warning light, main support rod, and secondary support rod of the present invention; Figure 8 Bottom view structure diagram of the floating shell, floating airbag, plastic buckle, main support rod, and secondary support rod of the present invention; Figure 9 Schematic diagram of the structure of the main support rod, secondary support rod, and installation rod of the present invention; Figure 10 Bottom view structure diagram of the main support rod, secondary support rod, and installation rod of the present invention; Figure 11 Partial top view sectional structure diagram of the warning mechanism of the present invention; Figure 12 Sectional structure diagram of the extension rod and button battery of the present invention.

[0018] In the figure: 1. Measurement camera; 2. Floating mechanism; 21. Installation cylinder; 22. Installation groove; 23. Floating shell; 24. Floating airbag; 25. Annular slide plate; 3. Connecting frame; 4. Gas supply mechanism; 41. High-pressure gas storage cylinder; 42. Dissolved trigger; 43. Shunt shell; 44. Connecting pipe; 45. Installation cavity; 46. Sliding tube; 47. Vertical rod; 48. Sealing block; 49. Compression spring; 410. Hose; 5. Transmission mechanism; 51. Main support rod; 52. Secondary support rod; 53. Installation rod; 54. Limiting member; 6. Warning mechanism; 61. Warning light; 62. Extension rod; 63. Fixed contact; 64. Moving contact; 65. Rotating rod; 66. Button power supply; 7. Positioning block; 8. Groove; 9. Clamping hole; 10. Plastic buckle; 11. Docking groove; 12. Two-stage retractable spring column. Detailed implementation manners

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.

[0020] As Figures 1 to 12 shown, the present invention provides a map photogrammetry device based on an unmanned aerial vehicle, which includes a highly integrated measurement camera 1, a floating mechanism 2 arranged outside the measurement camera 1, and a connecting frame 3 arranged below the floating mechanism 2 for hanging on the bottom surface of the unmanned aerial vehicle; The floating mechanism 2 includes an installation cylinder 21 vertically arranged outside the measurement camera 1, a group of installation grooves 22 circumferentially and equidistantly opened on the outer surface of the installation cylinder 21, a floating shell 23 hinged to the upper part of the inner cavity of the installation groove 22, a floating airbag 24 arranged in the floating shell 23, an annular sliding plate 25 moving up and down in the upper part of the inner cavity of the installation cylinder 21, a gas supply mechanism 4 arranged in the lower part of the inner cavity of the installation cylinder 21 for supplying gas to the floating airbag 24, a transmission mechanism 5 arranged in the floating shell 23 for driving the floating airbag 24 to expand, and a warning mechanism 6 arranged on the floating airbag 24; Among them, the bottom of the measurement camera 1 is detachably connected to the inner ring of the annular sliding plate 25. The upper part of the inner cavity of the installation groove 22 is provided with a first torsion spring for driving the floating shell 23 to turn outwards. The upper part of the connecting frame 3 is threadedly connected to the lower part of the inner cavity of the installation cylinder 21. The middle part of the floating airbag 24 is fixedly connected to the inner cavity of the floating shell 23. A group of clamping blocks are circumferentially and equidistantly fixedly installed in the lower part of the inner cavity of the installation cylinder 21. The upper surface of the clamping block is vertically fixedly installed with a two-stage retractable spring column 12. The top end of the output shaft of the two-stage retractable spring column 12 is fixedly connected to the bottom surface of the annular sliding plate 25, and the outer surface of the clamping block is movably connected to the outer surface of the high-pressure gas storage cylinder 41.

[0021] In use, in the initial state, the measuring camera 1 faces the ground direction, the connecting frame 3 faces the sky direction, and it is connected and mounted to the bottom of the drone through the connecting frame 3. The floating shell 23 is vertically attached to the installation groove 22. When the drone and the measuring camera 1 fall into deep water, the water causes the air supply mechanism 4 to operate. After the air supply mechanism 4 operates, under the pulling force of the two-stage retractable spring column 12, the annular slide plate 25 can drive the measuring camera 1 to slide into the installation cylinder 21, facilitating the protection of the measuring camera 1 and reducing the damage caused by collisions with underwater debris. At the same time, after the air supply mechanism 4 operates, under the elastic drive of the first torsion spring, the floating shell 23 flips outward from the installation groove 22 to a horizontal state. After the floating shell 23 flips to a horizontal state, the floating airbag 24 can be automatically deployed through the transmission mechanism 5. After multiple floating airbags 24 are deployed, they can form an annular ring, which can reduce the collision force of underwater debris. Moreover, the air supply mechanism 4 can inflate the deployed floating airbags 24, so that the buoyancy generated after the floating airbags 24 are inflated drives the measuring camera 1 and the drone to float on the water surface, facilitating the operator to salvage and recover the measuring camera 1, reducing the recovery difficulty, improving the salvage efficiency of the measuring camera 1, and taking less time and having low cost.

