Land classification area measuring and calculating device

Abstract

The invention discloses a land classification area measuring and calculating device, which relates to the technical field of land measurement and comprises a mounting plate mounted at the bottom of an unmanned aerial vehicle and an outer stabilizing ring fixed at the bottom of the mounting plate, the inner stabilizing ring is rotationally arranged in the outer stabilizing ring; the spherical frame is rotationally arranged in the inner stabilizing ring, and the spherical frame and the extension line of the horizontal rotating shaft of the inner stabilizing ring are perpendicular to each other and intersect at the sphere center of the spherical frame, so that a universal joint type stabilizing structure is formed; and the balancing weight is fixed at the bottom of the spherical frame. Through the arrangement of the outer stabilizing ring, the inner stabilizing ring, the spherical frame and the balancing weight, oscillation is rapidly eliminated through electromagnetic damping, the optical center and the gravity center coincide, it is ensured that the laser measurement datum is always perpendicular, data distortion is effectively reduced, the requirement for land classification accurate measurement and calculation can be well met, meanwhile, cost is lower, and the service life is longer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of land surveying, in particular to a land classification area measuring device. BACKGROUND

[0002] When measuring the land classification area, in order to improve the measuring efficiency, a low-altitude scanning is usually carried out by using a UAV carrying a measuring instrument. In the prior art, the measuring instrument is generally fixedly carried on the bottom of the UAV. When scanning, the scanning lens needs to be kept horizontal to improve the measuring accuracy. However, the measuring instrument is fixed on the bottom of the UAV. When the UAV flies, the attitude will tilt and shake due to air flow, operation error, etc. If the measuring instrument tilts with the UAV, the measuring reference will deviate from the direction perpendicular to the ground, which will cause the collected ground data such as height and boundary to be distorted, and further cause the land area measuring error, thereby affecting the scanning effect and the measuring accuracy. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application provides a land classification area measuring device.

[0004] In order to achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0005] A land classification area measuring device comprises:

[0006] an installation plate installed on the bottom of the UAV and an outer stabilizing ring fixed on the bottom of the installation plate;

[0007] an inner stabilizing ring rotatably arranged in the outer stabilizing ring;

[0008] a spherical frame rotatably arranged in the inner stabilizing ring, which is perpendicular to the extension line of the horizontal rotation shaft of the inner stabilizing ring and intersects at the center of the spherical frame to form a universal joint type stabilizing structure;

[0009] a counterweight fixed on the bottom of the spherical frame;

[0010] a laser scanning measuring instrument installed on the bottom of the counterweight, the optical center of which coincides with the oscillating center of gravity of the counterweight. When the attitude of the UAV changes, the connecting line between the center of the spherical frame and the oscillating center of gravity is always kept vertical through the self-adaptive adjustment of the universal joint type stabilizing structure, so as to ensure that the measuring reference of the laser scanning measuring instrument is vertical downward;

[0011] U-shaped magnets fixed respectively on the end portions of the horizontal rotation shafts of the inner stabilizing ring and the spherical frame;

[0012] Conductive sheets are fixed to the outer and inner walls of the outer and inner stabilizing rings, respectively, and each conductive sheet extends partially between the two magnetic poles of the corresponding U-shaped magnet. When the counterweight swings and drives the inner stabilizing ring or the spherical frame to rotate relative to each other, the conductive sheet moves in the magnetic field formed by the corresponding U-shaped magnet to cut the magnetic induction lines, so as to form an electromagnetic damping force to stop the swing.

[0013] Preferably, the inner stabilizing ring tilts synchronously with the outer stabilizing ring only when the mounting plate tilts in the direction perpendicular to the horizontal rotation axis of the spherical frame. Under the action of the counterweight, the spherical frame rotates relative to the inner stabilizing ring so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

[0014] Preferably, the outer stabilizing ring tilts synchronously only when the mounting plate tilts in the direction perpendicular to the horizontal rotation axis of the inner stabilizing ring. The inner stabilizing ring drives the spherical frame to rotate relative to the outer stabilizing ring under the action of the counterweight, so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

[0015] Preferably, when the mounting plate tilts between the direction perpendicular to the horizontal rotation axis of the spherical frame and the direction perpendicular to the horizontal rotation axis of the inner stabilizing ring, the inner stabilizing ring and the spherical frame rotate synchronously within the outer stabilizing ring and the inner stabilizing ring, respectively, so that the line connecting the center of the sphere and the center of gravity of the swing remains vertical.

