Unmanned aerial vehicle surveying and mapping device for mine goaf

Abstract

The invention discloses an unmanned aerial vehicle surveying and mapping device for a mine goaf, and relates to the technical field of unmanned aerial vehicle surveying and mapping, the unmanned aerial vehicle surveying and mapping device comprises an unmanned aerial vehicle supporting base, fixing frames are symmetrically mounted at the bottom of the unmanned aerial vehicle supporting base, buffer airbags and camera modules are arranged below the fixing frames, and the buffer airbags are symmetrically arranged on the two sides of the buffer airbags; the unmanned aerial vehicle surveying and mapping device for the mine goaf further comprises a multi-scene dynamic adjusting mechanism and a multi-angle adjusting mechanism. The multi-angle adjusting mechanism is linked with a third servo motor through a second servo motor, a V-shaped oblique angle swing block and a driving rod, so that multi-degree-of-freedom accurate adjustment of the camera module is realized. And in cooperation with stable supporting of the damping ring and the U-shaped frame, the shaking phenomenon in the shooting process is remarkably restrained, and it is guaranteed that images are clear and stable. The mechanism is further integrated with a damping air bag and a double-damping-seat structure, the influence of flight vibration on the camera module is further isolated, and it is ensured that high-quality image data can still be obtained in a high-dynamic environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle surveying and mapping technology, in particular to a mine goaf unmanned aerial vehicle surveying and mapping device. BACKGROUND

[0002] Safety monitoring and topographic mapping of mine goaf are important links of mine safety production and disaster early warning. With the development of unmanned aerial vehicle technology, using unmanned aerial vehicle for goaf mapping has become an important means to improve work efficiency and ensure personnel safety. Unmanned aerial vehicle can quickly obtain high-precision image data, realize efficient and comprehensive collection of complex goaf terrain, and provide data support for subsequent three-dimensional modeling, stability analysis and disaster assessment.

[0003] However, the existing unmanned aerial vehicle mapping device still has obvious shortcomings in the complex environment of the mine. On the one hand, the terrain of the goaf is complex and undulating, often accompanied by water accumulation, steep slopes and other special working conditions. The traditional unmanned aerial vehicle landing buffer mechanism is often simple in structure and poor in adaptability, making it difficult to achieve smooth landing in multiple scenarios, especially lacking effective multi-stage buffer mechanism in the landing moment, which is easy to cause damage to the body or equipment failure. On the other hand, the camera module of the existing device is mostly fixed or simply hinged, with poor anti-shake performance, which is easy to shake when the unmanned aerial vehicle is flying or encounters airflow, resulting in blurred images and distorted data, seriously affecting the mapping accuracy and imaging quality. In addition, most devices lack multi-degree-of-freedom flexible adjustment capability for the camera module, making it difficult to achieve accurate and continuous shooting at different angles and different areas, limiting the comprehensiveness and accuracy of data collection.

[0004] Therefore, a mine goaf unmanned aerial vehicle mapping device is proposed to solve the above problems. SUMMARY

[0005] Therefore, the technical problem to be solved by the present application is to provide a mine goaf unmanned aerial vehicle mapping device to solve the problem that the existing unmanned aerial vehicle is difficult to adapt to different terrain scenarios and the device has poor anti-shake performance.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a mine goaf unmanned aerial vehicle mapping device, comprising an unmanned aerial vehicle support base, a fixed frame is symmetrically installed at the bottom of the unmanned aerial vehicle support base, a buffer air bag and a camera module are respectively arranged below the fixed frame, the buffer air bags are symmetrically arranged on both sides of the buffer air bag, and the mine goaf unmanned aerial vehicle mapping device further comprises a multi-scene dynamic adjustment mechanism and a multi-angle adjustment mechanism. The multi-scene dynamic adjustment mechanism is arranged at the bottom of the fixed frame, and the multi-scene dynamic adjustment mechanism is used for angle adjustment and dynamic buffering of the unmanned aerial vehicle support base. The multi-angle adjusting mechanism is arranged at the bottom of the unmanned aerial vehicle supporting base and is used for dynamic adjustment and stabilization of the camera module.

