Self-adaptive unmanned aerial vehicle geographic information surveying and mapping device and method

Abstract

The invention belongs to the technical field of surveying and mapping unmanned aerial vehicles, particularly relates to a self-adaptive unmanned aerial vehicle geographic information surveying and mapping device and method, and provides the following scheme aiming at the problem that an existing electronic pod suspended below a vehicle belly is easy to collide during take-off: the self-adaptive unmanned aerial vehicle geographic information surveying and mapping device comprises a main case, side panels which are parallel to each other and extend downwards are reserved on the left side and the right side of the main case respectively, flight units are arranged at the four corners of the top of the main case respectively, a positioning module is further arranged at the top of the main case close to a nose, and a flight control module is arranged in the main case close to the tail end. An arc-shaped bottom shell capable of blocking the bottoms and the front and rear ends of the two side panels at the same time is fixed below the main machine shell. According to the unmanned aerial vehicle, the scanning equipment can be collected in the vehicle body before taking off, after the unmanned aerial vehicle body takes off, the ejector rod column can slowly descend due to the damping hole, after the unmanned aerial vehicle body flies for a period of time, the ejector rod column can completely stretch out, and then a signal is automatically sent to opening of a cabin door.

Description

Technical Field

[0001] This invention relates to the field of surveying drone technology, and in particular to an adaptive drone geographic information surveying device and method. Background Technology

[0002] In recent years, the rapid development of drone technology, remote sensing technology, and data processing technology has made the application of drones in the field of surveying and mapping increasingly feasible. The widespread availability of high-precision GPS, advanced sensors, and image processing software provides a solid technical foundation for drone surveying and mapping. Its applications in the surveying and mapping field are not limited to topographic surveying, but also include agricultural monitoring, environmental protection, post-disaster assessment, urban planning, and many other aspects, demonstrating its wide applicability and flexibility.

[0003] Currently, when conducting field surveying in mountainous areas, it is necessary to find large flat areas for UAV takeoff. This is because the UAV has a protruding electronic pod underneath it. If the takeoff ground is uneven or the first takeoff fails, the electronic pod can easily be damaged. Therefore, in order to protect the electronic pod, a lot of time is often spent finding a suitable takeoff point during the takeoff preparation stage, which wastes a lot of time. To address the takeoff inconvenience caused by the electronic pod suspended under the fuselage, we propose a new type of adaptive UAV geographic information surveying device and method. Summary of the Invention

[0004] To overcome the aforementioned shortcomings of the prior art, the present invention aims to provide a novel mapping drone capable of automatically releasing its electronic pod after reaching a safe altitude. This invention provides an adaptive UAV geographic information mapping device, comprising a main body shell. Parallel and downward-extending side panels are pre-installed on the left and right sides of the main body shell. Flight units are respectively arranged at the four corners of the top of the main body shell. A positioning module is also arranged on the top of the main body shell near the nose. A flight control module is arranged inside the main body shell near the tail end. An arc-shaped bottom shell, capable of simultaneously sealing the bottom of the two side panels and the front and rear ends, is fixed at the bottom of the main body shell. A scanning device is arranged inside the top of the main body shell near the nose end. An arc-shaped surface is arranged diagonally below the scanning device on the arc-shaped bottom shell. The central angle of the arc-shaped surface is 90 degrees. A rectangular hole is opened in the middle of the arc-shaped surface. Symmetrical side sliding grooves are opened on the inner walls of the front and rear sides of the rectangular hole. A common hatch is slidably connected between the two side sliding grooves. The shape of the hatch is the same as the curvature of the arc-shaped surface. The lower surface of the hatch is embedded in the middle. Equipped with a worm gear rack, the inner bottom wall of the arc-shaped base shell has a drive unit located near the outer arc side of the worm gear rack to drive the worm gear rack and thus the opening and closing of the hatch. The two opposite side panels of the main body shell each have a delayed contact near their bottom ends, and each delayed contact includes an outer cover. Inside the outer cover are identical oil tanks. A push rod is inserted into the bottom of each oil tank, and piston discs and support modules are respectively located at the upper and lower ends of the push rod. The piston discs have damping holes. Through a scanning device located inside the hatch, in conjunction with the delayed contact used to delay the start of the drive unit, the scanning device can be stored inside the fuselage before takeoff. After the UAV takes off, the push rod slowly descends due to the damping holes. After the UAV has flown for a period of time, the push rod fully extends under the influence of gravity, and then automatically sends a signal to open the hatch.