[0016] Preferably, the inner walls of the rotating holes at the connection between the outer and inner stabilizing rings and the horizontal rotating shafts of the inner stabilizing ring and the spherical frame are provided with multiple grooves in the circumferential direction. An arc-shaped elastic sheet is provided in the groove, and the arc-shaped elastic sheet and the groove form a sealed cavity. The sealed cavity is filled with air, which causes the arc-shaped elastic sheet to bulge and deform radially, so as to radially compress the corresponding horizontal rotating shaft.

[0017] Preferably, a rubber clip is fixedly provided at the apex of the arc-shaped elastic sheet.

[0018] Preferably, the outer wall of the horizontal rotation shaft of the inner stabilizing ring and the spherical frame is provided with a slot, and the position corresponds to the rubber block.

[0019] Preferably, both the outer and inner stabilizing rings have air chambers on their ring walls that communicate with the sealing cavities on the inner walls of the corresponding rotating holes, and a piston is slidably disposed in the air chambers.

[0020] Preferably, both the outer and inner stabilizing rings have shape memory alloy pillars inside their ring walls that are connected to the pistons at corresponding positions.

[0021] Preferably, a heat-conducting frame is fixedly connected between the shape memory alloy pillar and the conductive sheet.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention, through the design of an outer stabilizing ring, an inner stabilizing ring, a spherical frame, and a counterweight, utilizes a universal joint-type stabilization structure to ensure that the counterweight and the laser scanning measuring instrument are always in a vertically downward position. This guarantees that the measurement reference of the laser scanning measuring instrument is vertically downward, enabling adaptive adjustment of the measurement reference. This effectively prevents the laser scanning measuring instrument from tilting with the UAV, effectively avoids distortion of the collected ground data, and effectively reduces errors in land area calculation, improving scanning effect and measurement accuracy. Combined with a purely mechanical structure using U-shaped magnets and conductive sheets for electromagnetic damping, this forms a passive, adaptive scanning lens stabilization structure. Compared to existing active gimbal stabilizers, this technology eliminates the need for motors and sensors, effectively avoiding motor malfunctions and signal delays. Gravity-driven adaptive adjustment is more immediate than motor control, allowing for rapid and real-time responses to drone attitude changes. For land classification area calculations, extremely precise stabilizers are unnecessary, as using expensive gimbals is redundant. Electromagnetic damping quickly eliminates oscillations, and the alignment of the optical center with the center of gravity ensures that the laser measurement reference remains vertical, effectively reducing data distortion. Furthermore, it meets the requirements for accurate land classification calculations while being more cost-effective and having a longer lifespan. Attached Figure Description

[0024] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0025] Figure 1 This is a top-view three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention;

[0027] Figure 3 This is a top-view exploded structural diagram of the present invention;

[0028] Figure 4 This is a bottom-view diagram of the exploded structure of the present invention;

[0029] Figure 5 This is a schematic diagram of the front cross-sectional structure of the present invention;

[0030] Figure 6 For the present invention Figure 5 Enlarged schematic diagram of structure A;

[0031] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of structure B;

[0032] Figure 8 For the present invention Figure 6 A schematic diagram of the changing structure;

[0033] Figure 9 This is a schematic diagram showing how the mounting plate, outer stabilizing ring, and inner stabilizing ring of the present invention change as the UAV tilts in the first direction.

[0034] Figure 10 This is a schematic diagram of the side cross-sectional structure of the present invention;

[0035] Figure 11 This is a schematic diagram showing how the mounting plate and outer stabilizing ring of the present invention change as the UAV tilts towards the low temperature direction;

[0036] Figure 12 This is a schematic diagram of the cross-sectional structure of the present invention.

