Geological survey positioning marking device and method based on remote sensing surveying and mapping

Abstract

The invention relates to the technical field of surveying and mapping, in particular to a geological survey positioning marking device and method based on remote sensing surveying and mapping, comprising a chassis bin, a bearing seat fixed at the top of the chassis bin, driving wheel units mounted at four corners of the chassis bin, and an adjusting mechanism mounted above the bearing seat. A lower three-way diverging frame and an upper three-way diverging frame are installed at the bottom and the top of the adjusting mechanism respectively, a high-position surveying unit is installed on the circumferential side of the upper three-way diverging frame, and a low-position positioning unit is installed on the circumferential side of the lower three-way diverging frame. By means of the adjusting mechanism and the driving part, the positions and angles of the high-position surveying unit and the low-position positioning unit can be flexibly adjusted, and surveying requirements under different terrain and geological conditions can be met. In complex terrains such as mountainous regions or canyons, accurate positioning and data acquisition can be realized, and the application scene of geological survey is expanded.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, in particular to a geological survey positioning marking device and marking method based on remote sensing mapping. Background Art

[0002] In geological survey work, accurate positioning marking is crucial for recording the location of geological features and subsequent research and analysis.

[0003] Existing positioning and marking devices and methods have many shortcomings. For example, traditional methods such as ground flagging are difficult to operate in complex terrain and are easily affected by natural factors, resulting in inaccurate or lost markings. Although some satellite-based marking devices have improved their accuracy, they are large in size, high in cost, and cannot work properly in signal-blocked areas.

[0004] At present, the technology that relies solely on the combination of remote sensing mapping and positioning marking is not perfect enough and still cannot be completely separated from the support of on-site survey methods.

[0005] After searching, a remote sensing positioning device was disclosed in the patent document with patent application number CN202420353271.4 and IPC classification number G01C15 / 00. It mainly uses telescopic components and the design of components such as springs and placement plates to complete the installation of signal transceivers.

[0006] It can be seen from the records of the above patent documents that it mainly uses a fixing seat to fix the entire structure and completes the installation and positioning of the signal transceiver on the upper part. However, this device has the following problems when used for field geological mapping: First, the entire device needs to be fixed to the ground, requiring manual labor during operation and poor flexibility; Second, the positioning device of remote sensing mapping cannot be adjusted according to the ground undulations during the survey process, resulting in poor survey accuracy and marking and positioning effects.

[0007] Based on this, it is necessary to design a new device that can quickly realize geological survey positioning marking in conjunction with remote sensing technology, and a new marking method that uses it in conjunction with remote sensing technology. Summary of the Invention

[0008] The present invention solves one of the above-mentioned technical problems, and the technical solution adopted is: a geological survey positioning marking device based on remote sensing mapping, including a chassis bin, a supporting seat fixed on the top of the chassis bin, driving wheel units installed at the four corners of the chassis bin, an adjusting mechanism installed above the supporting seat, a lower three-way diverging frame and an upper three-way diverging frame installed at the bottom and top of the adjusting mechanism respectively, a high-level survey unit is installed on the circumferential side of the upper three-way diverging frame, and a low-level positioning unit is installed on the circumferential side of the lower three-way diverging frame, the bottom of the adjusting mechanism is installed on the corresponding top of the low-level positioning unit, the top of the adjusting mechanism is installed on the corresponding bottom of the high-level survey unit, and the bottom of the lower three-way diverging frame is placed on the top of the supporting seat and is connected to the driving member in the mounting cavity at its top.

[0009] Based on any of the above technical solutions, further optimization is that: the adjustment mechanism includes three adjustment units evenly spaced along the circumference of the center of the supporting seat.

[0010] Based on any of the above technical solutions, further optimization is that: the high-position survey unit includes three upper installation bins respectively fixedly installed on the outer ends of the upper three-way divergent frame, and an optical imager, a multi-spectral analyzer, and a laser rangefinder are installed in sequence inside the three upper installation bins. The working angles of the optical imager, the multi-spectral analyzer, and the laser rangefinder follow the support seat to achieve on-demand tilt adjustment.

[0011] On the basis of any of the above technical solutions, further optimized is that: the low-position positioning unit includes three lower mounting seats respectively fixedly mounted on the three outer ends of the lower three-way diverging frame, and each of the lower mounting seats is respectively placed on the top of the supporting seat located at the lower middle position of the two upper mounting bins adjacent thereto; A photovoltaic power generation unit is fixedly mounted on the outer inclined surface of each lower mounting seat, and each photovoltaic power generation unit is electrically connected to the power storage module inside the mounting cavity.

[0012] Based on any of the above technical solutions, further optimization is that: the adjustment mechanism includes three double-cylinder components respectively arranged below the corresponding ends of the lower three-way divergence frame, the top of the double-cylinder component is hinged to the bottom of the corresponding upper mounting bin, and the two ends of the bottom of the double-cylinder component are respectively hinged to the top of the corresponding two lower mounting seats.

[0013] Based on any of the above technical solutions, further optimization is that: the dual-cylinder component includes two adjusting electric cylinders, the top of the piston rod of each adjusting electric cylinder is movably hinged on the ear seat fixedly connected to the bottom of the upper mounting bin above it, and the lower end of each adjusting electric cylinder is tilted to both sides and its bottom is movably hinged on the ear seat at the top of the lower mounting seat below.

[0014] Based on any of the above technical solutions, further optimization is that: the lower ends of the two adjusting electric cylinders hinged on the top of the same lower mounting seat are close to each other; the lower ends of the two adjusting electric cylinders hinged on the top of two adjacent lower mounting seats are away from each other.