[0005] A further feature of this invention is that an automatic obstacle avoidance radar is provided at the outer end of the arc-shaped bottom shell away from the flight control module, which can automatically adapt to the terrain and promptly identify obstacles and select the optimal route when flying close to the ground.

[0006] A further feature of the present invention is that wear-resistant slide rods are fixed at the ends of the front and rear edges of the hatch away from the drive unit, and the wear-resistant slide rods are slidably connected in the side slide grooves as the hatch is opened and closed. A rack passage groove adapted to the running trajectory of the worm gear rack is opened in the middle of the bottom inner wall of the arc-shaped bottom shell near the rectangular hole.

[0007] A further feature of this invention is that the drive unit includes a base fixed to the inner wall of the bottom of the arc-shaped shell. An L-shaped hinge seat is fixed to the upper surface of the base, with the vertical plate of the L-shaped hinge seat close to the hatch. A U-shaped notch is pre-reserved at the top of the L-shaped hinge seat, and a bearing seat is rotatably connected to the top of the U-shaped notch. An anti-slip bearing is embedded in the middle of the bearing seat, and a transmission rod is rotatably connected to the middle of the anti-slip bearing. A reduction motor and a worm gear sleeve are fixed to the upper and lower ends of the transmission rod, respectively. A Z-shaped motor mount is fixed to the lower surface of the reduction motor, and the lower surface of the motor mount is connected to the L-shaped hinge. A return spring is fixed between the upper and lower surfaces of the horizontal plates of the connector. Under the action of the return spring, the worm sleeve remains engaged with the worm gear rack without external force, thus locking the hatch opening state in any position. A magnetic rod is also embedded at the top of the motor base, and an electromagnet is fixed at the end of the upper surface of the horizontal plate of the L-shaped hinge base away from the worm sleeve. The top of the electromagnet is close to the lower surface of the magnetic rod, and when the electromagnet is energized, its top generates a repulsive force on the magnetic rod. Using the lever principle, the worm sleeve engaged at the other end can be temporarily disengaged from the worm gear rack.

[0008] A further feature of this invention is that a shaft seat is fixed to the upper surface of the horizontal plate of the L-shaped hinge seat, and a horizontally extending rope rod is rotatably connected to the middle of the shaft seat. Both ends of the rope rod are provided with rope winding parts, and the rope rod is parallel to the vertical plate of the L-shaped hinge seat. A reset pull rope is wound around both rope winding parts. The other end of the reset pull rope passes through the side sliding groove on the side and is fixed to the nearest wear-resistant sliding rod on the side. Both ends of the rope rod are provided with coil springs, and the coil springs are wound in the same direction as the reset pull ropes.

[0009] A further feature of this invention is that a fixed hanger is fixed to the top inner wall of the main housing near the head end, and an electric push rod inclined downward at 45 degrees toward a rectangular hole is provided at the bottom end of the fixed hanger. A U-shaped snap-fit ​​plate is fixed to the end of the extension rod of the electric push rod, and the scanning device is disposed in the U-shaped snap-fit ​​plate. The control switch of the electric push rod and the hatch are opened simultaneously. Since the extension rod of the electric push rod pushes out the scanning device slowly, while the hatch opens very quickly, the simultaneous response of the two can improve the overall response speed.

[0010] A further feature of this invention is that the delayed touch device includes a bearing groove located on the lower surface of the outer casing directly below the oil tank. A sliding bearing is fixed to the lower surface of each bearing groove, and the push rod is slidably inserted into the corresponding sliding bearing. A detachable internal threaded connector is provided between the bottom end of the push rod and the support module. A sealing bottom ring is fixed at the bottom opening of the oil tank, and a sealing ring with a diameter matching the push rod is embedded in the middle of the sealing bottom ring. A movable contact piece two is fixed to the outer wall of one of the push rods near the lower part of the sealing bottom ring. A contact piece one, capable of contacting the lower surface of the movable contact piece two, is fixed to the upper surface of the arc-shaped bottom shell near the bearing groove. A pressure sensor is fixed to the upper surface of the contact piece one. A compression spring is fixed between the top of the piston disc and the inner top wall of the oil tank. The oil tank contains hydraulic oil. To maintain balance, the internal structures of the two outer casings are identical except for the alarm component.