[0037] The diagram shows the following labels: 1. Mounting plate; 2. Outer stabilizing ring; 3. Counterweight; 4. Laser scanning measuring instrument; 5. U-shaped magnet; 6. Conductive sheet; 7. Inner stabilizing ring; 8. Spherical frame; 9. Heat-conducting frame; 10. Shape memory alloy column; 11. Piston; 12. Air chamber; 13. Groove; 14. Arc-shaped elastic sheet; 15. Rubber clamp; 16. Slot. Detailed Implementation

[0038] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0039] like Figures 1-12 As shown, a land classification area calculation device includes:

[0040] Mounting plate 1 installed on the bottom of the drone and outer stabilizing ring 2 fixed to the bottom of mounting plate 1;

[0041] The inner stable ring 7 is rotated and set inside the outer stable ring 2;

[0042] A spherical frame 8 is rotatably installed inside the inner stabilizing ring 7. The extension of the horizontal rotation axis of the inner stabilizing ring 7 is perpendicular to each other and intersects at the center of the spherical frame 8 to form a universal joint-type stabilizing structure.

[0043] The counterweight 3 is fixed to the bottom of the spherical frame 8;

[0044] The laser scanning measuring instrument 4, installed at the bottom of the counterweight 3, has its optical center coinciding with the swing center of gravity of the counterweight 3. When the attitude of the UAV changes, the adaptive adjustment of the universal joint stabilizing structure ensures that the line connecting the center of the ball and the swing center of gravity remains vertical, so as to ensure that the measurement reference of the laser scanning measuring instrument 4 is vertically downward.

[0045] U-shaped magnets 5 are respectively fixed to the ends of the horizontal rotating shafts of the inner stabilizing ring 7 and the spherical frame 8;

[0046] Conductive plates 6 are fixed to the outer walls of the outer stabilizing ring 2 and the inner stabilizing ring 7 respectively, and each conductive plate 6 extends partially between the two magnetic poles of the corresponding U-shaped magnet 5. When the counterweight 3 swings and drives the inner stabilizing ring 7 or the spherical frame 8 to rotate relative to each other, the conductive plate 6 moves in the magnetic field formed by the corresponding U-shaped magnet 5 to cut the magnetic induction lines, so as to form an electromagnetic damping force to stop the swing.

[0047] Specifically, when calculating the area of ​​classified land, to improve calculation efficiency, drones carrying measuring instruments are typically used to perform low-altitude scanning over the land. In existing technologies, the measuring instruments are generally fixed to the bottom of the drone. During scanning, the scanning lens needs to be kept horizontal to improve calculation accuracy. However, fixing the measuring instruments to the bottom of the drone means that the drone will tilt and sway due to airflow and operational errors during flight. If the measuring instruments tilt with the drone, their measurement reference will deviate from the direction perpendicular to the ground, causing distortion in the collected ground data, such as height and boundaries, resulting in errors in land area calculation and affecting the scanning effect and calculation accuracy. By using a universal joint stabilization structure, the entire device is fixed to the bottom of the drone via the mounting plate 1 during use. The outer stabilizing ring 2 is fixed to the bottom of the mounting plate 1 via a connecting rod, thus leaving a preset distance between the outer stabilizing ring 2 and the mounting plate 1, providing rotation space for the inner stabilizing ring 7 and the spherical frame 8.

[0048] Furthermore, when the UAV performs low-altitude flight scanning, when the UAV's attitude changes, the inner stabilizing ring 7, which is set inside the outer stabilizing ring 2, and the spherical frame 8, which is set inside the inner stabilizing ring 7, are rotated. The extension lines of the first horizontal rotation axis symmetrically set on the outer wall of the inner stabilizing ring 7 and the second horizontal rotation axis symmetrically set on the spherical frame 8 are perpendicular to each other and intersect at the center of the spherical frame 8, thus forming a standard universal joint-type stabilizing structure. This provides two mutually perpendicular horizontal rotational degrees of freedom to the counterweight 3, which is fixedly suspended at the bottom of the spherical frame 8 through the first connecting column, and the laser scanning measuring instrument 4, which is fixedly installed on the first fixed plate at the bottom of the counterweight 3 through bolts. This allows the suspension assembly composed of the counterweight 3 and the laser scanning measuring instrument 4 to tilt and compensate in any direction relative to the UAV's fuselage.