[0022] It should be noted that after the floating airbag 24 is inflated to generate buoyancy and drives the measuring camera 1 and the drone to float on the water surface, at this time, the measuring camera 1 is located on the water surface driven by the buoyancy of the floating airbag 24, the drone is under the water surface, and when the floating airbag 24 is deployed, it can drive the warning mechanism 6 to operate. Through the light color emitted when the warning mechanism 6 operates, it is convenient for the operator to quickly observe the measuring camera 1 in the water, improving the efficiency and effect of the operator's search.

[0023] As Figure 4 、 Figure 5 、 Figure 6 shown, the air supply mechanism 4 includes a high-pressure gas storage cylinder 41 arranged at the lower part of the inner cavity of the installation cylinder 21, a dissolution trigger 42 detachably connected to the air outlet at the bottom of the high-pressure gas storage cylinder 41. The dissolution trigger 42 is a prior art, and its structure and principle will not be elaborated here. A shunt shell 43 fixedly sleeved outside the dissolution trigger 42, a group of connecting pipes 44 circumferentially and equidistantly communicated with the outer surface of the shunt shell 43, an installation cavity 45 vertically opened between the installation groove 22 and the inner cavity of the installation cylinder 21, a sliding pipe 46 vertically moving up and down in the inner cavity of the installation cavity 45, a vertical rod 47 vertically fixed to the bottom surface of the inner cavity of the installation cavity 45, a sealing block 48 fixed to the top of the vertical rod 47 and movably connected to the inner cavity of the sliding pipe 46, a contraction spring 49 movably sleeved on the outer surface of the vertical rod 47, and a hose 410 fixed to the top of the sliding pipe 46 for communicating the inner cavity of the sliding pipe 46 with the inner cavity of the floating airbag 24; Among them, the inner cavity of the flow dividing shell 43 is communicated with the air outlet hole of the dissolution type trigger 42. The inner cavity of the connecting pipe 44 is communicated with the lower part of the inner cavity of the installation cavity 45. The outer surface of the sliding pipe 46 fits with the inner cavity of the installation cavity 45. The upper and lower ends of the contraction spring 49 are respectively fixedly connected with the bottom surface of the sliding pipe 46 and the bottom surface of the inner cavity of the installation cavity 45. A one-way valve for introducing gas into the hose 410 is arranged in the upper part of the inner cavity of the sliding pipe 46. A manual air release valve is communicated with the bottom surface of the flow dividing shell 43.

[0024] When in use, after the dissolution type trigger 42 is immersed in water, the salt block or rock sugar in its internal positioning groove dissolves in water. The internal spring pushes the valve nozzle to move, so that the compressed gas in the high-pressure gas cylinder 41 enters the installation cavity 45 through the flow dividing shell 43 and the connecting pipe 44. The gas can push the sliding pipe 46 to move upward. After the sliding pipe 46 moves upward and separates from the sealing block 48, the gas can enter the floating airbag 24 through the inner cavity of the sliding pipe 46, the one-way valve and the hose 410 to inflate it.

[0025] As Figure 5 shown, a group of positioning blocks 7 are circumferentially and equidistantly arranged in the inner cavity of the installation cylinder 21. The left end of the positioning block 7 is movably connected with the bottom surface and the side wall of the annular sliding plate 25. The right end of the positioning block 7 penetrates into the inner cavity of the installation cavity 45. The right end of the positioning block 7 is movably connected with the outer surface of the sliding pipe 46. And a groove 8 is vertically formed on the outer surface of the sliding pipe 46. The right end of the positioning block 7 is movably connected with the inner cavity of the groove 8.

[0026] When in use, after the gas pushes the sliding pipe 46 to move upward and drives the groove 8 to move upward, under the pulling force of the two-stage retraction spring column 12, the annular sliding plate 25 can squeeze the positioning block 7, and the positioning block 7 can be moved into the groove 8, which is convenient for the annular sliding plate 25 to drive the measurement camera 1 to slide into the installation cylinder 21.