[0015] On the basis of any of the above technical solutions, further optimization is that: a detection assembly is installed at the bottom of the chassis bin; the detection assembly includes a geological radar, a geomagnetic sensor, and a gravimeter evenly spaced along the circumferential direction of the bottom of the chassis bin, and the working ends of the geological radar, the geomagnetic sensor, and the gravimeter are all arranged downward; A control module is also installed in the installation cavity, and the control module is respectively connected to the high-position survey unit and the detection component by signal.

[0016] Based on any of the above technical solutions, further optimization is that: the driving part includes a servo motor fixedly installed on the central bottom of the mounting cavity, the servo motor is powered by the power storage module, the top of the motor shaft of the servo motor moves through the central hole on the top of the support seat and is fixedly connected to the central bottom of the lower three-way divergence frame, when the motor shaft of the servo motor rotates, it can drive the lower three-way divergence frame to rotate around its center to achieve turnover adjustment; the bottom surface of the lower three-way divergence frame is a polished and ground plane.

[0017] On the basis of any of the above technical solutions, further optimization is that: the driving wheel unit includes a rotating motor arranged at the top of the mounting side opening at the corner of the chassis bin, and a rotating shaft is inserted in the mounting hole at the bottom of the mounting side opening, and the top and bottom of the rotating shaft are respectively fixed with an upper connecting plate and a lower connecting plate, the top of the upper connecting plate is coaxially fixed with the motor shaft of the rotating motor, and a wheel frame is installed at the bottom of the lower connecting plate, and a friction walking wheel is movably installed inside the wheel frame, and the two ends of the wheel axle of the friction walking wheel are movably rotated and then moved into the axial holes on the corresponding sides of the wheel frame, and a driving motor for driving the wheel axle of the friction walking wheel to rotate is fixedly installed on the inner side wall of the wheel frame.

[0018] The present invention also provides a geological survey positioning marking method implemented by a geological survey positioning marking device based on remote sensing mapping, the steps of which are as follows: Move into position: Start the driving wheel unit, the rotating motor drives the rotating shaft, and drives the friction walking wheel to rotate, so that the device reaches the survey area.

[0019] Preliminary detection: Open the detection component at the bottom of the chassis compartment, and use geological radar, geomagnetic sensors, and gravimeter to detect the underground and transmit the data to the control module.

[0020] Attitude adjustment: The control module controls the servo motor to drive the lower three-way divergence frame to rotate based on the detection data, and adjusts the angle of the upper three-way divergence frame through the adjustment mechanism to ensure that the high-position survey unit and the low-position positioning unit are in the best working condition.

[0021] Data collection and analysis: The optical imager, multi-spectral analyzer, and laser rangefinder of the high-level survey unit collect data, the low-level positioning unit assists in positioning, and the control module fuses and analyzes the data to generate a report.

[0022] Attitude monitoring and adjustment: The gyroscope sensor monitors the device attitude in real time. If there is any deviation, the control module controls the adjustment mechanism to make timely adjustments.

[0023] Energy replenishment: When working, the photovoltaic power generation unit converts solar energy into electrical energy, stores it in the power storage module, and powers the device.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes an adjustment mechanism and a drive element to flexibly adjust the position and angle of the high-level survey unit and the low-level positioning unit, adapting to survey needs in diverse terrain and geological conditions. For example, even in complex terrain such as mountains or canyons, it can accurately locate and acquire data, expanding the application scenarios of geological surveys.

[0025] 2. The present invention sets gyroscope sensors on the upper three-way divergence frame and the lower three-way divergence frame, and combines them with the control module to monitor and adjust the device posture in real time, effectively offsetting the shaking caused by factors such as ground bumps and wind, ensuring the accuracy of surveying and positioning, improving data quality, and providing a reliable basis for subsequent geological analysis.

[0026] 3. The drive wheel unit design of the present invention enables the device to have good maneuverability, can be flexibly moved and turned on different terrains, and quickly reach the designated survey location, reducing the time and labor costs of transporting and deploying equipment in the field, and enhancing the convenience and flexibility of geological survey work.

[0027] 4. The photovoltaic power generation unit provided in the present invention provides clean energy for the device, reducing dependence on external power sources. This not only reduces energy costs, but also enables the device to work stably for a long time in remote areas without power supply facilities, thereby improving the sustainability and independence of geological survey work.

[0028] 5. The present invention integrates multiple geological survey and positioning functions into one; the detection component at the bottom of the chassis works in conjunction with the high-level survey unit to achieve comprehensive acquisition of geological information. Compared with traditional single-function equipment, it greatly improves the efficiency and accuracy of geological surveys, reduces the number of equipment carried and the complexity of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or components are generally identified by similar reference numerals throughout the drawings. Elements or components in the drawings are not necessarily drawn to scale.

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0031] Figure 2 It is a schematic diagram of the main structure of the present invention.

[0032] Figure 3 It is a schematic diagram of the top structure of the present invention.

[0033] In the figure: 1. Chassis compartment; 2. Support seat; 3. Lower three-way divergence frame; 4. Upper three-way divergence frame; 5. Upper mounting compartment; 6. Optical imager; 7. Multi-spectral analyzer; 8. Laser rangefinder; 9. Lower mounting seat; 10. Photovoltaic power generation unit; 11. Storage module; 12. Universal joint; 13. Adjustment electric cylinder; 14. Ear seat; 15. Geological radar; 16. Geomagnetic sensor; 17. Gravimeter; 18. Control module; 19. Servo motor; 20. Rotating motor; 21. Rotating shaft; 22. Upper connecting plate; 23. Lower connecting plate; 24. Wheel frame; 25. Friction walking wheel; 26. Drive motor; 27. Gyroscope sensor. DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present invention are described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only used as examples and are not intended to limit the scope of protection of the present invention. Figure 1-Figure 3 As shown in .