[0049] Furthermore, the combined center of gravity of the suspension assembly, composed of counterweight 3 and laser scanning measuring instrument 4, coincides with the intersection of the extension lines of the first and second horizontal rotation axes (i.e., the center of the sphere) on a vertical line. Under the action of counterweight 3, the combined center of gravity is lowered and located below the center of the sphere. When the UAV body tilts, it causes the outer stabilizing ring 2 to tilt synchronously. Since the suspension assembly composed of counterweight 3 and laser scanning measuring instrument 4 is an independent component, and the combined center of gravity of the suspension assembly is lower than the intersection of the extension lines of the first and second horizontal rotation axes, a restoring torque is generated under the gravity of the suspension assembly, preventing the suspension assembly from tilting. When the components tilt along with the drone's fuselage instruments, the suspension assembly swings in the opposite direction relative to the drone's fuselage due to the cooperation of two mutually perpendicular degrees of freedom: the first horizontal rotation axis of the inner stabilizing ring 7 and the second horizontal rotation axis of the spherical frame 8. This ensures that the counterweight 3 and the laser scanning measuring instrument 4 are always in a vertically downward state, thus ensuring that the measurement reference of the laser scanning measuring instrument 4 is vertically downward. This enables adaptive adjustment of the measurement reference, effectively preventing the laser scanning measuring instrument 4 from tilting with the drone, effectively preventing distortion of the collected ground data, and effectively reducing the error in land area calculation, thereby improving the scanning effect and calculation accuracy.

[0050] Furthermore, by fixing the laser scanning measuring instrument 4 to the bottom of the counterweight 3, the traditional separate design is changed to an integrated design. This transforms the center of gravity from a point between the two into the combined center of gravity of the suspension assembly consisting of the counterweight 3 and the laser scanning measuring instrument 4. The optical center of the laser scanning measuring instrument 4 is almost coincident with the swing center of gravity of the counterweight 3. In the traditional separate design, when the drone body tilts, the scanning lens, although pointing downwards after the suspension system is adjusted, will shift in position. In the integrated design, the suspension assembly consisting of the counterweight 3 and the laser scanning measuring instrument 4 rotates around its own center of gravity. Therefore, the projection position of the scanning lens on the horizontal plane is more stable, and the suspension assembly efficiently maintains the combined center of gravity and the measurement reference pointing towards the Earth's center, with a more direct response. This reduces measurement errors caused by the suspension itself and further improves measurement accuracy.

[0051] Furthermore, because the laser scanning measuring instrument 4 is fixed to the bottom of the counterweight 3, the entire suspension assembly has a larger mass and increased inertia, requiring a longer time to stop swaying. When the drone turns or experiences sudden speed changes, the suspension assembly may sway for an extended period, rendering it unusable. Through the U-shaped magnet 5 and conductive sheet 6, one end of the first horizontal rotating shaft symmetrically arranged on the outer wall of the inner stabilizing ring 7 penetrates the ring wall of the outer stabilizing ring 2. Two first limiting circular plates are located at one end of the first horizontal rotating shaft, positioned on both sides of the ring wall of the outer stabilizing ring 2, thus limiting the inner stabilizing ring 7. Similarly, one end of the second horizontal rotating shaft symmetrically arranged on the spherical frame 8 penetrates the ring wall of the inner stabilizing ring 7, and two second limiting circular plates are located at one end of the second horizontal rotating shaft, positioned on both sides of the ring wall of the inner stabilizing ring 7. The spherical frame 8 is limited. Magnet mounting brackets are fixedly installed on the first limiting circular plate located outside the outer ring wall of the outer stabilizing ring 2 and the second limiting circular plate located outside the inner stabilizing ring 7. A U-shaped magnet 5 is fixedly installed at the bottom of the magnet mounting bracket, and the opening of the U-shaped magnet 5 faces the ground. The outer wall of the outer stabilizing ring 2 and the outer wall of the inner stabilizing ring 7 are symmetrically provided with second fixing plates corresponding to the positions of the first limiting circular plate and the second limiting circular plate, respectively. A conductive sheet 6 is fixedly installed on the second fixing plate, and a part of the conductive sheet 6 extends into the space between the two magnetic poles of the corresponding U-shaped magnet 5.