[0007] As preferred, the multi-scene dynamic adjusting mechanism comprises a first servo motor fixedly installed on the fixed frame, an adjusting plate fixedly installed on the driving shaft of the first servo motor, and a square frame rotatably connected to one end of the adjusting plate away from the driving shaft of the first servo motor.

[0008] As preferred, a damping sleeve is rotatably installed on the inner surface of one end of the square frame away from the adjusting plate, a supporting shaft is slidably installed in the middle of the damping sleeve, a buffer spring is fixedly installed on one end of the supporting shaft, a protective cover is fixedly installed on the other end of the supporting shaft, and the buffer spring is fixedly installed on the damping sleeve away from the supporting shaft.

[0009] As preferred, a connector is slidably connected to the inner wall of one side of the supporting shaft close to the protective cover, a hollow frame is fixedly connected to one end of the connector away from the protective cover, the outer surface of the hollow frame is arranged in the middle of the protective cover, and the hollow frame is fixedly connected to the buffer air bag at both ends.

[0010] As preferred, the multi-angle adjusting mechanism comprises a supporting rod, the supporting rod is symmetrically installed at the bottom of the unmanned aerial vehicle supporting base, a V-shaped plate is installed on the outer surface of the supporting rod, and a first damping seat is fixedly installed at the bottom of the V-shaped plate.

[0011] As preferred, a damping air bag is symmetrically installed on the upper surface of the first damping seat, a second damping seat is installed on the upper surface of the damping air bag, and an L-shaped supporting plate is fixedly installed on the second damping seat.

[0012] As preferred, the multi-angle adjusting mechanism further comprises an angle adjusting assembly, the angle adjusting assembly comprises a second servo motor fixedly installed at the bottom of the L-shaped supporting plate, a V-shaped inclined angle swing block fixedly installed on the driving shaft of the second servo motor, a driving rod rotatably installed on one end of the V-shaped inclined angle swing block away from the second servo motor, and a third servo motor rotatably installed on one end of the driving rod away from the V-shaped inclined angle swing block.

[0013] As preferred, a damping ring is rotatably installed in the middle of the third servo motor, a U-shaped frame is rotatably connected to the outer surface of the middle of the damping ring, the U-shaped frame is fixedly installed at the bottom of the L-shaped supporting plate, an L-shaped support is installed on the driving shaft of the third servo motor, and the camera module is fixedly installed on one end of the L-shaped support away from the third servo motor.

[0014] Compared with the prior art, the mine goaf unmanned aerial vehicle surveying and mapping device provided by the application has the following beneficial effects: 1. Through the design of a multi-scenario dynamic adjustment mechanism, the UAV achieves stable take-off and landing and adaptive buffering in various complex terrains such as land and water. This mechanism uses a first servo motor to drive the adjustment plate and square frame, which in turn drives the support shaft to achieve intelligent switching between horizontal folding and vertical support. Combined with the synergistic effect of the buffer airbag, buffer spring and damping sleeve, a multi-level buffering and damping adjustment mechanism is constructed, which effectively absorbs landing impact, protects the airframe structure, and significantly enhances the environmental adaptability and service life of the equipment.

[0015] 2. The multi-angle adjustment mechanism, through the linkage of the second servo motor, V-shaped angled swing block, drive rod, and third servo motor, achieves precise multi-degree-of-freedom adjustment of the camera module. Combined with the stable support of the damping ring and U-shaped frame, it significantly suppresses shaking during shooting, ensuring clear and stable images. This mechanism also integrates shock-absorbing airbags and a "double-damping" vibration seat structure to further isolate the impact of flight vibrations on the camera module, ensuring high-quality image data acquisition even in high-dynamic environments.

[0016] 3. Through programmed control and air circuit connection design, the intelligent inflation and deflation of the buffer airbag and attitude linkage are realized, further optimizing the buffering effect and flight stability during takeoff and landing. This solution achieves rapid response and convenient operation through the overall structural design of multi-angle adjustment mechanism and multi-scenario dynamic adjustment mechanism. It is especially suitable for complex working environments such as mining goaf areas and has strong engineering practicality and promotion value. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an auxiliary schematic diagram of the three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the structural connection relationship of the multi-scenario dynamic adjustment mechanism of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the structural connection relationship of the multi-angle adjustment mechanism of the present invention; Figure 6 For the present invention Figure 5 Enlarged view of section B in the middle.