[0027] As Figure 6 shown, a clamping hole 9 communicated with the inner cavity of the installation cavity 45 is formed in the upper part of the inner cavity of the installation groove 22. A plastic buckle 10 adapted to the clamping hole 9 is fixedly installed on the bottom surface of the floating shell 23. A docking groove 11 is formed on the outer surface of the sliding pipe 46 close to the clamping hole 9. The plastic buckle 10 is movably connected with the bottom surface of the inner cavity of the docking groove 11.

[0028] When in use, when the gas pushes the sliding pipe 46 to move upward and the docking groove 11 moves upward, the bottom surface of the inner cavity of the docking groove 11 can push the plastic buckle 10 to separate from the clamping hole 9, which is convenient for the floating shell 23 to be turned out of the installation groove 22 and into a horizontal state under the elastic force drive of the first torsion spring.

[0029] As Figure 7 、 Figure 8 、 Figure 9 、 Figure 10As shown in the figure, the transmission mechanism 5 includes two main support rods 51 symmetrically arranged on the bottom surface of the inner cavity of the floating shell 23, a secondary support rod 52 arranged above the main support rod 51, a mounting rod 53 arranged above the main support rod 51 for driving the floating airbag 24 to unfold, and a limiting member 54 arranged on the bottom surface of the main support rod 51 for restricting the secondary support rod 52; Among them, one end of the main support rod 51 close to the upper part of the inner cavity of the mounting groove 22 is hinged to the bottom surface of the inner cavity of the floating shell 23. A second torsion spring for driving the main support rod 51 to turn outwards is arranged on the bottom surface of the inner cavity of the floating shell 23. The other end of the main support rod 51 is hinged to the bottom surface of the mounting rod 53. The side wall of the main support rod 51 is movably connected to the inner cavity of the mounting groove 22. A placement groove is provided on the upper surface of the main support rod 51. One end of the secondary support rod 52 away from the mounting groove 22 is hinged to the bottom surface of the inner cavity of the placement groove. A third torsion spring for driving the secondary support rod 52 to turn outwards is arranged on the bottom surface of the inner cavity of the placement groove. A pin rod is vertically and fixedly installed at the other end of the upper surface of the secondary support rod 52. A pin groove adapted to the pin rod is provided on the bottom surface of the mounting rod 53. A magnetic strip is fixedly installed on one side of the outer surface of the mounting rod 53. The limiting member 54 includes a limiting rod vertically arranged on the bottom surface of the inner cavity of the placement groove, a limiting groove opened on the bottom surface of the secondary support rod 52, and a spring sleeve fixedly sleeved on the bottom of the outer surface of the limiting rod; the limiting rod is movably connected to the limiting groove. The bottom end of the limiting rod penetrates below the main support rod 51. The bottom end of the limiting rod is movably connected to the bottom surface of the inner cavity of the floating shell 23. The upper surface of the spring sleeve is fixedly connected to the bottom surface of the main support rod 51.

[0030] During use, when the floating shell 23 turns outwards to the mounting groove 22 and becomes horizontal, the side wall of the main support rod 51 is separated from the inner cavity of the mounting groove 22. The main support rod 51 is driven by the elastic force of the second torsion spring to drive the mounting rod 53 to rotate outwards from the floating shell 23. And when the bottom end of the limiting rod is separated from the bottom surface of the inner cavity of the floating shell 23 during the rotation of the main support rod 51 outwards from the floating shell 23, the secondary support rod 52 is driven by the elastic force of the third torsion spring to rotate outwards from the placement groove, so that the floating airbag 24 can be driven to unfold by the mounting rod 53, and after multiple floating airbags 24 are unfolded, they form a ring, which can increase the contact area with the water surface, improve the floating effect, and the two mounting rods 53 in contact with each other can be closely attached through the magnetic strip, improving the stability.

[0031] As Figure 9 shown in the figure, a convex block is vertically and fixedly installed on the bottom surface of the inner cavity of the placement groove close to the hinged end of the secondary support rod 52. The outer surface of the convex block is movably connected to the outer surface of the secondary support rod 52.

[0032] During use, the rotation angle of the secondary support rod 52 can be limited by the convex block, avoiding the influence of the too large rotation angle of the secondary support rod 52 on the unfolding effect of the floating airbag 24.