[0052] Furthermore, when the suspension assembly consisting of counterweight 3 and laser scanning measuring instrument 4 swings relative to each other, the first or second horizontal rotating shaft will rotate accordingly, thereby causing the first or second limiting circular plate to rotate, which in turn causes the U-shaped magnet 5 to swing. This causes the conductive sheet 6 to swing relative to each other in the magnetic field generated between the two magnetic poles of the U-shaped magnet 5, causing the conductive sheet 6 to cut magnetic field lines. This causes a change in the magnetic flux passing through the conductive sheet 6. According to Faraday's law of electromagnetic induction and Lenz's law, the changing magnetic flux will induce a current inside the conductor. This current has a vortex-like shape and is therefore called an eddy current. The eddy current itself will generate a magnetic field, which is always related to the original magnetic field. The interaction between the conductive plate 6 and the U-shaped magnet 5 hinders the relative motion that causes the eddy currents. Therefore, when the conductive plate 6 swings within the U-shaped magnet 5, the eddy currents prevent the conductive plate 6 from swinging, thus stopping the swing of the conductive plate 6 through electromagnetic damping force. This further solves the problem that the entire suspension assembly, due to its larger mass and increased inertia, requires a longer time to stop swinging. When the drone turns or experiences sudden speed changes, the suspension assembly may shake for a long time and become unusable. Moreover, the entire damping process is free of physical friction, preventing movement from being stuck due to friction. Furthermore, the U-shaped magnet 5 and the conductive plate 6 are not affected by high or low temperatures or humidity, and their performance is stable. The electromagnetic induction is instantaneous without any delay, further improving the stability of the entire stabilization system.

[0053] In the aforementioned technology, the universal joint stabilization structure ensures that the counterweight 3 and the laser scanning measuring instrument 4 are always vertically downward, thus ensuring that the measurement reference of the laser scanning measuring instrument 4 is vertically downward. This enables adaptive adjustment of the measurement reference, effectively preventing the laser scanning measuring instrument 4 from tilting with the UAV, effectively avoiding distortion of the collected ground data, and effectively reducing the error in land area calculation, improving scanning effect and calculation accuracy. Combined with the purely mechanical structure of electromagnetic damping of the U-shaped magnet 5 and conductive sheet 6, a passive adaptive scanning lens stabilization structure is formed. Compared with the active gimbal stabilizer in the prior art, it does not have electronic components such as motors and sensors, effectively avoiding problems such as motor failure and signal delay. Gravity-driven adaptive adjustment is more immediate than motor control, and can quickly and instantly respond to changes in the attitude of the UAV. For the calculation of land classification area, there is no need for an extremely precise stabilizer, and the use of expensive gimbal functions is redundant. Electromagnetic damping quickly eliminates oscillations, and combined with the coincidence of the optical center and the center of gravity, it ensures that the laser measurement reference is always vertical, effectively reducing data distortion. Moreover, while meeting the needs of accurate land classification calculation, it is lower in cost and has a longer service life.

[0054] When the mounting plate 1 tilts only in the direction perpendicular to the horizontal rotation axis of the spherical frame 8, the inner stabilizing ring 7 tilts synchronously with the outer stabilizing ring 2. Under the action of the counterweight 3, the spherical frame 8 rotates relative to the inner stabilizing ring 7 so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

[0055] Specifically, such as Figure 5 and Figure 9 As shown, when the drone drives the mounting plate 1 to tilt only in the direction perpendicular to the second horizontal rotation axis of the spherical frame 8, that is, when the drone drives the mounting plate 1, the outer stabilizing ring 2, and the inner stabilizing ring 7 to tilt synchronously, the first horizontal rotation axis on one side of the inner stabilizing ring 7 tilts towards the mounting plate 1, while the first horizontal rotation axis on the other side tilts towards the ground. At this time, a restoring torque will be generated under the gravity of the suspension assembly, preventing the suspension assembly from tilting with the drone's body and instruments. This causes the second horizontal rotation axis set on the spherical frame 8 to rotate relative to the inner stabilizing ring 7, thereby causing the suspension assembly to swing in the opposite direction relative to the drone's body. This ensures that the counterweight 3 and the laser scanning measuring instrument 4 are always in a vertically downward state, thus ensuring that the measurement reference of the laser scanning measuring instrument 4 is vertically downward.