[0035] Example 1: A geological survey positioning marking device based on remote sensing mapping, comprising a chassis bin 1, a supporting seat 2 fixed on the top of the chassis bin 1, driving wheel units installed at the four corners of the chassis bin 1, an adjusting mechanism installed above the supporting seat 2, a lower three-way diverging frame 3 and an upper three-way diverging frame 4 installed at the bottom and top of the adjusting mechanism respectively, a high-level survey unit installed on the circumferential side of the upper three-way diverging frame 4, a low-level positioning unit installed on the circumferential side of the lower three-way diverging frame 3, the bottom of the adjusting mechanism installed on the corresponding top of the low-level positioning unit, the top of the adjusting mechanism installed on the corresponding bottom of the high-level survey unit, the bottom of the lower three-way diverging frame 3 placed on the top of the supporting seat 2 and connected to the driving member in the mounting cavity at its top.

[0036] The driving wheel unit in this device provides moving power for the entire device, so that it can be flexibly moved to the designated position in the geological survey area; the driving part in the installation cavity drives the lower three-way divergence frame 3 to rotate, and the lower three-way divergence frame 3 drives the upper three-way divergence frame 4 to move through the adjustment mechanism, thereby realizing the position adjustment of the high-position survey unit and the low-position positioning unit to meet the survey and positioning requirements of different angles and positions.

[0037] The entire device is mobile, facilitating work in diverse geological regions and reducing the hassle and time associated with manual equipment handling. The coordination of the adjustment mechanism with the upper three-way spreader frame 4 and the lower three-way spreader frame 3 allows for flexible positioning of the survey and positioning units, enhancing the device's adaptability to complex terrain and varying survey and positioning requirements. Furthermore, the device's autonomous mobility provides an adjustable mounting platform for the high-level survey unit and the low-level positioning unit, enabling them to operate in various positions and angles.

[0038] This device integrates driving, adjustment and surveying and positioning functions into one, improving the working efficiency and applicability of the equipment in complex field environments.

[0039] On the basis of any of the above technical solutions, further optimization is that: the adjustment mechanism includes three adjustment units evenly spaced along the central circumference of the supporting seat 2.

[0040] The three adjustment units are evenly distributed along the center circumference of the support base 2. When the relative positions of the high-position survey unit and the low-position positioning unit need to be adjusted, each adjustment unit cooperates to push or pull the upper three-way diverging frame 4 by changing its own length or angle to achieve precise position adjustment and leveling. Furthermore, the evenly distributed adjustment units provide a stable and balanced adjustment force, ensuring the stability of the high-position survey unit and the low-position positioning unit during adjustment, avoiding tilting or shaking, improving the accuracy of surveying and positioning, and ensuring that the device can accurately obtain geological data.

[0041] On the basis of any of the above technical solutions, further optimization is that: the high-position survey unit includes three upper mounting bins 5 respectively fixedly mounted on the outer ends of the upper three-way diverging frame 4, and an optical imager 6, a multi-spectral analyzer 7, and a laser rangefinder 8 are sequentially mounted inside the three upper mounting bins 5. The working angles of the optical imager 6, the multi-spectral analyzer 7, and the laser rangefinder 8 follow the support seat 2 to achieve on-demand tilt adjustment.

[0042] The upper three-way diverging frame 4 moves driven by the adjustment mechanism, and the optical imager 6, the multi-spectral analyzer 7 and the laser rangefinder 8 installed in the installation chamber 5 on the outer end of the upper three-way diverging frame 4 move accordingly.

[0043] When the support base 2 changes angle due to the operation of the adjustment mechanism, the operating angles of the optical imager 6, multi-spectral analyzer 7, and laser rangefinder 8 also change accordingly, allowing geological surveys at different angles. During operation, the optical imager 6 uses optical principles to capture geological surface images, the multi-spectral analyzer 7 analyzes geological characteristics under different spectra, and the laser rangefinder 8 measures distance by transmitting and receiving laser light.

[0044] The optical imager 6, multi-spectral analyzer 7, and laser rangefinder 8, integrated into the high-level survey unit, can acquire geological information from multiple dimensions, enhancing the comprehensiveness and accuracy of geological surveys. The operating angle can be adjusted as needed, enabling the device to adapt to varying terrain and geological conditions, acquiring more comprehensive geological data. This system enables optical imaging, spectral analysis, and distance measurement of geological areas, providing rich data support for geological research and helping researchers gain a deeper understanding of geological structures and characteristics.

[0045] The integration of the optical imager 6, the multi-spectral analyzer 7, and the laser rangefinder 8 realizes multi-dimensional and multi-angle geological surveys, which is innovative in terms of survey function integration and angle flexibility.

[0046] The three upper mounting chambers 5 are each equipped with an optical imager 6, a multispectral analyzer 7, and a laser rangefinder 8, forming a functionally complementary surveying system. The optical imager 6 acquires high-resolution images of the surface, the multispectral analyzer 7 identifies geological components by analyzing spectral information across different wavelengths, and the laser rangefinder 8 accurately measures target distances and terrain contours.

[0047] The upper mounting chamber 5 is fixed to the outer end of the upper three-way diverging frame 4. Its operating angle is linked to the support base 2 via an adjustment mechanism. When the support base 2 tilts, the upper three-way diverging frame 4 adjusts its angle synchronously, driving the three surveying devices to achieve consistent tilt adjustment, ensuring that all three are always aligned with the same survey area. The control module 18 adjusts the optimal survey angle based on data from detection components such as the geological radar 15 and geomagnetic sensor 16. The adjustment mechanism also adjusts the posture of the high-level survey unit to achieve precise observation of the target area.

[0048] By integrating and analyzing optical, spectral, and ranging data, comprehensive information on the morphology, composition, and spatial location of geological bodies can be obtained, improving the accuracy of geological interpretation. For example, the subsequent combination of laser ranging data and optical images can construct a high-precision three-dimensional terrain model, and multispectral analysis results provide a basis for identifying geological components. By adjusting the angle as needed, the high-position survey unit can adapt to different terrains and survey requirements. In mountainous areas, it can tilt downward to observe valleys, while in plain areas, it can scan distant targets horizontally, expanding the device's effective survey range.

