Intelligent surveying and mapping unmanned aerial vehicle mounting equipment for territorial space planning

Abstract

The intelligent surveying and mapping unmanned aerial vehicle mounting equipment comprises an airship, a hoisting platform, an unmanned aerial vehicle, an electric control system and a storage battery pack, the hoisting platform is fixed to the bottom of the airship, the unmanned aerial vehicle can be parked at the top end of the hoisting platform, and the unmanned aerial vehicle comprises a vehicle body, a protection plate, a storage battery and a surveying and mapping assembly. The surveying and mapping assembly has an image sensing function, two coaxial arc-shaped protection plates are fixed to the left portion and the right portion of the machine body, and the front portion and the rear portion of the protection plates on the left portion and the right portion are separated to form notches. During use, the unmanned aerial vehicle is transported through the airship and the hoisting platform, the unmanned aerial vehicle can be controlled to land at the top end of the hoisting platform, the unmanned aerial vehicle is positioned and clamped by a clamping plate by controlling the action of a telescopic mechanism, and the unmanned aerial vehicle is fixed by controlling a first servo motor to rotate by fixed turns; the circumferential position of the unmanned aerial vehicle can be adjusted to the set position for limiting, then the telescopic mechanism is controlled to act, and the unmanned aerial vehicle can fall into the supporting cylinder.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping technology, and in particular to an intelligent surveying and mapping drone mounting device for land spatial planning. Background Technology

[0002] Using drones equipped with cameras and lidar sensors for spatial mapping offers advantages such as low cost, flexibility, efficiency, and high accuracy. By equipping them with mounting devices, the mapping range of the drone can be expanded, reducing the overhead travel time. Chinese invention patent application number 202411362121.0 provides a long-range aerial mapping platform for geographic surveying. This patent enables large-scale mapping operations and utilizes a magnetic mounting mechanism to facilitate the relative connection and separation adjustment between the mounting tube and the mounting rod. However, this magnetic mounting mechanism requires controlling the platform frame to lower so that the mounting rod can be inserted into the mounting tube for connection and positioning to mount the drone. This requires high precision in controlling the relative position of the drone and the platform frame, making it cumbersome and inconvenient to use, especially when affected by external airflow, which further complicates the control of the relative position and reduces mounting efficiency. Furthermore, this patent does not allow for battery swapping of the drone, preventing rapid re-flight and reducing its operating time and utilization efficiency, thus negatively impacting surveying work. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent mapping drone mounting device for land spatial planning, so as to solve the technical problems of inconvenient mounting and inability to swap batteries for drones in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A smart mapping drone mounting device for land spatial planning includes an airship, a hoisting platform, a drone, an electronic control system, and a battery pack. The hoisting platform is fixed to the bottom of the airship, and the drone can be parked on the top of the hoisting platform. The drone includes a fuselage, protective plates, a battery, and mapping components. The mapping components have image sensing capabilities. Two coaxial arc-shaped protective plates are fixed to the left and right sides of the fuselage, with notches formed at the front and rear ends of the plates. A detachable battery for powering the drone is installed at the bottom of the fuselage. A telescopic mechanism is installed at the top of the hoisting platform, controlling two forward-backward moving clamps and two left-right moving baffles. The clamps have a symmetrical V-shaped structure, and vertical rollers are rotatably connected to the left and right sides of their inner walls. The middle of the clamps... Each of the four servo motors is fixed vertically, and rollers are coaxially fixed to the shafts of the two servo motors. The four rollers and two rollers can simultaneously roll and rub against the guard plates on the left and right sides of the fuselage. When the four rollers roll and rub against the guard plates on the left and right sides of the fuselage, the rollers can disengage from the notches and roll and rub against the guard plates. The two baffles can support the fuselage so that the UAV is positioned above the baffles. The hoisting platform is fixed with a support cylinder that runs vertically through it. The intelligent mapping UAV mounting equipment is equipped with a battery swapping and charging mechanism for replacing and charging the battery, and an entry and exit mechanism for controlling the UAV to enter and exit the support cylinder. The electronic control system is equipped with a radio transmission module. The electronic control system, battery pack, telescopic mechanism, servo motors, battery swapping and charging mechanism, and entry and exit mechanism are electrically connected.

[0005] Based on the above technical solution, the telescopic mechanism includes a first electric push rod and a second servo motor. The top of the hoisting platform has two horizontally extending first electric push rods fixed at the front and rear ends, and two second servo motors fixed at the left and right ends, extending in the left and right directions. The shafts of the two second servo motors are threadedly connected to two baffles. The push rod ends of the two first electric push rods are fixed to two clamping plates. The first electric push rods and the second servo motors are electrically connected to the electrical control system. When the two first electric push rods extend or retract, the two clamping plates move back and forth. When the two second servo motors rotate in opposite directions, the two baffles move left and right. The baffles are slidably connected to the hoisting platform to the left and right, and the bottom end of the clamping plate contacts and abuts the top end of the baffle.