[0033] As Figure 11 、 Figure 12As shown in the figure, the warning mechanism 6 includes a set of warning lights 61 fixedly installed in the middle of the upper surface of the floating airbag 24, an extension rod 62 arranged in the middle of the inner cavity of the floating airbag 24, a fixed contact piece 63 fixedly sleeved on the extension rod 62, a moving contact piece 64 slidably sleeved on one end of the extension rod 62 close to the installation groove 22, two rotating rods 65 symmetrically hinged in the inner cavity of the floating airbag 24, one end of the rotating rod 65 being hinged to the outer surface of the moving contact piece 64, and a button power supply 66 arranged at one end of the extension rod 62 away from the installation groove 22; Among them, the moving contact piece 64 is movably connected to the fixed contact piece 63, the warning light 61 is electrically connected to the fixed contact piece 63 and the moving contact piece 64, the fixed contact piece 63 and the moving contact piece 64 are electrically connected to the button power supply 66, one end of the extension rod 62 away from the installation groove 22 penetrates to the outside of the inner cavity of the floating shell 23, and a knob is fixedly installed at one end of the extension rod 62. The knob is threadedly connected to one side of the outer surface of the floating shell 23, and the button power supply 66 is located in the inner cavity of the knob.

[0034] During use, when the floating airbag 24 unfolds, the inner cavity of the floating airbag 24 can drive the rotating rod 65 to move. When the rotating rod 65 moves, it can make the moving contact piece 64 move to contact the fixed contact piece 63, activating the operation of the warning light 61. Through the light color emitted when the warning light 61 operates, it is convenient for the operator to quickly observe the measurement camera 1 in the water, improving the efficiency and effect of the operator's search.

[0035] The working principle and usage process of the present invention: When in use, first, in the initial state, the measurement camera 1 faces the ground direction, the connecting frame 3 faces the sky direction, and it is connected and mounted to the bottom of the drone through the connecting frame 3. The floating shell 23 is vertically attached to the installation groove 22. When the drone and the measurement camera 1 fall into deep water, after the dissolving trigger 42 is submerged in water, the salt block or rock sugar in its internal positioning groove dissolves in water, and the internal spring pushes the valve nozzle to move, enabling the compressed gas in the high-pressure gas cylinder 41 to enter the installation cavity 45 through the shunt shell 43 and the connecting pipe 44. The gas can push the sliding pipe 46 to move upward. After the sliding pipe 46 moves upward and drives the groove 8 to move upward, under the pulling force of the two-stage retracting spring column 12, the annular sliding plate 25 can squeeze the positioning block 7, enabling the positioning block 7 to move into the groove 8. Then, the annular sliding plate 25 can drive the measurement camera 1 to slide into the installation cylinder 21. At the same time, the upward movement of the sliding pipe 46 drives the docking groove 11 to move upward. When the docking groove 11 moves upward, the bottom surface of its inner cavity pushes the plastic buckle 10 to separate from the card hole 9. Then, the floating shell 23 rotates outward from the installation groove 22 to a horizontal state under the elastic force of the first torsion spring. At this time, the side wall of the main support rod 51 separates from the inner cavity of the installation groove 22. The main support rod 51 drives the installation rod 53 to rotate outward from the floating shell 23 under the elastic force of the second torsion spring. And when the main support rod 51 rotates outward from the floating shell 23, the bottom end of the limiting rod separates from the inner cavity bottom surface of the floating shell 23, and under the elastic force of the third torsion spring, the secondary support rod 52 rotates outward from the placement groove, so that the floating airbag 24 can be unfolded through the installation rod 53, and after multiple floating airbags 24 are unfolded, they form an annular ring, which can increase the contact area with the water surface, improve the floating effect, and the two installation rods 53 in contact with each other can be closely attached through the magnetic strip, improving the stability. At the same time, after the sliding pipe 46 moves upward and separates from the sealing block 48, the gas can enter the floating airbag 24 through the inner cavity of the sliding pipe 46, the one-way valve and the hose 410 to inflate it. After the floating airbag 24 is inflated, it generates buoyancy to drive the measurement camera 1 and the drone to float on the water surface, facilitating the operator to salvage and recover the measurement camera 1. And during the unfolding process of the floating airbag 24, the inner cavity of the floating airbag 24 can drive the rotating rod 65 to move. When the rotating rod 65 moves, it can make the moving contact piece 64 move to contact the fixed contact piece 63, activating the warning light 61 to operate. Through the light color emitted when the warning light 61 operates, it is convenient for the operator to quickly observe the measurement camera 1 in the water, improving the efficiency and effect of the operator's search.