[0018] In the picture: 1. Drone support base; 11. Mounting bracket; 12. Buffer airbag; 13. Camera module; 2. Multi-scenario dynamic adjustment mechanism; 21. First servo motor; 22. Adjustment plate; 23. Square frame; 24. Damping sleeve; 25. Support shaft; 26. Buffer spring; 27. Protective cover; 28. Connector; 29. ​​Hollow frame; 3, multi-angle adjusting mechanism; 31, support rod; 32, V-shaped plate; 33, first damping seat; 34, second damping seat; 35, damping air bag; 36, L-shaped support plate; 4, angle adjusting assembly; 41, second servo motor; 42, U-shaped frame; 43, damping ring; 44, V-shaped inclined angle swing block; 45, driving rod; 46, third servo motor; 47, L-shaped support. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0020] The present application will be described in further detail below according to the drawings and embodiments.

[0021] Embodiment, please refer to Figures 1 to 6 As shown in the figure: To solve the problems mentioned in the technical solutions, the embodiment of the present application provides a mine goaf unmanned aerial vehicle surveying and mapping device, which comprises an unmanned aerial vehicle support base 1, a fixed frame 11 is symmetrically installed at the bottom of the unmanned aerial vehicle support base 1, a buffer air bag 12 and a camera module 13 are respectively arranged below the fixed frame 11, the buffer air bag 12 is symmetrically arranged on both sides of the buffer air bag 12, and the mine goaf unmanned aerial vehicle surveying and mapping device further comprises a multi-scene dynamic adjusting mechanism 2 and a multi-angle adjusting mechanism 3. The multi-scene dynamic adjusting mechanism 2 is arranged at the bottom of the fixed frame 11, and the multi-scene dynamic adjusting mechanism 2 is used for angle adjustment and dynamic buffering of the unmanned aerial vehicle support base 1. The multi-angle adjusting mechanism 3 is arranged at the bottom of the unmanned aerial vehicle support base 1, and the multi-angle adjusting mechanism 3 is used for dynamic adjustment and stabilization of the camera module 13.

[0022] Specifically, as Figure 3As shown, the first servo motor 21 is fixedly installed on the fixed frame 11, the first servo motor 21 drive shaft is fixedly installed with the adjusting plate 22, the adjusting plate 22 is rotatably connected with the square frame 23 away from the first servo motor 21 drive shaft one end; The square frame 23 is rotatably installed with the damping sleeve 24 away from the inner surface of the adjusting plate 22 one end, the damping sleeve 24 is slidably installed with the support shaft 25 in the middle, the support shaft 25 is fixedly installed with the buffer spring 26 at one end, the support shaft 25 is fixedly installed with the protective cover 27 at the other end, the buffer spring 26 is fixedly installed on the damping sleeve 24 away from the support shaft 25 one end; The support shaft 25 is slidably connected with the connector 28 on the inner wall near the protective cover 27 side, the connector 28 is fixedly connected with the hollow frame 29 away from the protective cover 27 one end, the hollow frame 29 outer surface is arranged in the protective cover 27 middle, the hollow frame 29 both ends are fixedly connected on the buffer air bag 12; Among them, the buffer air bag 12 is communicated with the connector 28 through the hollow frame 29 middle, the connector 28 is communicated with the support shaft 25, and the connector 28 is slidably installed in the inner wall of the support shaft 25, and the connector 28 and the support shaft 25 are installed with a sealing pad, and the airtightness is good, and the support shaft 25 is injected with inert gas, so that the buffer air bag 12 is always kept in a state of filling, when the buffer air bag 12 is landed by the unmanned aerial vehicle, the buffer air bag 12 is extruded by the gravity of the unmanned aerial vehicle, the gas in the buffer air bag 12 is extruded in the support shaft 25, the connector 28 starts to slide outward along the inner wall of the support shaft 25, and the buffer spring 26 can preliminarily buffer when the unmanned aerial vehicle lands, and the mutual sliding of the connector 28 and the support shaft 25 can realize the damping protection of the unmanned aerial vehicle landing, and reduce the damage of the machine parts.