[0006] Based on the above technical solution, the airship includes a support frame, an airbag, a wind tunnel, an electric heating device, a rotating cylinder, a first angle sensor, a blower, a third external gear ring, a third servo motor, a third gear, a second electric push rod, a cover plate, a connecting rod, and a fan. The support frame is fixed with the airbag and a vertically extending wind tunnel. The airbag is filled with a non-flammable and non-explosive gas with a density less than air. An electric heating device is fixed inside the airbag. The upper and lower parts of the wind tunnel are coaxially rotatably connected to the rotating cylinder, and each upper and lower part is equipped with a first angle sensor for sensing the rotation angle of the rotating cylinder. The two rotating cylinders are respectively fixedly connected to radial blowers and each is coaxially fixed with a third external gear ring. The blower is always connected to the wind tunnel. The support frame has two vertically fixed third servo motors at its front and rear ends. The shafts of the two third servo motors are coaxially fixed with third gears, and the two third gears are respectively connected to two third gear rings. The two parts of the air duct are meshed, and each of the upper and lower parts is fixed with a vertical No. 2 electric push rod. Each of the upper and lower parts is hinged with two cover plates. The push rods of the two No. 2 electric push rods are respectively hinged to the left and right sides with connecting rods. The other end of the connecting rods is hinged to the cover plates. The directions of the virtual hinge axis between the cover plates and the air duct, the virtual hinge axis between the cover plates and the connecting rods, and the virtual hinge axis between the connecting rods and the push rods of the No. 2 electric push rods are all set horizontally back and forth. A fan that can rotate in both directions to blow air upwards or downwards is fixed inside the air duct. The electric heating device, the No. 1 angle sensor, the No. 3 servo motor, the No. 2 electric push rod, and the fan are electrically connected to the electrical control system. When the No. 3 servo motor rotates in both directions, it can make the rotating cylinder rotate in both directions through the No. 3 gear and the No. 3 external gear ring. When the No. 2 electric push rod extends and retracts, it can make the cover plates move up and down through the connecting rods to close or release the cover of the rotating cylinder.

[0007] Based on the above technical solution, the inbound / outbound mechanism includes a groove and a No. 3 electric push rod. The bottom end of the drone's protective plate has a ridge-shaped groove. The groove of the drone's protective plate is symmetrically arranged from left to right relative to the drone. Multiple sets of No. 3 electric push rods are installed sequentially from top to bottom on the support cylinder. The No. 3 electric push rods are fixed to the support cylinder, and the push rods and support cylinders are inserted through the left and right gaps. Two No. 3 electric push rods that are symmetrical to each other on the left and right sides of the support cylinder form a group. The push rods of the No. 3 electric push rods correspond vertically to the grooves on the left and right sides of the drone and are electrically connected to the electronic control system. The groove can touch the top of the push rod of the No. 3 electric push rod. The inner diameter of the support cylinder is larger than the outer diameter of the protective plate.

[0008] Based on the above technical solution, the battery swapping and charging mechanism includes a turntable, a rotary drive mechanism, a charging compartment, a receiving compartment, a main guide groove, a secondary guide groove, a guide fork, a main spring pin, a secondary spring pin, an opening, a support column, an elastic contact plate, a contact piece, and a pushing mechanism. A circular turntable is rotatably connected to the bottom of the hoisting platform, and an electric rotary drive mechanism is installed to drive the turntable's rotation. The turntable is coaxial with the support cylinder, and an even number of horizontal charging compartments are radially penetrated at equal angles around its circumference. Receiving compartments are penetrated to the left and right sides of the bottom of the machine body. When the groove contacts the top of the push rod of the third electric push rod... The receiving compartment can be aligned horizontally with the charging compartments on both sides. The charging compartment has a main guide groove extending downwards and horizontally through its bottom, while the receiving compartment has secondary guide grooves extending downwards and horizontally through its bottom. Guide forks are fixed to the left and right sides of the inner wall of the support cylinder. When the charging compartment and the receiving compartment are aligned horizontally, the main guide groove, the secondary guide groove, and the guide forks are also aligned horizontally. The bottom ends of the charging compartment, the bottom end of the receiving compartment, and the top ends of the guide forks are flush. Main spring pins are horizontally slidably connected to the two side walls of the main guide groove in a direction perpendicular to its extension. The secondary guide grooves have two... The side walls are slidably connected with secondary spring pins. The main spring pins in the same main guide groove tend to move closer together under elastic force, as do the secondary spring pins in the same secondary guide groove. Both the main and secondary spring pins have expanding openings in their middle sections. Both the main and secondary spring pins are wedge-shaped plates converging towards the opening. A vertical support is fixed to the bottom of the battery. The support can be interlocked with the opening and abuts against the wedge-shaped surface of either the main or secondary spring pin. The battery can connect to the charging compartment and power receiving... The charging and receiving compartments are horizontally gap-connected. Both the charging and receiving compartments are equipped with conductive elastic contact plates. The electric rotary drive mechanism and the elastic contact plates in the charging compartment are electrically connected to the electronic control system. The elastic contact plates in the receiving compartment are electrically connected to the UAV. The front and rear ends of the battery are fixed and electrically connected to conductive contact pieces. When the battery is inserted into the charging or receiving compartment and the support is located in the opening, the elastic contact plates and contact pieces contact each other to achieve electrical connection. The pushing mechanism is used to push the battery, the main spring pin, and the auxiliary spring pin to allow the battery to move and exchange between the charging and receiving compartments.