[0056] When the mounting plate 1 tilts in the direction perpendicular to the horizontal rotation axis of the inner stabilizing ring 7, the outer stabilizing ring 2 tilts synchronously. The inner stabilizing ring 7 drives the spherical frame 8 to rotate relative to the outer stabilizing ring 2 under the action of the counterweight 3, so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

[0057] Specifically, such as Figure 10 and Figure 11As shown, when the drone drives the mounting plate 1 to tilt only in the direction perpendicular to the first horizontal rotation axis of the inner stabilizing ring 7, that is, when the drone drives the mounting plate 1 and the outer stabilizing ring 2 to tilt synchronously, a restoring torque will be generated under the gravity of the suspension assembly, preventing the suspension assembly and the inner stabilizing ring 7 from tilting with the drone's body instruments. This causes the first horizontal rotation axis set on the inner stabilizing ring 7 to rotate relative to the outer stabilizing ring 2, thereby causing the suspension assembly and the inner stabilizing ring 7 to swing in opposite directions relative to the drone's body. This ensures that the counterweight 3 and the laser scanning measuring instrument 4 are always in a vertically downward state, thus ensuring that the measurement reference of the laser scanning measuring instrument 4 is vertically downward.

[0058] When the mounting plate 1 tilts between the horizontal rotation axis perpendicular to the spherical frame 8 and the horizontal rotation axis perpendicular to the inner stabilizing ring 7, the inner stabilizing ring 7 and the spherical frame 8 rotate synchronously within the outer stabilizing ring 2 and the inner stabilizing ring 7, respectively, so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

[0059] Specifically, when the drone causes the mounting plate 1 to tilt between the horizontal rotation axis perpendicular to the spherical frame 8 and the horizontal rotation axis perpendicular to the inner stabilizing ring 7, that is, when it tilts in both the direction of the second horizontal rotation axis perpendicular to the spherical frame 8 and the direction of the first horizontal rotation axis perpendicular to the inner stabilizing ring 7, the second horizontal rotation axis set on the spherical frame 8 rotates relative to the inner stabilizing ring 7, and at the same time the first horizontal rotation axis set on the inner stabilizing ring 7 rotates relative to the outer stabilizing ring 2. This causes the counterweight 3 and the laser scanning measuring instrument 4 to perform synchronous multi-directional adaptive adjustment, so that the counterweight 3 and the laser scanning measuring instrument 4 are always in a vertically downward state, thereby ensuring that the measurement reference of the laser scanning measuring instrument 4 is vertically downward.

[0060] Multiple grooves 13 are provided circumferentially on the inner walls of the rotating holes at the connection between the outer stabilizing ring 2 and the inner stabilizing ring 7 and the connection between the inner stabilizing ring 7 and the spherical frame 8. An arc-shaped elastic sheet 14 is provided in the groove 13. The arc-shaped elastic sheet 14 and the groove 13 form a sealed cavity. The sealed cavity is filled with air, which causes the arc-shaped elastic sheet 14 to bulge and deform radially, so as to radially compress the corresponding horizontal rotating shaft.

[0061] Specifically, when the suspension assembly formed by the combination of counterweight 3 and laser scanning measuring instrument 4 swings excessively due to sudden speed changes or turning under the influence of inertia, and it still takes a long time to stop the swing even with electromagnetic damping, air is injected into the first rotating hole at the connection between the horizontal rotating shaft of the outer stabilizing ring 2 and the inner stabilizing ring 7, or the second rotating hole at the connection between the horizontal rotating shaft of the spherical frame 8, or simultaneously into the sealed cavity formed between the groove 13 on the wall of the first rotating hole and the arc-shaped elastic plate 14. This increases the air pressure in the sealed cavity, thereby pushing the arc-shaped elastic plate 14 to bulge and deform towards the corresponding position at the end of the first or second rotating shaft. This causes the arc-shaped elastic plate 14 to contact the end surface of the first or second rotating shaft and radially compress the end of the first or second rotating shaft. The friction generated by the radial compression further prevents the first or second rotating shaft from rotating, thus, in conjunction with the electromagnetic damping, further preventing the suspension assembly from swinging and further improving the rapid stability performance of the suspension assembly.