[0023] At the same time, through the rotation of the first servo motor 21, when the unmanned aerial vehicle takes off, the first servo motor 21 can drive the adjusting plate 22 to rotate under internal programmed control, the square frame 23 is driven to rotate through the rotation of the adjusting plate 22, and the support shaft 25 is driven to adjust the angle through the rotation of the square frame 23, that is, the support shaft 25 is horizontally folded at the later stage of the take-off of the unmanned aerial vehicle, the buffer air bag 12 can realize the protection of the wings of the unmanned aerial vehicle during take-off, and the buffer air bag 12 can effectively block the damage of the wings when colliding with a wall, and at the same time, the buffer air bag 12 can realize a preliminary buffer adjustment; when the unmanned aerial vehicle lands, the first servo motor 21 is driven to rotate in the opposite direction through programmed control, the support shaft 25 starts to adjust the angle vertically, and the hollow frame 29 is driven to realize a supporting adjustment as a whole, at this time, the buffer air bag 12 can realize the buffer during landing on the ground; at the same time, the multi-scene dynamic adjustment mechanism 2 in the scheme can be suitable for landing and taking off on the water surface, since the buffer air bag 12 is made of waterproof and wear-resistant material, it can float on the water surface, and can also buffer the ground, realizing multi-scene landing application, which has more flexible application for unmanned aerial vehicle surveying and mapping in the mined-out area.

[0024] Specifically, as shown in Figure 5 The support rod 31 is symmetrically installed at the bottom of the unmanned aerial vehicle support base 1, the V-shaped plate 32 is installed on the outer surface of the support rod 31, and the first damping seat 33 is fixedly installed at the bottom of the V-shaped plate 32; the damping air bag 35 is symmetrically installed on the upper surface of the first damping seat 33, the second damping seat 34 is installed on the upper surface of the damping air bag 35, and the L-shaped support plate 36 is fixedly installed on the second damping seat 34.

[0025] The second damping seat 34 is arranged above the first damping seat 33 and connected through the damping air bag 35, and the L-shaped support plate 36 is installed on the damping air bag 35. The angle adjustment assembly 4 is arranged on the L-shaped support plate 36 as a whole, the damping air bag 35 is arranged to realize damping and anti-shaking in a special environment, and the multi-angle adjustment mechanism 3 can realize buffer during landing. When the unmanned aerial vehicle lands after surveying and mapping, the second damping seat 34 acts downward to drive the damping air bag 35 to deform, and the damping air bag 35 can not only reduce the buffer damage between mechanisms, but also protect the camera module 13 as a whole and reduce the damage of parts.

[0026] Specifically, as shown in Figure 6As shown, the second servo motor 41 is fixedly installed at the bottom of the L-shaped support plate 36. A V-shaped inclined swing block 44 is fixedly installed on the drive shaft of the second servo motor 41. A drive rod 45 is rotatably installed at the end of the V-shaped inclined swing block 44 away from the second servo motor 41. A third servo motor 46 is rotatably installed at the end of the drive rod 45 away from the V-shaped inclined swing block 44. A damping ring 43 is rotatably installed in the middle of the third servo motor 46. A U-shaped frame 42 is rotatably connected to the middle of the outer surface of the damping ring 43. The U-shaped frame 42 is fixedly installed at the bottom of the L-shaped support plate 36. An L-shaped bracket 47 is installed on the drive shaft of the third servo motor 46. The camera module 13 is fixedly installed at the end of the L-shaped bracket 47 away from the third servo motor 46.

[0027] The second servo motor 41 is electrically connected to the UAV's flight control system. Through programmed control, when the camera module 13 needs to adjust the surveying angle, the second servo motor 41 rotates. This rotation causes the V-shaped angled pendulum 44 to rotate around its drive shaft. Because the V-shaped angled pendulum 44 is bent at a certain angle, its rotation drives the drive rod 45 to rotate the third servo motor 46 within the damping ring 43. The damping ring 43 provides initial support, keeping the third servo motor 46 stable. Simultaneously, the connection between the damping ring 43 and the U-shaped frame 42 allows the camera module 13 to operate at high speeds. To reduce camera module 13 shaking during operation, the image shake caused by the drone during surveying can be reduced, thereby increasing the accuracy of image acquisition. Simultaneously, it allows for acquisition from different angles using the camera module 13. When the camera module 13 is adjusted to a certain angle, the rotation of the third servo motor 46 drives the L-shaped bracket 47 to rotate the camera module 13 around the center of the third servo motor 46. This rotation of the camera module 13 enables rapid sampling of different locations within the area, reducing the uniformity of the device's acquisition and increasing the overall flexibility of the camera module 13's acquisition capabilities. It can be flexibly adjusted for different acquisition scenarios, thus increasing its adaptability to the environment.