[0009] Based on the above technical solution, the pushing mechanism includes a guide seat, a support arm, a No. 4 servo motor, and a pushing column. A horizontal guide seat is fixed to the bottom of the hoisting platform. The support arm is slidably connected to the guide seat from left to right, and a No. 4 servo motor is fixed thereon. The shaft of the No. 4 servo motor is horizontally arranged from left to right and threadedly connected to the support arm. A vertical pushing column is fixed to the top of the support arm. The pushing column can slidably connect to the main guide groove, the secondary guide groove, and the guide fork from left to right, and can abut against the wedge-shaped surface of the main spring pin or the secondary spring pin. The electric rotary drive mechanism includes a No. 5 servo motor, a No. 5 gear, and a No. 5 external gear ring. A vertical No. 5 servo motor is fixed to the hoisting platform, and the shaft of the No. 5 servo motor is coaxially fixed. The system includes a No. 5 gear and a No. 5 external gear ring, which are coaxially fixed to the turntable. The No. 5 gear meshes with the No. 5 external gear ring. The No. 4 servo motor and the No. 5 servo motor are electrically connected to the electrical control system. When the No. 4 servo motor rotates in both directions, it can drive the support arm to slide left and right along the guide seat. When the No. 5 servo motor is powered on and rotates, the turntable can rotate through the meshing of the No. 5 gear and the No. 5 external gear ring. The hoisting platform is equipped with a No. 2 angle sensor, which is used to measure the angle of rotation of the turntable relative to the support cylinder. The guide seat is fixed with a distance measuring sensor, which is used to measure the left and right displacement distance of the support arm relative to the guide seat. The No. 2 angle sensor and the distance measuring sensor are electrically connected to the electrical control system.

[0010] Compared with existing technologies, this invention has the following advantages: When in use, this invention utilizes an airship and a hoisting platform to transport the drone. It can control the drone to land on the top of the hoisting platform. By controlling the telescopic mechanism, the clamping plate positions and clamps the drone. By controlling the rotation of the first servo motor a fixed number of times, the circumferential position of the drone can be adjusted to a set position and limited. Then, by controlling the telescopic mechanism, the drone falls into the support cylinder. Upon landing, the drone first passes through a battery swapping and charging mechanism to swap and charge its battery. Then, it passes through an in / out mechanism for storage. This method of swapping and charging the battery after landing, along with the in / out design, makes mounting more convenient and allows for faster replenishment of the drone's power, thereby improving mounting efficiency and drone utilization efficiency. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the isometric structure of the present invention.

[0012] Figure 2 This is a schematic diagram showing the cooperation between the air duct and the rotating cylinder of the present invention.

[0013] Figure 3 This is a schematic diagram showing the interaction between the drone and the baffle of the present invention.

[0014] Figure 4 This is a schematic diagram illustrating the interaction between the drone and the battery of this invention.

[0015] Figure 5 This is a front cross-sectional view of the hoisting platform and support cylinder of the present invention.

[0016] Figure 6 This is a schematic diagram of the bottom structure of the hoisting platform of the present invention.

[0017] In the diagram: 2. Lifting platform; 5. Battery pack; 6. Body; 7. Protective plate; 8. Notch; 9. Battery; 10. Surveying component; 12. Clamping plate; 13. Baffle; 14. Roller; 15. Servo motor No. 1; 16. Roller; 17. Support cylinder; 20. Electric push rod No. 1; 21. Servo motor No. 2; 22. Bracket; 23. Airbag; 24. Air duct; 26. Rotating cylinder; 28. Blowing tube; 29. ​​External gear ring No. 3; 30. Servo motor No. 3; 31. Gear No. 3; 32. Electric push rod No. 2; 3 3. Cover plate; 34. Connecting rod; 35. Fan; 36. Groove; 37. No. 3 electric push rod; 38. Turntable; 40. Charging compartment; 41. Power receiving compartment; 42. Main guide groove; 43. Secondary guide groove; 44. Guide fork; 45. Main spring pin; 46. Secondary spring pin; 47. Opening; 48. Support column; 49. Elastic contact plate; 50. Contact piece; 51. Guide seat; 52. Support arm; 53. No. 4 servo motor; 54. Push column; 55. No. 5 servo motor; 56. No. 5 gear; 57. No. 5 external gear ring. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figures 1-6As shown, a smart mapping drone mounting device for land spatial planning includes an airship, a hoisting platform 2, a drone, an electronic control system, and a battery pack 5. The hoisting platform 2 is fixed to the bottom of the airship, and the drone can be parked on the top of the hoisting platform 2. The drone includes a fuselage 6, protective plates 7, a battery 9, and a mapping component 10. The mapping component 10 has image sensing capabilities and utilizes known existing technologies such as cameras and lidar. Two coaxial arc-shaped protective plates 7 are fixed to the left and right sides of the fuselage 6, and the protective plates 7 are divided into front and rear sections to form notches 8. A detachable battery 9 for powering the drone is installed at the bottom of the fuselage 6. A telescopic mechanism is installed at the top of the hoisting platform 2. The telescopic mechanism controls two back-to-back moving clamps 12 and two left-to-right moving baffles 13. The two clamps 12 have a symmetrical V-shaped structure, and vertical rollers 14 are rotatably connected to the left and right sides of their inner walls. The middle section is fixed with a vertical servo motor 15. The shafts of the two servo motors 15 are respectively fixed with rollers 16. The four rollers 14 and the two rollers 16 can simultaneously roll and rub against the guard plates 7 on the left and right sides of the body 6. When the four rollers 14 roll and rub against the guard plates 7 on the left and right sides of the body 6, the rollers 16 can disengage from the notch 8 and roll and rub against the guard plates 7. The two baffles 13 can support the body 6 so that the UAV is located above the baffles 13. The hoisting platform 2 is fixed with a support cylinder 17 that runs vertically through the body. The intelligent mapping UAV mounting equipment is equipped with a battery swapping and charging mechanism for replacing and charging the battery 9, and is also equipped with an entry and exit mechanism for controlling the UAV to enter and exit the support cylinder 17. The electronic control system is equipped with a radio transmission module and is a known existing technology, such as a microcontroller and a PLC. The electronic control system, battery pack 5, telescopic mechanism, servo motor 15, battery swapping and charging mechanism and entry and exit mechanism are electrically connected.