[0036] It should be noted that in this text, 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.

[0037] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle-based map photogrammetry device, characterized in that, It includes a highly integrated measurement camera (1), a floating mechanism (2) arranged outside the measurement camera (1), and a connecting frame (3) arranged below the floating mechanism (2) for mounting on the bottom surface of a drone; The floating mechanism (2) includes a mounting cylinder (21) vertically arranged outside the measurement camera (1), a set of mounting grooves (22) circumferentially and equidistantly opened on the outer surface of the mounting cylinder (21), a floating shell (23) hinged to the upper part of the inner cavity of the mounting groove (22), a floating airbag (24) arranged inside the floating shell (23), an annular sliding plate (25) moving up and down in the upper part of the inner cavity of the mounting cylinder (21), a gas supply mechanism (4) arranged in the lower part of the inner cavity of the mounting cylinder (21) for supplying gas into the floating airbag (24), a transmission mechanism (5) arranged inside the floating shell (23) for driving the floating airbag (24) to unfold, and a warning mechanism (6) arranged on the floating airbag (24); Among them, the bottom of the measurement camera (1) is detachably connected to the inner ring of the annular sliding plate (25), a first torsion spring for driving the floating shell (23) to turn outwards is arranged in the upper part of the inner cavity of the mounting groove (22), the upper part of the connecting frame (3) is threadedly connected to the lower part of the inner cavity of the mounting cylinder (21), and the middle part of the floating airbag (24) is fixedly connected to the inner cavity of the floating shell (23).

2. The map photogrammetry device based on a drone according to claim 1, wherein: The gas supply mechanism (4) includes a high-pressure gas storage cylinder (41) arranged in the lower part of the inner cavity of the mounting cylinder (21), a dissolving trigger (42) detachably communicated with the air outlet at the bottom of the high-pressure gas storage cylinder (41), a shunt shell (43) fixedly sleeved outside the dissolving trigger (42), a set of communicating pipes (44) circumferentially and equidistantly communicated with the outer surface of the shunt shell (43), a mounting cavity (45) vertically opened between the mounting groove (22) and the inner cavity of the mounting cylinder (21), a sliding pipe (46) vertically moving up and down in the inner cavity of the mounting cavity (45), a vertical rod (47) vertically fixed on the bottom surface of the inner cavity of the mounting cavity (45), a sealing block (48) fixed at the top of the vertical rod (47) and movably connected with the inner cavity of the sliding pipe (46), a contraction spring (49) movably sleeved on the outer surface of the vertical rod (47), and a hose (410) fixed at the top of the sliding pipe (46) for communicating the inner cavity of the sliding pipe (46) with the inner cavity of the floating airbag (24); Among them, the inner cavity of the shunt shell (43) is communicated with the air outlet hole of the dissolving trigger (42), the inner cavity of the communicating pipe (44) is communicated with the lower part of the inner cavity of the mounting cavity (45), the outer surface of the sliding pipe (46) fits with the inner cavity of the mounting cavity (45), the upper and lower ends of the contraction spring (49) are respectively fixedly connected with the bottom surface of the sliding pipe (46) and the bottom surface of the inner cavity of the mounting cavity (45), and a one-way valve for introducing gas into the hose (410) is arranged in the upper part of the inner cavity of the sliding pipe (46).

3. The UAV-based map photogrammetry device according to claim 2, characterized in that: A group of positioning blocks (7) are circumferentially and equidistantly arranged in the inner cavity of the installation cylinder (21). The left end of the positioning block (7) is movably connected to the bottom surface and the side wall of the annular sliding plate (25). The right end of the positioning block (7) penetrates into the inner cavity of the installation cavity (45). The right end of the positioning block (7) is movably connected to the outer surface of the sliding tube (46). A groove (8) is vertically formed on the outer surface of the sliding tube (46), and the right end of the positioning block (7) is movably connected to the inner cavity of the groove (8).

4. The map photogrammetry device based on an unmanned aerial vehicle according to claim 3, wherein: A clamping hole (9) communicating with the inner cavity of the installation cavity (45) is formed in the upper part of the inner cavity of the installation groove (22). A plastic buckle (10) adapted to the clamping hole (9) is fixedly installed on the bottom surface of the floating shell (23). A docking groove (11) is formed on one side of the outer surface of the sliding tube (46) close to the clamping hole (9). The plastic buckle (10) is movably connected to the bottom surface of the inner cavity of the docking groove (11).