[0049] The high-level survey unit is particularly suitable for the following scenarios: Mineral resource exploration: Rapidly identify potential mineralized zones and alteration areas through multi-angle and multi-spectral analysis.

[0050] Geological disaster monitoring: Real-time monitoring of geological disasters such as landslides and ground subsidence, and analysis of deformation trends through 3D modeling.

[0051] Ecological environment assessment: Combine optical imaging and spectral analysis to evaluate ecological indicators such as vegetation coverage and soil erosion level.

[0052] On the basis of any of the above technical solutions, further optimization is that: the low-position positioning unit includes three lower mounting seats 9 respectively fixedly mounted on the three outer ends of the lower three-way diverging frame 3, and each of the lower mounting seats 9 is respectively placed on the top of the supporting seat 2 located at the middle position below the two upper mounting bins 5 adjacent thereto; A photovoltaic power generation unit 10 is fixedly mounted on the outer inclined surface of each lower mounting seat 9 , and each photovoltaic power generation unit 10 is electrically connected to the power storage module 11 inside the mounting cavity.

[0053] The lower three-way diverging frame 3 drives the movement of the lower mounting base 9, which provides a support point for low-position positioning. A photovoltaic power generation unit 10 is mounted on the outer slope of the lower mounting base 9. It uses solar energy for photoelectric conversion and stores the generated electricity in a storage module 11 within the mounting cavity, providing power support for other electrical components of the device. This reduces dependence on external power sources, lowers operating costs, and also improves the device's operational endurance in remote areas.

[0054] On the basis of any of the above technical solutions, further optimization is that: the adjustment mechanism includes three double-cylinder components respectively arranged below the corresponding ends of the lower three-way divergence frame 3, the top of the double-cylinder component is hinged to the bottom of the corresponding upper mounting bin 5, and the two ends of the bottom of the double-cylinder component are respectively hinged to the top of the corresponding two lower mounting seats 9.

[0055] When the relative positions of the high-level survey unit and the low-level positioning unit need to be adjusted, the adjusting cylinder 13 in the dual-cylinder assembly changes length by extending and retracting its piston rod. The top of the adjusting cylinder 13 is hinged to the bottom of the upper mounting chamber 5, and the bottom is hinged to the top of the lower mounting base 9. This extension and retraction of the adjusting cylinder 13 drives the relative movement of the upper and lower three-way spreader frames 3, achieving angle and position adjustment. The articulated connection and tilting arrangement of the adjusting cylinder 13 make the adjustment process more flexible and stable.

[0056] On the basis of any of the above technical solutions, further optimization is that: the dual-cylinder component includes two adjusting electric cylinders 13, the top of the piston rod of each adjusting electric cylinder 13 is movably hinged on the ear seat 14 fixedly connected to the bottom of the upper mounting chamber 5 above it, and the lower end of each adjusting electric cylinder 13 is tilted to both sides and its bottom is movably hinged on the ear seat 14 on the top of the lower mounting seat 9 below.

[0057] The top and bottom of each adjusting electric cylinder 13 and the universal joints 12 of the ear seat 14 at the corresponding position are staggered and located in different planes. The staggered angle must ensure that the upper three-way divergence frame 4 is locked when each adjusting electric cylinder 13 is locked in coordination.

[0058] In addition, the universal joint 12 may be a universal joint 12 structure with a self-locking function.

[0059] During operation, the adjusting cylinders 13 change their length by extending and retracting their piston rods, thereby pushing or pulling the connected upper and lower three-way spreader frames 3 to adjust the position and angle of the upper three-way spreader frame 4. When locking the upper three-way spreader frame 4 is required, the adjusting cylinders 13 work in concert. Because the universal joints 12 are staggered and not in the same plane, the actuation of the adjusting cylinders 13 generates forces in different directions. This staggered articulation ensures that the forces generated by each adjusting cylinder 13 are mutually restrained and balanced, forming a stable mechanical structure based on conventional mechanical design.

[0060] When the adjusting electric cylinder 13 is adjusted to a specific position and locked, the composite force generated by the staggered universal joints 12 can effectively limit the movement of the upper three-way diverging frame 4 in all directions, whether it is horizontal rotation or vertical shaking, it can be firmly locked.

[0061] By reasonably setting the staggered angles by mechanical designers in this field, it is possible to effectively lock the upper three-way diverging frame 4 in the horizontal, vertical and various tilt directions, ensuring that it can remain stable under various working conditions.

[0062] During adjustment, the interlaced universal joints 12 enable the adjustment cylinder 13 to more precisely control the trajectory of the upper three-way spreader 4. Operators can precisely adjust the position and angle of the upper three-way spreader 4 by controlling the extension and retraction of the adjustment cylinder 13, meeting the positioning accuracy requirements of various geological survey tasks.

[0063] Based on any of the above technical solutions, further optimization is that: the lower ends of the two adjusting electric cylinders 13 hinged on the top of the same lower mounting seat 9 are close to each other; the lower ends of the two adjusting electric cylinders 13 hinged on the top of the two adjacent lower mounting seats 9 are away from each other.

[0064] The adjusting electric cylinder 13, a key component of the adjustment mechanism, adjusts the relative positions of the upper and lower three-way diverging frames 4 and 3 by extending and retracting its piston rod. When the lower ends of the two adjusting electric cylinders 13 atop the same lower mounting seat 9 move toward each other, they exert an inward force on the lower mounting seat 9 during the extension and retraction process, simultaneously transmitting this force upward to the upper three-way diverging frame 4. This allows the upper three-way diverging frame 4 to more stably adjust toward the center or a specific angle during adjustment.