[0020] In use, the airship and hoisting platform 2 are used to transport the UAV. The UAV's flight drives the surveying component 10 to move, thereby performing surveying operations. When the UAV finishes surveying or needs a battery change, the telescopic mechanism is activated, causing the two clamping plates 12 to move away from each other and the two baffles 13 to move closer together, thus blocking the support cylinder 17. Then, the UAV is controlled to fly back to the top of the hoisting platform 2 and land between the two clamping plates 12. The telescopic mechanism is then activated, causing the clamping plates 12 to position and clamp the UAV. At this time, the rollers 14 and 16 roll and rub against the inner wall of the clamping plates 12. Then, the telescopic mechanism is activated. The servo motor 15 rotates a fixed number of times, which causes the guard plate 7 to move circumferentially via the roller 16 until the notch 8 corresponds to the roller 16. At this point, the circumferential position of the drone is defined. Then, the telescopic mechanism is controlled to move the two baffles 13 away from each other, removing the obstruction to the support cylinder 17. Then, the two clamping plates 12 are controlled to move away from each other, allowing the drone to fall into the support cylinder 17. When the drone falls into the support cylinder 17, it first passes through the battery swapping and charging mechanism to swap and charge the drone's battery 9. Then, it passes through the in-and-out mechanism to go out and into storage.

[0021] The telescopic mechanism includes a first electric push rod 20 and a second servo motor 21. The top of the hoisting platform 2 has two horizontally extending first electric push rods 20 fixed at the front and rear ends, and two second servo motors 21 fixed at the left and right ends, extending in the left and right directions. The shafts of the two second servo motors 21 are threadedly connected to two baffles 13. The push rod ends of the two first electric push rods 20 are fixed to two clamping plates 12. The first electric push rods 20 and the second servo motors 21 are electrically connected to the electrical control system. When the two first electric push rods 20 extend and retract, the two clamping plates 12 move back and forth. When the two second servo motors 21 rotate in opposite directions, the two baffles 13 move left and right. The baffles 13 are slidably connected to the hoisting platform 2 to the left and right. The bottom end of the clamping plate 12 contacts and abuts the top end of the baffle 13.

[0022] The airship includes a support frame 22, an airbag 23, a wind tunnel 24, an electric heating device 25, a rotating cylinder 26, a first angle sensor, a blower 28, a third external gear ring 29, a third servo motor 30, a third gear 31, a second electric push rod 32, a cover plate 33, a connecting rod 34, and a fan 35. The support frame 22 is fixed with the airbag 23 and also with a vertically extending wind tunnel 24. The airbag 23 is filled with a non-flammable and non-explosive gas with a density less than air. An electric heating device 25 is fixed inside the airbag 23. The electric heating device 25 is... In known existing technologies, such as electric heating wires, the upper and lower parts of the air duct 24 are each coaxially rotatably connected to a rotating cylinder 26, and each of the upper and lower parts is equipped with a first angle sensor for sensing the rotation angle of the rotating cylinder 26. The two rotating cylinders 26 are respectively fixedly connected to radial blowing cylinders 28, and each is coaxially fixed with a third external gear ring 29. The blowing cylinder 28 is always connected to the air duct 24. The bracket 22 has two vertical third servo motors 30 fixed at its front and rear ends, and the shafts of the two third servo motors 30 are coaxially fixed with third gears 31. Gear 31 meshes with two and three gear rings respectively. Vertical electric push rods 32 are fixed to the upper and lower parts of the air duct 24, and two cover plates 33 are hinged to each of the upper and lower parts. Connecting rods 34 are hinged to the left and right sides of the push rods of the two electric push rods 32. The other end of the connecting rod 34 is hinged to the cover plate 33. The directions of the virtual hinge axis between the cover plate 33 and the air duct 24, the virtual hinge axis between the cover plate 33 and the connecting rod 34, and the virtual hinge axis between the connecting rod 34 and the push rod of the electric push rod 32 are all horizontally arranged front-to-back. The air duct 24 is equipped with a fan 35 that can rotate in both directions to blow air upwards or downwards. The electric heating device 25, the first angle sensor, the third servo motor 30, the second electric push rod 32, and the fan 35 are electrically connected to the electrical control system. When the third servo motor 30 rotates in both directions, it can make the rotating cylinder 26 rotate in both directions through the third gear 31 and the third external gear ring 29. When the second electric push rod 32 extends and retracts, it can make the cover plate 33 move up and down through the connecting rod 34 to close or open the rotating cylinder 26.