[0011] A further feature of this invention is that the support module includes a diagonal brace screwed to the bottom end of the internal threaded connector. The top of the diagonal brace and the bottom of the top rod have dense threads with opposite directions on their outer circumferences. With this configuration, during docking, only the inclination direction of the diagonal brace needs to be adjusted first, and then the internal threaded connector can be screwed on. The bottom end of the diagonal brace is fixed with a bottom rod that arches upwards in the middle, and both ends of the bottom rod are fixed with return springs. The ends of the two return springs furthest from the bottom rod are fixed with ground support rods, and the ends of the two ground support rods furthest from each other are provided with ball heads. These features provide a certain degree of cushioning during drone landing, reducing turbulence and protecting the internal electronic equipment to some extent.

[0012] A further feature of the present invention is that heat dissipation vents are provided in the middle of the two side panels of the main unit housing, and a bird deterrent device is provided in one of the heat dissipation vents to prevent interference from birds or damage by large birds as prey during the survey process.

[0013] An adaptive UAV geographic information mapping method includes the following steps: S1: Before takeoff, install the two sets of support modules. When docking, first adjust the tilt direction of the diagonal brace to ensure that it forms an "eight" shape when viewed from the side. This will ensure stability and not obstruct the shooting view. Then tighten the internal threaded connector. Ensure that the extension rod of the electric push rod is in the initial position, that is, the entire scanning device is inside the main housing and no part is in the rectangular hole. Then start the geared motor in the drive unit to slowly close the hatch. After that, the entire device can be placed on the ground to wait for takeoff. S2: Since the equipment is placed on the ground, under its own pressure, the oil in the delay contactor will slowly pass through the damping hole to the bottom of the piston disc. After the oil in the oil tank stabilizes, that is, after the moving contact piece 2 is far away from the pressure sensor, it will take off. S3; At the moment of takeoff, under the action of gravity and compression spring, the push rod column and the moving contact plate are slowly pushed downward axially. Due to the action of the damping hole, the push rod column will slowly descend. After the UAV body flies for a period of time, it will touch the pressure sensor and then send a signal to open the hatch. After the signal is sent, the electromagnet and the electric push rod are energized simultaneously. At this time, the worm gear sleeve and the worm wheel rack quickly lose engagement, and the hatch will be quickly pulled open by the reset rope; the electric push rod will also slowly push out the scanning equipment.

[0014] The beneficial effects of this invention are as follows: 1. By using a scanning device installed inside the hatch, along with a delayed toucher for delaying the start of the drive unit, the scanning device can be stored inside the fuselage before takeoff. After the UAV takes off, the push rod will slowly descend due to the damping orifice. After the UAV has been flying for a period of time, the push rod will fully extend under the influence of gravity, and then automatically send a signal to open the hatch.

[0015] 2. By using wear-resistant sliding rods and side sliding grooves, the constraint components for the arc-shaped movement of the hatch can be simplified, thereby saving space and allowing more other components to be installed inside the main body shell.

[0016] 3. By setting up a rope rod with a coil spring, and cooperating with the self-locking effect of the worm gear sleeve on the worm gear rack, the hatch will be quickly pulled open by the reset rope the instant the worm gear rack is unrestrained. This purely mechanical delay device, combined with the hatch opening method, greatly saves electrical energy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an adaptive UAV geographic information mapping device proposed in this invention before takeoff; Figure 2 This is a side view of an adaptive UAV geographic information mapping device proposed in this invention before takeoff; Figure 3 This invention proposes an adaptive UAV geographic information mapping device. Figure 2 Schematic diagram of the cross-sectional structure along line AA; Figure 4 This is a front view of an adaptive UAV geographic information mapping device proposed in this invention after takeoff. Figure 5 This invention proposes an adaptive UAV geographic information mapping device. Figure 4 Schematic diagram of the cross-sectional structure along line BB; Figure 6 This is an exploded view of the overall adaptive UAV geographic information mapping device proposed in this invention; Figure 7 This is a schematic diagram of the internal structure of an adaptive UAV geographic information mapping device proposed in this invention when the hatch is closed; Figure 8 This is a three-dimensional structural diagram of the base plate in an adaptive UAV geographic information mapping device proposed in this invention; Figure 9 This is a schematic diagram of the internal structure of an adaptive UAV geographic information mapping device proposed in this invention when the hatch is open; Figure 10 This is an exploded view of the time-delayed contactor in an adaptive UAV geographic information mapping device proposed in this invention.