[0028] The specific implementation steps are as follows: Complex terrain mapping: such as steep slopes, uneven surfaces of mined-out areas, including land and water surfaces such as waterlogged mined-out areas, etc., require multi-angle, high-definition image or video acquisition of mined-out areas for 3D modeling, stability assessment, etc.

[0029] Step 1: Equipment Inspection and Pre-configuration First, carefully check all the key components of the drone: check if the protective airbag 12 is leaking and if it is fully inflated; test if the camera 13 can take pictures and record videos normally; check the three servo motors that control the drone's movements, and ensure they respond flexibly when the operation keys are pressed; confirm that the shock-absorbing airbag 35 and the buffer spring 26 that reduce vibration are not damaged and can be used normally, and then pre-program the first servo motor 21 to set the angle to turn during takeoff and landing; set the rules for the second servo motor 41 and the third servo motor 46 so that they can drive the camera to adjust the shooting angle. Step Two: Final Adjustments Before Takeoff; The main adjustments are to two key mechanisms to prepare for takeoff: 1. The multi-scenario dynamic adjustment mechanism 2 allows the first servo motor 21 to drive the adjustment plate 22 and the square frame 23 to rotate, flatten and fold the support shaft 25 supporting the drone, and at the same time deploy the buffer airbag 12 to protect the drone's wings; confirm that the damping sleeve 24 and buffer spring 26 that can reduce vibration are in a normal buffering state to avoid excessive vibration during takeoff. 2. Multi-angle adjustment mechanism 3 First, have the second servo motor 41 and the third servo motor 46 adjust the camera 13 to the initial shooting angle so that it can start working directly after takeoff; check the shock-absorbing airbag 35 and the L-shaped support plate 36 that fixes the camera to ensure that they are stable and that the camera will not shake too much. Step 3: Take off and begin mapping; 1. Takeoff phase: After the drone takes off successfully, the first servo motor 21 will retract the previously folded support shaft 25 according to the pre-set program. This will reduce drag during flight and make the drone fly more stably. At the same time, the buffer airbag 12 will retain a little air to provide protection in case of a sudden collision. 2. Surveying process; When adjusting the camera angle, first, the second servo motor 41 drives the V-shaped inclined block 44 and the drive rod 45 to rotate, thereby adjusting the angle of the third servo motor 46; then, the third servo motor 46 drives the L-shaped bracket 47 that fixes the camera, so that the camera 13 can shoot the goaf area from multiple angles; during the process, the damping ring 43 and the U-shaped frame 42 will work together to reduce the camera shake and ensure that the captured image is clear. Step 4: Landing and Buffer Protection; 1. Pre-landing preparation: When the drone is preparing to land, the first servo motor 21 will rotate in the opposite direction to adjust the previously retracted support shaft 25 back to the vertical position, and at the same time fully deploy the buffer airbag 12 to prepare for landing cushioning. 2. Landing process: When the drone lands, the first thing to happen is the airbag 12, which contacts the ground. The air in the airbag enters the support shaft 25 through the connector 28, which reduces the impact force of the landing. Then the buffer spring 26 will further absorb the remaining impact force to protect the overall structure of the drone from being damaged. At the same time, the shock-absorbing airbag 35 and the second shock-absorbing seat 34 will work together to reduce the impact of the landing vibration on the camera 13 and avoid damage to the camera. Step 5: Data processing and analysis; First, export the photos and videos stored in camera 13; then perform post-processing on the exported data, such as stitching multiple photos together to form a complete image and creating a 3D model of the goaf; finally, based on the processed data, assess whether the goaf is stable and whether any deformation has occurred.

[0030] Please refer to the above work process. Figures 1 to 6 .