[0023] By controlling whether the electric heating device 25 is working, the gas inside the airbag 23 can be heated or not, thereby changing the buoyancy and facilitating ascent and descent. By controlling the extension and retraction of the second electric push rod 32, the closing and sealing of the cover plate 33 over the air duct 24 can be controlled. When the cover plate 33 is not closed, the airflow generated by the fan 35 can be used to assist the airship's ascent and descent by controlling the forward and reverse rotation of the fan 35. When the cover plate 33 on the upper part of the air duct 24 is closed, the fan 35 delivers airflow upwards, and then the third servo motor 30 is controlled to perform appropriate adjustments. Rotation changes the relative position of the upper blower 28 of the air duct 24 with respect to the air duct 24, thereby adjusting the direction of the output airflow. This allows the airbag 23 to move both downwards and horizontally. Similarly, when the cover plate 33 at the bottom of the air duct 24 is closed, the fan 35 delivers airflow downwards. Then, by controlling the third servo motor 30 to rotate appropriately, the relative position of the lower blower 28 of the air duct 24 with respect to the air duct 24 can be changed, thereby adjusting the direction of the output airflow. This allows the airbag 23 to move both upwards and horizontally, thus controlling the airship's movement in the air.

[0024] The inbound / outbound mechanism includes a groove 36 and a third electric push rod 37. The bottom of the drone's protective plate 7 has a ridge-shaped groove 36. The groove 36 of the drone's protective plate 7 is symmetrically arranged on the left and right sides relative to the drone. Multiple sets of third electric push rods 37 are installed sequentially from top to bottom on the support cylinder 17. The third electric push rods 37 are fixed to the support cylinder 17, and the push rods are inserted into the support cylinder 17 through the left and right gaps. Two third electric push rods 37 that are symmetrical to each other on the left and right sides of the support cylinder 17 form a group. The push rods of the third electric push rods 37 correspond vertically to the grooves 36 on the left and right sides of the drone and are electrically connected to the electronic control system. The groove 36 can touch the top of the push rod of the third electric push rod 37. The inner diameter of the support cylinder 17 is larger than the outer diameter of the protective plate 7.

[0025] By controlling the extension and retraction of the corresponding set of three electric push rods 37, the push rods can be made to engage or disengage with the grooves 36. For example, when all three electric push rods 37 are retracted, the drone can smoothly pass through the support cylinder 17 from top to bottom, thus enabling the drone to leave the storage. When the push rods of the corresponding set of three electric push rods 37 engage with the grooves 36, the drone can be restricted to the corresponding height position of the support cylinder 17, thus enabling it to enter the storage.

[0026] The battery swapping and charging mechanism includes a turntable 38, a rotary drive mechanism, a charging compartment 40, a receiving compartment 41, a main guide groove 42, a secondary guide groove 43, a guide fork 44, a main spring pin 45, a secondary spring pin 46, an opening 47, a support column 48, an elastic contact plate 49, a contact piece 50, and a pushing mechanism. The bottom of the hoisting platform 2 is rotatably connected to a circular turntable 38, and an electric rotary drive mechanism is installed to drive the turntable 38 to rotate. The turntable 38 is coaxial with the support cylinder 17, and an even number of horizontal charging compartments 40 are radially penetrated at equal angles around its circumference. The bottom of the body 6 has receiving compartments 41 penetrating to the left and right. When the groove 36 contacts the top of the push rod of the third electric push rod 37, the receiving compartment 41 can... The charging compartment 40 is aligned with the charging compartment 40 on both sides. The bottom of the charging compartment 40 is downward and has a main guide groove 42 running through it. The bottom of the receiving compartment 41 is downward and has a secondary guide groove 43 running through it. The inner wall of the support cylinder 17 is fixed with guide forks 44 on both the left and right sides. When the charging compartment 40 and the receiving compartment 41 are aligned, the main guide groove 42, the secondary guide groove 43 and the guide fork 44 are aligned. When the charging compartment 40 and the receiving compartment 41 are aligned, the bottom of the charging compartment 40, the bottom of the receiving compartment 41 and the top of the guide fork 44 are flush. The two side walls of the main guide groove 42 are horizontally slidably connected with main spring pins 45 relative to the vertical direction of its extension direction. The front and rear side walls of the secondary guide groove 43 are... A secondary spring pin 46 is slidably connected to the front and rear of the battery 9. The main spring pin 45 of the same main guide groove 42 tends to move closer to each other under the action of elastic force. Similarly, the secondary spring pin 46 of the same secondary guide groove 43 also tends to move closer to each other under the action of elastic force. Both the main spring pin 45 and the secondary spring pin 46 have an expanding opening 47 in the middle. Both the main spring pin 45 and the secondary spring pin 46 have a wedge-shaped plate structure that converges towards the opening 47. A vertical support column 48 is fixed to the bottom of the battery 9. The support column 48 can be interlocked with the opening 47 and can abut against the wedge-shaped surface of the main spring pin 45 or the secondary spring pin 46. The battery 9 can connect with the charging compartment 40 and the receiving compartment 41. The charging compartment 40 and the receiving compartment 41 are both equipped with conductive elastic contact plates 49. The electric rotary drive mechanism and the elastic contact plates 49 in the charging compartment 40 are electrically connected to the electronic control system. The elastic contact plates 49 in the receiving compartment 41 are electrically connected to the UAV. The battery 9 is fixed at both ends and electrically connected to conductive contact pieces 50. When the battery 9 is inserted into the charging compartment 40 or the receiving compartment 41 and the support column 48 is located in the opening 47, the elastic contact plates 49 and the contact pieces 50 come into contact to achieve electrical connection. The pushing mechanism is used to push the battery 9, the main spring pin 45 and the auxiliary spring pin 46 so that the battery 9 moves interchangeably between the charging compartment 40 and the receiving compartment 41.