5. The map photogrammetry device based on an unmanned aerial vehicle according to claim 4, characterized in that: The transmission mechanism (5) includes two main support rods (51) symmetrically arranged on the bottom surface of the inner cavity of the floating shell (23), a secondary support rod (52) arranged above the main support rod (51), an installation rod (53) arranged above the main support rod (51) for driving the floating airbag (24) to unfold, and a limiting member (54) arranged on the bottom surface of the main support rod (51) for restricting the secondary support rod (52). Among them, one end of the main support rod (51) close to the upper part of the inner cavity of the installation groove (22) is hinged to the bottom surface of the inner cavity of the floating shell (23). A second torsion spring for driving the main support rod (51) to turn outwards is arranged on the bottom surface of the inner cavity of the floating shell (23). The other end of the main support rod (51) is hinged to the bottom surface of the installation rod (53). A placement groove is formed on the upper surface of the main support rod (51). One end of the secondary support rod (52) far from the installation groove (22) is hinged to the bottom surface of the inner cavity of the placement groove. A third torsion spring for driving the secondary support rod (52) to turn outwards is arranged on the bottom surface of the inner cavity of the placement groove. A pin rod is vertically and fixedly installed at the other end of the upper surface of the secondary support rod (52). A pin slot adapted to the pin rod is formed on the bottom surface of the installation rod (53). A magnetic strip is fixedly installed on one side of the outer surface of the installation rod (53).

6. The map photogrammetry device based on an unmanned aerial vehicle according to claim 5, wherein: The limiting member (54) includes a limiting rod vertically arranged on the bottom surface of the inner cavity of the placement groove, a limiting groove formed on the bottom surface of the secondary support rod (52), and a spring sleeve fixedly sleeved on the outer surface of the bottom of the limiting rod. Among them, the limiting rod is movably connected to the limiting groove. The bottom end of the limiting rod penetrates below the main support rod (51). The bottom end of the limiting rod is movably connected to the bottom surface of the inner cavity of the floating shell (23). The upper surface of the spring sleeve is fixedly connected to the bottom surface of the main support rod (51).

7. The map photogrammetry device based on a drone according to claim 6, wherein: A convex block is vertically and fixedly installed on the bottom surface of the inner cavity of the placement groove close to the hinged end of the secondary support rod (52). The outer surface of the convex block is movably connected to the outer surface of the secondary support rod (52).

8. The map photogrammetry device based on an unmanned aerial vehicle according to claim 7, characterized in that: The warning mechanism (6) includes a group of warning lights (61) fixedly mounted on the middle of the upper surface of the floating airbag (24), an extension rod (62) arranged in the middle of the inner cavity of the floating airbag (24), a fixed contact piece (63) fixedly mounted on the extension rod (62), a movable contact piece (64) slidably mounted on one end of the extension rod (62) close to the installation slot (22), two rotating rods (65) symmetrically hinged in the inner cavity of the floating airbag (24), one end of the rotating rod (65) hinged to the outer surface of the movable contact piece (64), and a button power supply (66) arranged on the end of the extension rod (62) away from the installation slot (22); The movable contact piece (64) is movably connected to the fixed contact piece (63), the warning light (61) is electrically connected to the fixed contact piece (63) and the movable contact piece (64), the fixed contact piece (63) and the movable contact piece (64) are electrically connected to the button power supply (66), one end of the extension rod (62) away from the mounting groove (22) penetrates to the outside of the inner cavity of the floating shell (23), and a knob is fixedly installed on one end of the extension rod (62), the knob is threadedly connected to one side of the outer surface of the floating shell (23), and the button power supply (66) is located in the inner cavity of the knob.

9. The map photogrammetry device based on an unmanned aerial vehicle according to claim 8, characterized in that: A group of clamping blocks are fixedly installed at equal intervals in the circumferential direction on the lower part of the inner cavity of the mounting cylinder (21), and a two-stage retraction spring column (12) is vertically fixedly installed on the upper surface of the clamping block. The top end of the output shaft of the two-stage retraction spring column (12) is fixedly connected to the bottom surface of the annular slide (25), and the outer surface of the clamping block is movably connected to the outer surface of the high-pressure gas storage cylinder (41).

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