[0065] The lower ends of the two adjusting electric cylinders 13 on the top of the adjacent lower mounting bases 9 are spaced apart from each other, generating an outward expansion force during operation. These two forces in different directions cooperate with each other to finely control the posture and position of the upper three-way diverging frame 4 during the adjustment process. When it is necessary to lock the upper three-way diverging frame 4, these mutually coordinated forces can form a stable mechanical structure, exerting constraints on the upper three-way diverging frame 4 from different directions, so that it is firmly locked.

[0066] It has the following effects: Enhanced Adjustment Flexibility and Precision: This unique articulation allows the adjusting cylinder 13 to apply force to the upper three-way expansion frame 4 from multiple directions. This allows operators to more flexibly control the extension and retraction of the adjusting cylinder 13 when adjusting its position and angle, enabling more precise adjustments. For example, when conducting multi-angle surveys of geological areas, the high-level survey unit can be more precisely adjusted to the ideal observation angle, enabling more accurate geological data to be obtained.

[0067] Improved locking stability and reliability: When the upper three-way spreader frame 4 needs to be locked, the inward cohesive force generated by the lower ends of the adjusting cylinders 13 on the same lower mounting seat 9 and the outward tension generated by the lower ends of the adjusting cylinders 13 on adjacent lower mounting seats 9 counterbalance each other, creating a stable mechanical framework that tightly locks the upper three-way spreader frame 4, greatly improving locking stability and reliability. Even in the presence of interference factors such as vibration and wind at the geological survey site, this effectively prevents the upper three-way spreader frame 4 from shifting or shaking.

[0068] Optimizing Structural Mechanical Performance: From a mechanical perspective, this design optimizes the force distribution across the entire adjustment and locking structure. The forces acting in different directions on the adjusting cylinder 13 ensure more uniform and reasonable force transmission between the lower three-way divergence frame 3, the adjustment mechanism, and the upper three-way divergence frame 4. This reduces localized stress concentration, lowers the risk of damage to structural components, and extends the device's service life.

[0069] Complex Angle Adjustment: The upper three-way spreader frame 4 can be adjusted to complex spatial angles. Whether it's horizontal rotation, vertical tilt, or even a combination of both, these adjustments can all be easily accomplished by adjusting the electric cylinder 13, meeting the diverse survey angle requirements in different geological survey scenarios.

[0070] Strong locking function: Provides strong locking ability to ensure the stability of the upper three-way divergence frame 4 in the locked state. This locking function is not only suitable for positioning in a static state, but also can maintain the position of the upper three-way divergence frame 4 when the device is subjected to a certain degree of external force, ensuring the smooth progress of the survey work.

[0071] Adaptive adjustment function: During geological surveys, when the terrain or working conditions change, the adjusting electric cylinder 13 can respond quickly according to the actual situation, and change the force on the upper three-way divergence frame 4 by adjusting the extension amount, thereby realizing adaptive adjustment of the device and improving the working adaptability of the device in complex environments.

[0072] On the basis of any of the above technical solutions, further optimization is that: a detection assembly is installed at the bottom of the chassis bin 1; the detection assembly includes a geological radar 15, a geomagnetic sensor 16, and a gravimeter 17 evenly spaced along the circumferential direction of the bottom of the chassis bin 1, and the working ends of the geological radar 15, the geomagnetic sensor 16, and the gravimeter 17 are all arranged downward; A control module 18 is also installed in the installation cavity, and the control module 18 is respectively connected to the high-level survey unit and the detection component for signal connection.

[0073] The geological radar 15 transmits high-frequency electromagnetic waves and receives reflected waves, and analyzes the geological structure information at different depths underground based on the time delay and intensity of the reflected waves; the geomagnetic sensor 16 is used to measure changes in the geomagnetic field. Since different geological bodies have different magnetic characteristics, the distribution of underground geological bodies can be inferred based on this; the gravimeter 17 measures tiny changes in the earth's gravity field. Since geological bodies of different densities produce different gravitational effects, the density differences of underground geological bodies can be judged.

[0074] The control module 18 serves as the central hub, receiving data collected by the geological radar 15, geomagnetic sensor 16, and gravimeter 17. It also sends instructions to the high-level survey unit, adjusting its operating parameters based on the geological conditions beneath the chassis, such as the shooting angle of the optical imager 6, the analysis band of the multi-spectral analyzer 7, and the measurement range of the laser rangefinder 8. This enables comprehensive and precise geological exploration. This system can capture subsurface information from multiple dimensions, including geological structure, magnetic characteristics, and density differences, addressing the limitations of a single detection method and providing more comprehensive and accurate geological survey results.

[0075] On the basis of any of the above technical solutions, further optimization is that: the driving part includes a servo motor 19 fixedly installed at the center bottom of the mounting cavity, the servo motor 19 is powered by the power storage module 11, the top of the motor shaft of the servo motor 19 moves through the center hole at the top of the support seat 2 and is fixedly connected to the center bottom of the lower three-way divergence frame 3, when the motor shaft of the servo motor 19 rotates, it can drive the lower three-way divergence frame 3 to rotate around its center to achieve turnover adjustment; the bottom surface of the lower three-way divergence frame 3 is a polished and ground plane.

[0076] The storage module 11 provides electrical energy to the servo motor 19 installed at the center bottom of the installation cavity to drive its operation. The motor shaft of the servo motor 19 passes upward through the center hole at the top of the support seat 2 and is firmly connected to the center bottom of the lower three-way divergence frame 3. When the servo motor 19 is powered on, the rotational motion of the motor shaft is directly transmitted to the lower three-way divergence frame 3, causing it to rotate around its own center axis, thereby driving the low-position positioning unit, adjustment mechanism and upper three-way divergence frame 4 connected thereto to rotate together, realizing the horizontal rotation adjustment of the device. The bottom surface of the lower three-way divergence frame 3 has been polished and ground to reduce the friction between it and the top of the support seat 2, making the lower three-way divergence frame 3 smoother during rotation and reducing energy loss and mechanical wear.