[0027] The pushing mechanism includes a guide seat 51, a support arm 52, a fourth servo motor 53, and a pushing column 54. A horizontal guide seat 51 is fixed to the bottom of the hoisting platform 2. The support arm 52 is slidably connected to the guide seat 51, and a fourth servo motor 53 is fixed thereon. The shaft of the fourth servo motor 53 is horizontally positioned and threadedly connected to the support arm 52. A vertical pushing column 54 is fixed to the top of the support arm 52. The pushing column 54 can slidably connect to the main guide groove 42, the secondary guide groove 43, and the guide fork 44, and can abut against the wedge-shaped surface of the main spring pin 45 or the secondary spring pin 46. The electric rotary drive mechanism includes a fifth servo motor 55, a fifth gear 56, and a fifth external gear ring 57. A vertical fifth servo motor 55 is fixed to the hoisting platform 2, and the shaft of the fifth servo motor 55 is coaxially fixed with... Gear 56 is coaxially fixed to the turntable 38 with an external gear ring 57. Gear 56 meshes with the external gear ring 57. Servo motors 4 and 55 are electrically connected to the electrical control system. When servo motor 4 rotates in both directions, it can drive the support arm 52 to slide left and right along the guide seat 51. When servo motor 55 is powered on and rotates, it can make the turntable 38 rotate through the meshing of gear 56 and external gear ring 57. An angle sensor 2 is installed on the hoisting platform 2. The angle sensor 2 is used to measure the angle of rotation of the turntable 38 relative to the support cylinder 17. A distance sensor is fixed to the guide seat 51. The distance sensor is used to measure the left and right displacement distance of the support arm 52 relative to the guide seat 51. The angle sensor 2 and the distance sensor are electrically connected to the electrical control system.

[0028] When the drone enters the support cylinder 17, it is first contacted by the push rod of a set of three electric push rods 37 and the groove 36, thereby correcting its position by the ridge-shaped structure so that the receiving compartment 41 and the charging compartment 40 are aligned left and right. At this time, the support arm 52 is located in the right gap between the support cylinder 17 and the turntable 38 (called the origin). Then, by controlling the movement of the fifth servo motor 55, the empty charging compartment 40 is aligned with the right side of the receiving compartment 41. Then, by controlling the movement of the fourth servo motor 53, the support arm 52 is aligned with the right side of the receiving compartment 41. The support arm 52 and the push column 54 move to the right, causing the push column 54 to press against the secondary spring pin 46 through the secondary guide groove 43. This causes the secondary spring pins 46 at the front and rear of the secondary guide groove 43 to move away from each other. The push column 54 also presses and pushes the support column 48 to the right, allowing the battery 9 to enter the charging compartment 40 along the guide fork 44, the secondary guide groove 43, and the main guide groove 42. When the support column 48 presses against the main spring pin 45 and enters its opening 47, the fourth servo motor 53 is controlled to reverse. The support arm 52 returns to its original position, at which point the contact plate 50 of the battery 9 contacts the elastic contact plate 49, thus achieving charging. Then, the turntable 38 is rotated again, aligning the empty charging compartment 40 with the receiving compartment 41. Next, servo motor 55 is rotated, moving the support arm 52 and the support column 48 outside the turntable 38. The turntable 38 is then rotated again, aligning the charging compartment 40 with the right side of the receiving compartment 41 with the fully charged battery 9. Finally, servo motor 53 is reversed. This allows the support arm 52 and push column 54 to move to the left, thereby squeezing the main spring pin 45 to push the support column 48 to the left, so that it enters the power receiving compartment 41 through the main guide groove 42, guide fork 44 and secondary guide groove 43. When the support column 48 squeezes the secondary spring pin 46 and enters its opening 47, the fourth servo motor 53 is controlled to rotate, so that the support arm 52 returns to the origin. At this time, the contact piece 50 of the battery 9 contacts the elastic contact plate 49, thereby realizing the power supply for the UAV, that is, realizing the charging and battery swapping functions.

[0029] The above description represents a preferred embodiment of the present invention. For those skilled in the art, any changes, modifications, substitutions, and variations made to the implementation methods without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A mounting device for an intelligent surveying and mapping UAV used for land spatial planning, comprising an airship, a hoisting platform (2), a UAV, an electronic control system, and a battery pack (5), characterized in that: The airship is fixed with a hoisting platform (2) at the bottom. The top of the hoisting platform (2) can hold a drone. The drone includes a fuselage (6), a protective plate (7), a battery (9), and a mapping component (10). The mapping component (10) has an image sensing function. The fuselage (6) has two coaxial arc-shaped protective plates (7) fixed on the left and right sides. The protective plates (7) on the left and right sides are separated into gaps (8) at the front and rear. The fuselage (6) is equipped with a detachable battery (9) that powers the drone. The hoisting platform (2) is equipped with a telescopic mechanism at the top. The telescopic mechanism controls two back-to-back moving clamps (12) and two left-to-right moving baffles (13). The two clamps (12) are V-shaped structures that are symmetrical front and back. The inner walls of the left and right sides are each rotatably connected to vertical rollers (14). The middle of the two clamps (12) is fixed with vertical first servo motors (15). The two first servo motors (15) 15) The rotating shaft is coaxially fixed with rollers (16). The four rollers (14) and two rollers (16) can simultaneously roll and rub against the guard plates (7) on the left and right sides of the fuselage (6). When the four rollers (14) roll and rub against the guard plates (7) on the left and right sides of the fuselage (6), the rollers (16) can separate from the rolling friction with the guard plates (7) through the notch (8). The two baffles (13) can support the fuselage (6) so that the UAV is located above the baffles (13). The hoisting platform (2) is fixed with a support cylinder (17) that runs vertically through the shaft. The intelligent mapping UAV mounting equipment is equipped with a battery swapping and charging mechanism for replacing and charging the battery (9), and is also equipped with an entry and exit mechanism for controlling the UAV to enter and exit the support cylinder (17). The electronic control system is equipped with a radio transmission module. The electronic control system, battery pack (5), telescopic mechanism, servo motor (15), battery swapping and charging mechanism and entry and exit mechanism are electrically connected.