[0018] In the diagram: 1. Main casing; 101. Heat dissipation vent; 2. Positioning module; 3. Automatic obstacle avoidance radar; 4. Arc-shaped bottom shell; 401. Rectangular hole; 402. Side sliding groove; 403. Rack and pinion passage groove; 5. Door; 501. Wear-resistant sliding rod; 6. Worm gear rack; 7. Return spring; 8. Ground support rod; 9. Diagonal brace; 10. Delayed contactor; 11. Flight unit; 12. Internal threaded connector; 13. Fixing bracket; 14. U-shaped snap-fit ​​plate; 15. Scanning equipment; 16. 17. Electric push rod; 18. Flight control module; 19. Drive unit; 10. L-shaped hinge seat; 11. Return spring; 12. Electromagnet; 13. Magnetic rod; 14. Motor seat; 15. Bearing seat; 16. Rope winding rod; 17. Shaft seat; 188. Gear motor; 19. Coil spring; 10. Oil tank; 11. Piston disc; 12. Compression spring; 13. Push rod column; 14. Sliding bearing; 25. Contact piece one; 26. Moving contact piece two. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, the terms "component one" and "component two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "component one" or "component two" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In this embodiment, refer to Figures 1-10Specifically, an adaptive UAV geographic information mapping device is provided, including a main shell 1. The main shell 1 has parallel and downward-extending side panels on its left and right sides. Flight units 11 are located at the four corners of the top of the main shell 1. A positioning module 2 is also located on the top of the main shell 1 near the nose. A flight control module 17 is located inside the main shell 1 near the tail end. An arc-shaped bottom shell 4, capable of simultaneously sealing the bottom of the two side panels and the front and rear ends, is fixed to the bottom of the main shell 1. A scanning device 15 is located inside the top of the main shell 1 near the nose end. An arc-shaped surface is located diagonally below the scanning device 15 on the arc-shaped bottom shell 4, with a central angle of 90 degrees. A rectangular hole 401 is opened in the middle of the arc-shaped surface, and the rectangular hole 401 is located on both the front and rear sides. The walls are respectively provided with symmetrical side sliding grooves 402. The same hatch 5 is slidably connected between the two side sliding grooves 402. The shape of the hatch 5 is the same as the curvature of the arc surface. A worm gear rack 6 is embedded in the middle of the lower surface of the hatch 5. A drive unit 18 is provided on the inner wall of the bottom of the arc-shaped bottom shell 4 near the outer arc side of the worm gear rack 6 to drive the worm gear rack 6 and thus drive the opening and closing of the hatch 5. A delay toucher 10 is provided on the opposite side of the two side panels of the main body shell 1 near the bottom. The delay toucher 10 includes an outer cover. The inner side of the outer cover is embedded with an oil tank 19 with the same structure. A push rod 193 is inserted into the bottom of the oil tank 19. A piston plate 191 and a support module are respectively provided at the upper and lower ends of the push rod 193. A damping hole is provided on the piston plate 191. Specifically, by using the scanning device 15 installed inside the hatch 5, in conjunction with the delay toucher 10 used to delay the start of the drive unit 18, the scanning device 15 can be stored inside the fuselage before takeoff. After the UAV takes off, the push rod 193 will slowly descend due to the damping hole. After the UAV flies for a period of time, the push rod 193 will fully extend under the action of gravity, and then automatically send a signal to open the hatch 5.

[0022] In this invention, an automatic obstacle avoidance radar 3 is provided on the outer side of the arc-shaped bottom shell 4 away from the flight control module 17. It can automatically adapt to the terrain and identify obstacles in time to select the optimal route when flying close to the ground.