[0062] A rubber clip 15 is fixedly installed at the apex of the arc-shaped elastic sheet 14.

[0063] Specifically, by setting the rubber block 15, when the arc-shaped elastic sheet 14 protrudes and deforms towards the corresponding position at the end of the first or second rotating shaft, the rubber block 15 further increases the radial extrusion force and friction damping, thereby further improving the rapid stability performance of the suspension assembly.

[0064] The inner stabilizing ring 7 and the spherical frame 8 have grooves 16 on their outer walls that correspond to the rubber clips 15.

[0065] Specifically, the slots 16 are distributed in four points. When the swing amplitude of the suspension assembly is too large, the arc-shaped elastic sheet 14 bulges and deforms towards the corresponding position at the end of the first or second rotating shaft. The rubber block 15 further increases the radial extrusion force and friction damping. When the rubber block 15 moves relative to the slot 16, the rubber block 15 springs into the slot 16, thereby stopping the swing of the suspension assembly. At this time, if the UAV is in a non-tilted state, the suspension assembly is in a vertical state, thereby further realizing rapid stopping and further improving the rapid stability performance of the suspension assembly.

[0066] Both the outer stabilizing ring 2 and the inner stabilizing ring 7 have air chambers 12 that communicate with the sealing cavities on the inner walls of the corresponding rotating holes, and a piston 11 is slidably disposed in the air chambers 12.

[0067] Both the outer stabilizing ring 2 and the inner stabilizing ring 7 have shape memory alloy pillars 10 that are connected to the piston 11 at the corresponding positions within their ring walls.

[0068] A heat-conducting frame 9 is fixedly connected between the shape memory alloy pillar 10 and the conductive sheet 6.

[0069] Specifically, when the suspension assembly formed by the counterweight 3 and the laser scanning measuring instrument 4 swings excessively due to sudden speed changes or turning under inertia, and it still takes a long time to stop the swing even with electromagnetic damping, the suspension assembly is in a state of large-amplitude swing. The conductive sheet 6 moves by cutting magnetic induction lines, generating a large amount of heat, which is converted into heat energy for consumption. At this time, the temperature of the conductive sheet 6 rises, and the heat is transferred to the shape memory alloy column 10 through the heat conduction frame 9. The shape memory alloy column 10 undergoes directional deformation due to the temperature rise, which further drives the piston 11 fixedly connected to the moving end of the shape memory alloy column 10 to move synchronously, thereby adjusting the increase of the air pressure inside the air chamber 12. This allows the gas to be pressurized and enter the annular air passage through the first air passage, and the gas is introduced into the sealed cavity through the second air passage connected between the annular air passage and the sealed cavity. This causes the arc-shaped elastic sheet 14 to contact the end surface of the first or second rotating shaft, and to act on the first... Radial compression is applied to the end of a first or second rotating shaft, thereby further preventing the first or second rotating shaft from rotating through the friction generated by the radial compression. This, in conjunction with electromagnetic damping, further prevents the suspension assembly from swinging. When the rubber block 15 moves relative to the slot 16, the rubber block 15 springs into the slot 16, thereby stopping the suspension assembly from swinging. At this time, if the UAV is in a non-tilted state, the suspension assembly is in a vertical state, thereby further achieving rapid stopping and progressive stopping. When the swing amplitude of the suspension assembly is small, the swing can be quickly stabilized by electromagnetic damping. At this time, the heat generated is small and insufficient to cause the shape memory alloy column 10 to undergo directional deformation. The arc-shaped elastic sheet 14 does not deform. Only when swinging significantly, sufficient heat is generated to trigger the secondary contact damping, thereby achieving adaptive adjustment of the damping level to prevent the suspension assembly from swinging. No additional air source is required, further reducing the weight of the device and reducing manufacturing costs.