2. The intelligent surveying and mapping UAV mounting device for land spatial planning according to claim 1, characterized in that: The telescopic mechanism includes a first electric push rod (20) and a second servo motor (21). The top of the hoisting platform (2) has two horizontally extending first electric push rods (20) fixed at the front and rear ends, and two second servo motors (21) extending in the left and right directions fixed at the left and right ends. The shafts of the two second servo motors (21) are threadedly connected to two baffles (13). The push rod ends of the two first electric push rods (20) are respectively connected to two clamping plates (12). The first electric push rod (20) and the second servo motor (21) are respectively electrically connected to the electric control system. When the two first electric push rods (20) extend and retract, the two clamps (12) can move back and forth. When the two second servo motors (21) rotate forward and backward, the two baffles (13) can move left and right. The baffles (13) are slidably connected to the hoisting platform (2) to the left and right. The bottom end of the clamp (12) and the top end of the baffle (13) touch and fit together.

3. The intelligent surveying and mapping UAV mounting device for land spatial planning according to claim 1, characterized in that: The airship includes a support frame (22), an airbag (23), a wind tunnel (24), an electric heating device (25), a rotating cylinder (26), an angle sensor (1), a blower (28), an external gear ring (39), a servo motor (30), a gear (31), an electric push rod (32), a cover plate (33), a connecting rod (34), and a fan (35). The support frame (22) is fixed with the airbag (23) and a vertically extending wind tunnel (24). The airbag (23) is filled with a non-flammable and non-explosive gas with a density less than air. An electric heating device is fixed inside the airbag (23). 25), the upper and lower parts of the air duct (24) are each coaxially rotatably connected to a rotating cylinder (26), and the upper and lower parts are respectively equipped with a first angle sensor for sensing the rotation angle of the rotating cylinder (26). The two rotating cylinders (26) are respectively fixedly connected to radial blowing cylinders (28), and are respectively coaxially fixed with a third external gear ring (29). The blowing cylinder (28) is always connected to the air duct (24). The bracket (22) is fixed with vertical third servo motors (30) at the front and rear. The rotating shafts of the two third servo motors (30) are respectively coaxially fixed with third gears (31). The two third gears (31) are respectively connected to the air duct (24). Two gear rings mesh with each other. The upper and lower parts of the air duct (24) are each fixed with a vertical second electric push rod (32), and each of the upper and lower parts is hinged with two cover plates (33). The left and right sides of the push rods of the two second electric push rods (32) are respectively hinged with connecting rods (34). The other end of the connecting rod (34) is hinged to the cover plate (33). The directions of the virtual hinge axis between the cover plate (33) and the air duct (24), the virtual hinge axis between the cover plate (33) and the connecting rod (34), and the virtual hinge axis between the connecting rod (34) and the push rod of the second electric push rod (32) are all horizontally arranged front and back. The air duct (24) 4) A fan (35) is fixed inside, which can rotate in both directions to blow air upward or downward. The electric heating device (25), the first angle sensor, the third servo motor (30), the second electric push rod (32) and the fan (35) are electrically connected to the electric control system. When the third servo motor (30) rotates in both directions, it can make the rotating cylinder (26) rotate in both directions through the third gear (31) and the third external gear ring (29). When the second electric push rod (32) extends and retracts, it can make the cover plate (33) move up and down through the connecting rod (34) to close or release the cover of the rotating cylinder (26).

4. A smart mapping UAV mounting device for land spatial planning according to any one of claims 1-3, characterized in that: The inbound / outbound mechanism includes a groove (36) and a No. 3 electric push rod (37). The bottom end of the protective plate (7) of the drone has a ridge-shaped groove (36). The groove (36) of the protective plate (7) of the drone is symmetrically arranged on the left and right sides relative to the drone. The support cylinder (17) is installed with multiple sets of No. 3 electric push rods (37) from top to bottom. The No. 3 electric push rods (37) are fixed to the support cylinder (17), and the push rods are inserted into the support cylinder (17) through the left and right gaps. The two No. 3 electric push rods (37) on the left and right sides of the support cylinder (17) are a group. The push rods of the No. 3 electric push rods (37) correspond vertically to the grooves (36) on the left and right sides of the drone, and are electrically connected to the electric control system. The groove (36) can touch the top of the push rod of the No. 3 electric push rod (37). The inner diameter of the support cylinder (17) is larger than the outer diameter of the protective plate (7).