[0023] Reference Figures 6-8 Wear-resistant slide rods 501 are fixed to the ends of the front and rear edges of the hatch 5 away from the drive unit 18. The wear-resistant slide rods 501 are slidably connected in the side sliding grooves 402 as the hatch 5 is opened and closed. The bottom inner wall of the arc-shaped bottom shell 4 has a rack through groove 403 that matches the running trajectory of the worm gear rack 6 near the middle of the rectangular hole 401. By setting the wear-resistant slide rods 501 and cooperating with the constraint of the side sliding grooves 402, the constraint components of the hatch 5 moving in an arc can be simplified, thereby saving space and allowing more other components to be installed inside the main body shell 1.

[0024] Reference Figures 7-9 The drive unit 18 includes a base fixed to the inner wall of the bottom of the arc-shaped bottom shell 4. An L-shaped hinge seat 181 is fixed to the upper surface of the base, and the vertical plate of the L-shaped hinge seat 181 is close to the hatch 5. A U-shaped notch is reserved at the top of the L-shaped hinge seat 181. A bearing seat 186 is rotatably connected to the top of the U-shaped notch, and an anti-slip bearing is embedded in the middle of the bearing seat 186. A transmission rod is rotatably connected to the middle of the anti-slip bearing. A reduction motor 189 and a worm gear sleeve are fixed to the upper and lower ends of the transmission rod, respectively. A Z-shaped motor seat 185 is fixed to the lower surface of the reduction motor 189, and the lower surface of the motor seat 185 is flush with the horizontal plate of the L-shaped hinge seat 181. A return spring 182 is fixed between the surfaces; under the action of the return spring 182, the worm sleeve is kept in mesh with the worm gear rack 6 without external force, and the opening state of the hatch 5 can be locked in any state; a magnetic rod 184 is also embedded at the top of the motor base 185, and an electromagnet 183 is fixed at the end of the horizontal plate surface of the L-shaped hinge base 181 away from the worm sleeve. The top of the electromagnet 183 is close to the lower surface of the magnetic rod 184, and after the electromagnet 183 is energized, its top generates a repulsive force on the magnetic rod 184. Using the lever principle, the worm sleeve that is meshed at the other end can be temporarily disengaged from the worm gear rack 6.

[0025] Reference Figure 7 and Figure 9 On the upper surface of the horizontal plate of the L-shaped hinge seat 181, a shaft seat 188 is fixed, and a horizontally extending rope rod 187 is rotatably connected to the middle of the shaft seat 188. Both ends of the rope rod 187 are provided with rope winding parts. The rope rod 187 is parallel to the vertical plate of the L-shaped hinge seat 181, and a reset pull rope is wound on both rope winding parts. The other end of the reset pull rope passes through the side slide groove 402 on the same side and is fixed to the nearest wear-resistant slide rod 501 on the same side. Both ends of the rope rod 187 are provided with coil springs 1810. The winding direction of the coil springs 1810 is consistent with the winding direction of the reset pull rope. By setting the rope rod 187 with coil springs 1810, in conjunction with the self-locking effect of the worm gear sleeve on the worm gear rack 6, the hatch 5 will be quickly pulled open by the reset pull rope the moment the worm gear rack 6 is unrestrained.

[0026] Reference Figure 3 and Figure 6 A fixed hanger 13 is fixed to the top inner wall of the main housing 1 near the head end, and an electric push rod 16 inclined downward at 45 degrees toward the rectangular hole 401 is provided at the bottom end of the fixed hanger 13. A U-shaped snap plate 14 is fixed to the end of the extension rod of the electric push rod 16, and the scanning device 15 is set in the U-shaped snap plate 14. The control switch of the electric push rod 16 and the hatch 5 are opened at the same time. Since the extension rod of the electric push rod 16 pushes out the scanning device 15 slowly, while the opening speed of the hatch 5 is very fast, the simultaneous response of the two can improve the overall response speed.