[0070] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A land classification area calculation device, characterized in that, include: Mounting plate installed on the bottom of the drone and outer stabilizing ring fixed to the bottom of the mounting plate; The inner stable ring is rotated and set within the outer stable ring; A spherical frame is rotatably installed inside the inner stabilizing ring. The extension of the horizontal rotation axis of the inner stabilizing ring is perpendicular to each other and intersects at the center of the spherical frame to form a universal joint-type stabilizing structure. A counterweight fixed to the bottom of the spherical frame; The laser scanning measuring instrument installed at the bottom of the counterweight has its optical center coincided with the swing center of gravity of the counterweight. When the attitude of the UAV changes, the adaptive adjustment of the universal joint stabilization structure ensures that the line connecting the center of the ball and the swing center of gravity always remains vertical, so as to ensure that the measurement reference of the laser scanning measuring instrument is vertically downward. U-shaped magnets are fixed to the ends of the horizontal rotating shafts of the inner stabilizing ring and the spherical frame, respectively; Conductive sheets are fixed to the outer and inner walls of the outer and inner stabilizing rings, respectively, and each conductive sheet extends partially between the two magnetic poles of the corresponding U-shaped magnet. When the counterweight swings and drives the inner stabilizing ring or the spherical frame to rotate relative to each other, the conductive sheet moves in the magnetic field formed by the corresponding U-shaped magnet to cut the magnetic induction lines, so as to form an electromagnetic damping force to stop the swing.

2. The land classification area calculation device according to claim 1, characterized in that: The inner stabilizing ring tilts synchronously with the outer stabilizing ring only when the mounting plate tilts in the direction perpendicular to the horizontal rotation axis of the spherical frame. Under the action of the counterweight, the spherical frame rotates relative to the inner stabilizing ring so that the line connecting the center of the sphere and the center of gravity of the swing remains vertical.

3. The land classification area calculation device according to claim 1, characterized in that: The outer stabilizing ring tilts synchronously only when the mounting plate tilts in the direction perpendicular to the horizontal rotation axis of the inner stabilizing ring. The inner stabilizing ring drives the spherical frame to rotate relative to the outer stabilizing ring under the action of the counterweight, so that the line connecting the center of the ball and the center of gravity of the swing remains vertical.

4. The land classification area calculation device according to claim 1, characterized in that: When the mounting plate tilts between the direction perpendicular to the horizontal rotation axis of the spherical frame and the direction perpendicular to the horizontal rotation axis of the inner stabilizing ring, the inner stabilizing ring and the spherical frame rotate synchronously within the outer stabilizing ring and the inner stabilizing ring, respectively, so that the line connecting the center of the sphere and the center of gravity of the swing remains vertical.

5. The land classification area calculation device according to claim 1, characterized in that: Multiple grooves are circumferentially formed on the inner walls of the rotating holes at the connection between the outer and inner stabilizing rings and the horizontal rotating shaft of the inner stabilizing ring and the spherical frame. An arc-shaped elastic sheet is provided in the groove, and the arc-shaped elastic sheet and the groove form a sealed cavity. The sealed cavity is filled with air, which causes the arc-shaped elastic sheet to bulge and deform radially, so as to radially compress the corresponding horizontal rotating shaft.

6. The land classification area calculation device according to claim 5, characterized in that: A rubber clip is fixedly installed at the apex of the arc-shaped elastic sheet.

7. A land classification area calculation device according to claim 6, characterized in that: The inner stabilizing ring and the spherical frame have slots on their outer walls that correspond to the rubber blocks.

8. A land classification area calculation device according to claim 5, characterized in that: Both the outer and inner stabilizing rings have air chambers on their ring walls that communicate with the sealing cavities on the inner walls of the corresponding rotating holes, and a piston is slidably disposed in the air chamber.

9. A land classification area calculation device according to claim 8, characterized in that: Both the outer and inner stabilizing rings have shape memory alloy pillars inside their ring walls that are connected to the pistons at corresponding positions.

10. A land classification area calculation device according to claim 9, characterized in that: A heat-conducting frame is fixedly connected between the shape memory alloy pillar and the conductive sheet.

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