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mine goaf unmanned aerial vehicle surveying device, comprising an unmanned aerial vehicle support base (1), the bottom of the unmanned aerial vehicle support base (1) is symmetrically provided with a fixing frame (11), a buffer air bag (12) and a camera module (13) are arranged below the fixing frame (11) respectively, the buffer air bags (12) are symmetrically arranged on both sides of the buffer air bag (12), characterized in that, The mine goaf unmanned aerial vehicle surveying and mapping device further comprises a multi-scene dynamic adjusting mechanism (2) and a multi-angle adjusting mechanism (3); The multi-scene dynamic adjusting mechanism (2) is arranged at the bottom of the fixed frame (11), and is used for angle adjustment and dynamic buffering of the unmanned aerial vehicle supporting base (1). The multi-angle adjusting mechanism (3) is arranged at the bottom of the unmanned aerial vehicle supporting base (1), and is used for dynamic adjustment and stabilization of the camera module (13).

2. The mine goaf unmanned aerial vehicle surveying and mapping device according to claim 1, characterized in that: The multi-scene dynamic adjusting mechanism (2) comprises a first servo motor (21) fixedly installed on the fixed frame (11), an adjusting plate (22) fixedly installed on the driving shaft of the first servo motor (21), and a square frame (23) rotatably connected to one end of the adjusting plate (22) away from the driving shaft of the first servo motor (21).

3. The mine goaf unmanned aerial vehicle surveying and mapping device according to claim 2, characterized in that: A damping sleeve (24) is rotatably installed on the inner surface of one end of the square frame (23) away from the adjusting plate (22), a supporting shaft (25) is slidably installed in the middle of the damping sleeve (24), a buffer spring (26) is fixedly installed on one end of the supporting shaft (25), a protective cover (27) is fixedly installed on the other end of the supporting shaft (25), and the buffer spring (26) is fixedly installed on the damping sleeve (24) away from the supporting shaft (25).

4. The mine goaf unmanned aerial vehicle surveying and mapping device according to claim 3, characterized in that: A connector (28) is slidably connected to the inner wall of one side of the supporting shaft (25) close to the protective cover (27), a hollow frame (29) is fixedly connected to one end of the connector (28) away from the protective cover (27), the outer surface of the hollow frame (29) is arranged in the middle of the protective cover (27), and the hollow frame (29) is fixedly connected to the buffer air bag (12) at both ends.

5. The mine goaf unmanned aerial vehicle surveying and mapping device according to claim 1, characterized in that: The multi-angle adjusting mechanism (3) comprises a supporting rod (31) symmetrically installed at the bottom of the unmanned aerial vehicle supporting base (1), a V-shaped plate (32) installed on the outer surface of the supporting rod (31), and a first damping seat (33) fixedly installed at the bottom of the V-shaped plate (32).

6. The mine goaf unmanned aerial vehicle surveying device according to claim 5, characterized in that: A damping air bag (35) is symmetrically installed on the upper surface of the first damping seat (33), a second damping seat (34) is installed on the upper surface of the damping air bag (35), and an L-shaped supporting plate (36) is fixedly installed on the second damping seat (34).

7. The mine goaf unmanned aerial vehicle surveying device according to claim 6, characterized in that: The multi-angle adjusting mechanism (3) further comprises an angle adjusting assembly (4), the angle adjusting assembly (4) comprises a second servo motor (41) fixedly installed at the bottom of the L-shaped supporting plate (36), a V-shaped inclined angle swing block (44) fixedly installed on the driving shaft of the second servo motor (41), a driving rod (45) rotatably installed on one end of the V-shaped inclined angle swing block (44) away from the second servo motor (41), and a third servo motor (46) rotatably installed on one end of the driving rod (45) away from the V-shaped inclined angle swing block (44).

8. The mine goaf unmanned aerial vehicle surveying device according to claim 7, characterized in that: The third servo motor (46) is rotationally installed with a damping ring (43) in the middle, the outer surface of the damping ring (43) is rotationally connected with a U-shaped frame (42), the U-shaped frame (42) is fixedly installed at the bottom of the L-shaped support plate (36), an L-shaped support (47) is installed on the driving shaft of the third servo motor (46), and the camera module (13) is fixedly installed at the end of the L-shaped support (47) away from the third servo motor (46).

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