[0077] The servo motor 19 has high-precision speed control and position control capabilities, and can accurately drive the lower three-way divergence frame 3 to rotate to the specified angle, thereby realizing precise positioning of the device in the horizontal direction, providing an accurate angle basis for subsequent geological survey and positioning work, and improving the accuracy of measurement; realizing 360° rotation of the device in the horizontal direction, so that the high-position survey unit and the low-position positioning unit can cover a larger survey range, meet the geological survey and positioning needs in different directions, and improve the working flexibility of the device.

[0078] On the basis of any of the above technical solutions, further optimization is that: the driving wheel unit includes a rotating motor 20 arranged at the top of the mounting side opening at the corner of the chassis bin 1, and a rotating shaft 21 is inserted in the mounting hole at the bottom of the mounting side opening, and the top and bottom of the rotating shaft 21 are respectively fixed with an upper connecting plate 22 and a lower connecting plate 23, and the top of the upper connecting plate 22 is coaxially fixed with the motor shaft of the rotating motor 20, and a wheel frame 24 is installed at the bottom of the lower connecting plate 23, and a friction walking wheel 25 is movably installed inside the wheel frame 24, and the two ends of the wheel axle of the friction walking wheel 25 are movably rotated and then moved into the axial hole on the corresponding side of the wheel frame 24, and a driving motor 26 for driving the wheel axle of the friction walking wheel 25 to rotate is fixedly installed on the inner side wall of the wheel frame 24.

[0079] A rotary motor 20 is fixed to the top of the mounting opening at the corner of the chassis compartment 1, its motor shaft coaxially connected to the rotary shaft 21. When the rotary motor 20 is activated, it drives the rotary shaft 21, the upper connecting plate 22, and the lower connecting plate 23 to rotate synchronously, thereby enabling the friction wheels 25 mounted on the wheel frame 24 to achieve 360-degree rotation, providing flexible directional control for the device. A drive motor 26 is mounted inside the wheel frame 24 and drives the axle of the friction wheels 25 to rotate, generating friction between the friction wheels 25 and the ground, thereby enabling the device to move forward, backward, or turn.

[0080] The control module 18 coordinates the rotary motors 20 and drive motors 26 of the multiple drive wheel units according to the survey mission requirements to achieve complex movement modes such as straight-line walking, curved detours, or in-situ turning of the device.

[0081] Omnidirectional mobility: The friction wheels 25 can be steered in all directions by rotating the motor 20, so that the device can flexibly adjust its direction of movement in complex terrain, avoid obstacles, and adapt to narrow or irregular survey areas.

[0082] Precise positioning control: The coordinated work of the drive motor 26 and the rotary motor 20, combined with the precise instructions of the control module 18, can achieve millimeter-level position adjustment of the device, meeting the strict requirements of geological survey for positioning accuracy.

[0083] Strong terrain adaptability: The design of the friction wheel 25 enables it to provide sufficient friction on various terrains such as sand, rocks, mud, etc., ensuring stable movement of the device and reducing the risk of slipping or getting stuck.

[0084] Gyroscope sensors 27 are respectively installed on the tops of the three branch sections of the upper three-way diverging frame 4 and the lower three-way diverging frame 3 , and the gyroscope sensors 27 are connected to the control module 18 for signal transmission.

[0085] The gyro sensors 27 at the top of the branch sections of the upper three-way diverging frame 4 and the lower three-way diverging frame 3 monitor the angular velocity and angle changes of their respective locations in real time.

[0086] When the device is in operation, for example, due to factors such as ground bumps, movement of the adjustment mechanism or external wind force, the upper three-way divergence frame 4 and the lower three-way divergence frame 3 change their posture, the gyroscope sensor 27 can quickly capture these changes and convert them into electrical signals for transmission to the control module 18.

[0087] After receiving the signal, the control module 18 analyzes and processes the data according to a preset routine procedure.

[0088] Then, the control module 18 issues instructions to the adjustment mechanism and related components of the drive part based on the analysis results; for example, it controls the extension and retraction of the adjustment electric cylinder 13 in the dual-cylinder component, or adjusts the motion state of the drive wheel unit to correct the posture of the upper three-way divergence frame 4 and the lower three-way divergence frame 3, so that the device returns to an ideal working state.

[0089] The overall stability of the device and the accuracy of measurement are greatly improved. On the one hand, by real-time monitoring and adjustment of the posture of the upper three-way diverging frame 4 and the lower three-way diverging frame 3, the impact of external interference on the survey and positioning work can be effectively reduced. For example, in a windy environment in the wild, it can ensure that the image taken by the optical imager 6 is less blurred due to the shaking of the device, and the measurement data of the laser rangefinder 8 is more accurate. On the other hand, it helps to improve the adaptability of the device to complex terrain. In rugged mountainous terrain, the device can rely on the coordinated work of the gyroscope sensor 27 and the control module 18 to quickly adjust its own posture, maintain stable operation, and reduce the risk of equipment damage due to posture problems.

[0090] The attitude information of the upper three-way diverging frame 4 and the lower three-way diverging frame 3 is acquired in all directions and in real time, including pitch angle, roll angle and yaw angle, etc., to provide an accurate data basis for the control module 18.

[0091] Cooperating with the control module 18, the automatic adjustment of the device posture is realized, so that the high-position survey unit and the low-position positioning unit are always in the best working angle and position, ensuring the smooth progress of survey and positioning work.

[0092] The data collected by the gyro sensor 27 can be integrated and analyzed with the data of other detection components (such as the geological radar 15 and the geomagnetic sensor 16) to further improve the accuracy and reliability of the geological survey results.