5. The intelligent surveying and mapping UAV mounting device for land spatial planning according to claim 4, characterized in that: The battery swapping and charging mechanism includes a turntable (38), a rotary drive mechanism, a charging compartment (40), a receiving compartment (41), a main guide groove (42), a secondary guide groove (43), a guide fork (44), a main spring pin (45), a secondary spring pin (46), an opening (47), a support column (48), an elastic contact plate (49), a contact piece (50), and a pushing mechanism. The bottom of the hoisting platform (2) is rotatably connected to a circular turntable (38), and is equipped with an electric rotary drive mechanism that drives the turntable (38) to rotate. The turntable (38) is coaxial with the support cylinder (17), and an even number of horizontal charging compartments (40) are radially penetrated at equal angles around its circumference. The bottom of the body (6) has receiving compartments (41) penetrating to the left and right. When the groove (36) touches the top of the push rod of the third electric push rod (37), the receiving compartment (41) can be aligned with the charging compartments (40) on the left and right sides. The bottom of the charging compartment (40) is downward and parallel to the main guide groove (42). The bottom of the receiving compartment (41) is downward and parallel to the secondary guide groove (43). The inner wall of the support cylinder (17) is fixed with guide forks (44) on the left and right sides. When the charging compartment (40) and the receiving compartment (41) are aligned, the main guide groove (42), the secondary guide groove (43) and the guide fork (44) are aligned. When the charging compartment (40) and the receiving compartment (41) are aligned, the bottom of the charging compartment (40), the bottom of the receiving compartment (41) and the guide fork are aligned. (44) The tops are flush. The main guide groove (42) is horizontally slidably connected to the two side walls of the main guide groove (42) relative to the vertical direction of its extension direction with main spring pins (45). The front and rear side walls of the secondary guide groove (43) are slidably connected to the secondary spring pins (46). The main spring pins (45) of the same main guide groove (42) tend to move closer to each other under the action of elastic force. The secondary spring pins (46) of the same secondary guide groove (43) tend to move closer to each other under the action of elastic force. The main spring pins (45) and secondary spring pins (46) are both provided with an expanding opening (47) in the middle. The main spring pins (45) and secondary spring pins (46) are both wedge-shaped plate structures that converge toward the opening (47) through the opening. The bottom end of the battery (9) is fixed with a vertical support column (48). The support column (48) can be inserted into the opening (47) with a gap and can abut against the wedge-shaped surface of the main spring pin (45) or the auxiliary spring pin (46). The battery (9) can be inserted into the charging compartment (40) and the receiving compartment (41) with a horizontal gap. The charging compartment (40) and the receiving compartment (41) are both provided with conductive elastic contact plates (49). The electric rotary drive mechanism and the elastic contact plates (49) in the charging compartment (40) are electrically connected to the electronic control system. The elastic contact plates (49) in the receiving compartment (41) are electrically connected to the UAV. The front and rear ends of the battery (9) are fixed and electrically connected with conductive contact pieces (50).When the battery (9) is inserted into the charging compartment (40) or the receiving compartment (41) and the support column (48) is located in the opening (47), the elastic contact plate (49) contacts the contact piece (50) to achieve electrical connection. The pushing mechanism is used to push the battery (9), the main spring pin (45), and the auxiliary spring pin (46) to allow the battery (9) to move interchangeably between the charging compartment (40) and the receiving compartment (41).

6. The intelligent surveying and mapping UAV mounting device for land spatial planning according to claim 5, characterized in that: The pushing mechanism includes a guide seat (51), a support arm (52), a No. 4 servo motor (53), and a pushing column (54). The bottom of the hoisting platform (2) is fixed with a horizontal guide seat (51). The guide seat (51) is slidably connected to the support arm (52) and is fixed with a No. 4 servo motor (53). The shaft of the No. 4 servo motor (53) is horizontally arranged and threadedly connected to the support arm (52). The top of the support arm (52) is fixed with a vertical pushing column (54). The pushing column (54) can be slidably connected to the main guide groove (42), the secondary guide groove (43), and the guide fork (44) and can abut against the wedge-shaped surface of the main spring pin (45) or the secondary spring pin (46). The electric rotary drive mechanism includes a No. 5 servo motor (55), a No. 5 gear (56), and a No. 5 external gear ring (57). The hoisting platform (2) is fixed with a vertical No. 5 servo motor (55). The shaft of the No. 5 servo motor (55) A fifth gear (56) is coaxially fixed, and a fifth external gear ring (57) is coaxially fixed on the turntable (38). The fifth gear (56) meshes with the fifth external gear ring (57). The fourth servo motor (53) and the fifth servo motor (55) are electrically connected to the electrical control system. When the fourth servo motor (53) rotates forward and backward, it can drive the support arm (52) to slide left and right along the guide seat (51). When the fifth servo motor (55) is energized and rotates, it passes through the fifth gear (56)... 56) The meshing with the No. 5 external gear ring (57) enables the turntable (38) to rotate. The hoisting platform (2) is equipped with a No. 2 angle sensor, which is used to measure the angle of rotation of the turntable (38) relative to the support cylinder (17). The guide seat (51) is fixed with a distance measuring sensor, which is used to measure the left and right displacement distance of the support arm (52) relative to the guide seat (51). The No. 2 angle sensor and the distance measuring sensor are electrically connected to the electrical control system.

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