[0093] This device realizes the transformation from passive response to posture changes to active real-time adjustment, which not only improves the working performance of the equipment in complex environments.

[0094] Example 2: Compared with Example 1, this example is different in that it also includes the following technical features: The present invention also provides a geological survey positioning marking method implemented by a geological survey positioning marking device based on remote sensing mapping, comprising the following steps: Move to the survey area: Start the driving wheel units at the four corners of the chassis compartment 1. The rotating motor 20 in the driving wheel unit drives the rotating shaft 21 to rotate. The rotating shaft 21 drives the wheel frame 24 through the upper connecting plate 22 and the lower connecting plate 23. The driving motor 26 drives the friction walking wheel 25 to rotate, so that the device moves to the predetermined geological survey area. Preliminary geological survey: After the device arrives at the survey area, the detection component at the bottom of the chassis compartment 1 is activated, and the geological radar 15, geomagnetic sensor 16, and gravimeter 17 begin to work, detecting the geology below along the circumference of the bottom of the chassis compartment 1. The geological radar 15 transmits electromagnetic waves and receives reflected waves to analyze the underground geological structure; the geomagnetic sensor 16 measures changes in the geomagnetic field to determine the magnetic characteristics of the underground geological body; the gravimeter 17 measures changes in the gravity field to analyze the density differences of the underground geological body. The detection component transmits the collected data to the control module 18 in the installation cavity; Adjust the posture of the survey and positioning unit: the control module 18 controls the operation of the servo motor 19 in the drive component according to the data collected by the detection component and the survey requirements.

[0095] Servo motor 19 drives lower three-dimensional divergence frame 3 to rotate about its center, which in turn drives upper three-dimensional divergence frame 4 through an adjustment mechanism. The dual-cylinder component in the adjustment mechanism precisely adjusts the relative position and angle of upper and lower three-dimensional divergence frames 4 and 3 by controlling the expansion and contraction of the piston rods of the two adjustment cylinders. This allows for posture adjustment of the high-level survey unit and the low-level positioning unit, ensuring that the optical imager 6, multi-spectral analyzer 7, laser rangefinder 8, and low-level positioning unit are at their optimal operating angles.

[0096] Data collection and analysis: The optical imager 6, multi-spectral analyzer 7, and laser rangefinder 8 in the high-position survey unit start working. The optical imager 6 obtains geological surface images, the multi-spectral analyzer 7 analyzes geological features under different spectra, and the laser rangefinder 8 measures distance data.

[0097] At the same time, the low-level positioning units cooperate to perform positioning work; the data collected by each unit is transmitted to the control module 18, and the control module 18 performs fusion analysis on the data to generate a comprehensive geological survey report.

[0098] Continuous monitoring and adjustment: During the survey process, the gyroscope sensors 27 installed on the top of the branch sections of the upper three-way divergence frame 4 and the lower three-way divergence frame 3 monitor the posture changes of the device in real time and transmit the data to the control module 18.

[0099] If the posture change exceeds a preset range, the control module 18 controls the adjustment mechanism to adjust the device posture to ensure the accuracy of the survey and positioning work.

[0100] Energy replenishment: During the operation of the device, the photovoltaic power generation unit 10 on the outer inclined surface of the mounting seat 9 under the low-position positioning unit converts solar energy into electrical energy and stores it in the power storage module 11 inside the mounting cavity to continuously power the electrical components of the device.

[0101] This method has the following effects: Traditional methods typically rely on a single device or function operating independently, making it difficult to comprehensively and accurately adjust survey and positioning strategies based on geological conditions in real time. In the method of the present invention, a geological radar 15, a geomagnetic sensor 16, and a gravimeter 17 collaborate to perform preliminary surveys, and a control module 18 adjusts the posture of the high-level survey unit and the low-level positioning unit in real time based on the survey data. When the geomagnetic sensor 16 detects an abnormal magnetic area underground, the control module 18 can quickly adjust the angles of the optical imager 6, multispectral analyzer 7, and laser rangefinder 8 to focus on observing and analyzing the abnormal area. This real-time collaborative operation is innovative in geological survey and positioning.

[0102] Adaptive attitude adjustment mechanism: This adaptive attitude adjustment method utilizes a gyroscope sensor 27 and an adjustment mechanism. Traditional surveying equipment struggles to maintain its optimal operating posture in complex terrain or under external interference. This method installs gyroscope sensors 27 on the upper and lower three-way spreader frames 3 to monitor changes in the device's attitude in real time. If the attitude deviates from a preset range, the control module 18 immediately controls the adjustment mechanism, such as adjusting the expansion and contraction of the adjustment cylinder in the dual-cylinder assembly, to quickly restore the device to its ideal posture. This ensures surveying and positioning accuracy and effectively improves the stability and reliability of the device in complex environments.

[0103] Traditional geological survey equipment often faces energy supply challenges during field operations. Reliance on external power sources is not only inconvenient but also limits the equipment's range of operation. This method utilizes a photovoltaic power generation unit 10 to convert solar energy into electrical energy and store it in a power storage module 11, providing continuous power to the device. This reduces reliance on external power sources, enabling the equipment to operate stably and for extended periods in remote areas, and expanding the scope of geological survey operations.

[0104] Integrated Integration and Efficient Operational Process: A key innovation of this method is the integration of mobility, detection, surveying, positioning, attitude adjustment, and energy supply functions into a single device, creating an efficient operational process. Traditional geological survey and positioning work often requires multiple devices to operate step by step, resulting in a cumbersome and inefficient process. This method achieves an integrated operation from device movement to data collection, analysis, and energy replenishment. This seamless integration of all aspects significantly improves the efficiency of geological survey and positioning work, reduces the investment in manpower and material resources, and provides a new and efficient operational model for geological survey work.

[0105] A detection assembly consisting of a geological radar 15, a geomagnetic sensor 16, and a gravimeter 17, evenly spaced along the circumference, is installed at the bottom of the chassis compartment 1. A control module 18, housed within the chamber, connects signals to the detection assembly and the high-level survey unit. The detection assembly acquires geological information beneath the chassis and transmits it to the control module 18. Based on this information, the control module 18 controls the operation of the adjustment mechanism, thereby adjusting the operating angle of the high-level survey unit. This coordinated operation breaks the traditional model of independent operation of various components of geological survey equipment, achieving an integrated operation from preliminary underground detection to precise aerial survey, thereby improving the efficiency and accuracy of geological surveys.

[0106] The servo motor 19 in the drive unit is fixed to the center bottom of the mounting cavity, and the motor shaft passes through the support base 2 and is fixedly connected to the center bottom of the lower three-way divergence frame 3. The precise rotation of the servo motor 19 drives the lower three-way divergence frame 3 to rotate and adjust its position, thereby driving the rotation of the entire high-position survey unit and the low-position positioning unit. The bottom surface of the lower three-way divergence frame 3 is polished and ground to reduce rotational friction and make adjustment more stable and precise. This combination allows the survey and positioning units to accurately align with target areas in different directions, avoiding the impact of adjustment deviations on data acquisition accuracy and ensuring a comprehensive and complete survey of the geological area.

[0107] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention. For those skilled in the art, any replacement improvements or changes made to the implementation methods of the present invention fall within the scope of protection of the present invention.

[0108] Any matters not described in detail in the present invention are well-known technologies to those skilled in the art.

Claims

1. A geological survey positioning marking device based on remote sensing mapping, comprising a chassis compartment with a supporting base fixed on the top of the chassis compartment, characterized in that: Driving wheel units are installed at the four corners of the chassis bin, an adjusting mechanism is installed above the supporting seat, a lower three-way divergence frame and an upper three-way divergence frame are installed at the bottom and top of the adjusting mechanism respectively, a high-position survey unit is installed on the circumferential side of the upper three-way divergence frame, and a low-position positioning unit is installed on the circumferential side of the lower three-way divergence frame, the bottom of the adjusting mechanism is installed on the corresponding top of the low-position positioning unit, the top of the adjusting mechanism is installed on the corresponding bottom of the high-position survey unit, and the bottom of the lower three-way divergence frame is placed on the top of the supporting seat and is connected to the driving member in the mounting cavity at its top.

2. A geological survey positioning marking device based on remote sensing mapping according to claim 1, characterized in that: The adjustment mechanism includes three adjustment units that are evenly spaced along the circumference of the center of the supporting seat.

3. The geological survey positioning marking device based on remote sensing mapping according to claim 2, characterized in that: The high-position survey unit includes three upper mounting bins fixedly mounted on the outer ends of the upper three-way diverging frame, and an optical imager, a multi-spectral analyzer, and a laser rangefinder are sequentially mounted inside the three upper mounting bins. The working angles of the optical imager, the multi-spectral analyzer, and the laser rangefinder follow the support seat to achieve on-demand tilt adjustment.

4. The geological survey positioning marking device based on remote sensing mapping according to claim 3, characterized in that: The low-position positioning unit includes three lower mounting seats respectively fixedly mounted on the three outer ends of the lower three-way diverging frame, and each of the lower mounting seats is respectively placed on the top of the supporting seat located at the lower middle position of the two upper mounting bins adjacent thereto; A photovoltaic power generation unit is fixedly mounted on the outer inclined surface of each lower mounting seat, and each photovoltaic power generation unit is electrically connected to the power storage module inside the mounting cavity.

5. The geological survey positioning marking device based on remote sensing mapping according to claim 4, characterized in that: The adjustment mechanism includes three double-cylinder components respectively arranged below the corresponding ends of the lower three-way divergence frame, the top of the double-cylinder component is hinged to the bottom of the corresponding upper mounting bin, and the two ends of the bottom of the double-cylinder component are respectively hinged to the top of the corresponding two lower mounting seats.

6. The geological survey positioning marking device based on remote sensing mapping according to claim 5, characterized in that: A detection assembly is installed at the bottom of the chassis bin; the detection assembly includes a geological radar, a geomagnetic sensor, and a gravimeter evenly spaced along the circumferential direction of the bottom of the chassis bin, and the working ends of the geological radar, the geomagnetic sensor, and the gravimeter are all arranged downward; A control module is also installed in the installation cavity, and the control module is respectively connected to the high-position survey unit and the detection component by signal.

7. The geological survey positioning marking device based on remote sensing mapping according to claim 6, characterized in that: The driving member includes a servo motor fixedly mounted on the central bottom of the mounting cavity, the servo motor is powered by the power storage module, the top of the motor shaft of the servo motor moves through the central hole on the top of the support seat and is fixedly connected to the central bottom of the lower three-way divergence frame. When the motor shaft of the servo motor rotates, it can drive the lower three-way divergence frame to rotate around its center to achieve turnover adjustment; the bottom surface of the lower three-way divergence frame is a polished and ground plane.

8. The geological survey positioning marking device based on remote sensing mapping according to claim 7, characterized in that: The driving wheel unit includes a rotating motor arranged at the top of the top of the mounting side opening at the corner of the chassis bin, a rotating shaft is inserted in the mounting hole at the bottom of the mounting side opening, an upper connecting plate and a lower connecting plate are fixed on the top and bottom of the rotating shaft respectively, the top of the upper connecting plate is coaxially fixed with the motor shaft of the rotating motor, a wheel frame is installed at the bottom of the lower connecting plate, a friction walking wheel is movably installed inside the wheel frame, both ends of the wheel axle of the friction walking wheel are movably rotated and then moved into the axial holes on the corresponding sides of the wheel frame, and a driving motor for driving the wheel axle of the friction walking wheel to rotate is fixedly installed on the inner side wall of the wheel frame.

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