[0027] Reference Figure 5 and Figure 10 The delayed contactor 10 also includes bearing slots located on the lower surface of the outer casing directly below the oil tank 19. Sliding bearings 194 are fixed to the lower surface of each bearing slot, and push rods 193 are slidably inserted into the corresponding sliding bearings 194. A detachable internal threaded connector 12 is provided between the bottom end of the push rod 193 and the support module. A sealing bottom ring is fixed at the bottom opening of the oil tank 19, and a sealing ring with a diameter matching that of the push rod 193 is embedded in the middle of the sealing bottom ring. A movable contact piece 21 is fixed to the outer wall of one of the push rods 193 near the lower part of the sealing bottom ring. A [missing information - likely a component or part] is fixed to the upper surface of the arc-shaped bottom shell 4 near the bearing slot. A first contact piece 20, which can contact the lower surface of the second movable contact piece 21, has a pressure sensor fixed on its upper surface. A compression spring 192 is fixed between the top of the piston disc 191 and the inner wall of the oil tank 19. The oil tank 19 is filled with hydraulic oil. In order to maintain balance, the two outer covers have the same internal structure except for the alarm component. With the compression spring 192 and the constraint of the damping hole, when the UAV takes off, the push rod 193 loses the upward squeezing force. Under the combined action of gravity and the compression spring 192, it will slowly descend until the second movable contact piece 21 squeezes the pressure sensor. At this time, a signal to close the hatch 5 is sent.

[0028] Reference Figure 1 and Figure 2 The support module includes a diagonal brace 9 screwed to the bottom of the internal threaded connector 12. The top of the diagonal brace 9 and the bottom of the top rod 193 are respectively provided with dense threads in opposite directions. With this configuration, when docking, it is only necessary to adjust the tilt direction of the diagonal brace 9 first, and then tighten the internal threaded connector 12. The bottom of the diagonal brace 9 is fixed with a bottom rod that arches upward in the middle, and both ends of the bottom rod are fixed with return springs 7. The ends of the two return springs 7 away from the bottom rod are fixed with ground support rods 8. The ends of the two ground support rods 8 away from each other are provided with ball heads, which can provide a certain buffering effect when the UAV lands, reduce turbulence and protect its internal electronic equipment to a certain extent.

[0029] Reference Figure 1 The two side panels of the main unit casing 1 each have a heat dissipation vent 101 in the middle, and one of the heat dissipation vents 101 is equipped with a bird deterrent device to prevent the survey from being disturbed by birds or damaged by large birds as prey.

[0030] An adaptive UAV geographic information mapping method includes the following steps: S1: Before takeoff, install the two sets of support modules. When docking, first adjust the tilt direction of the diagonal brace 9 to ensure that it forms an "eight" shape when viewed from the side. This will ensure stability and not obstruct the shooting view. Then tighten the internal threaded connector 12. Ensure that the extension rod of the electric push rod 16 is in the initial position, that is, the entire scanning device 15 is located inside the main housing 1, with no part inside the rectangular hole 401. Then start the geared motor 189 in the drive unit 18 and slowly close the hatch 5. After that, the entire device can be placed on the ground to wait for takeoff. S2: Since the equipment is placed on the ground, under its own pressure, the oil in the delayed contactor 10 will slowly pass through the damping hole to the bottom of the piston disc 191. After the oil in the oil tank 19 stabilizes, that is, after the moving contact piece 21 is far away from the pressure sensor, it will take off. S3; At the moment of takeoff, under the action of gravity and compression spring 192, the push rod column 193 and the moving contact plate 21 are slowly pushed to move downward axially. Due to the action of the damping hole, the push rod column 193 will slowly descend. After the UAV body flies for a period of time, it will touch the pressure sensor and then send a signal to open the hatch 5. After the signal is sent, the electromagnet 183 and the electric push rod 16 are energized at the same time. At this time, the worm gear sleeve and the worm gear rack 6 quickly lose engagement, and the hatch 5 is quickly pulled open by the reset rope; the electric push rod 16 also slowly pushes out the scanning device 15.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An adaptive UAV geographic information mapping device, comprising a main body shell (1), wherein the left and right sides of the main body shell (1) are respectively provided with parallel and downwardly extending side panels, and flight units (11) are respectively provided at the four corners of the top of the main body shell (1), a positioning module (2) is also provided at the top of the main body shell (1) near the nose, and a flight control module (17) is provided inside the main body shell (1) near the tail end, characterized in that, The main housing (1) is fixed with an arc-shaped bottom shell (4) that can simultaneously seal the bottom of the two side panels and the front and rear ends; a scanning device (15) is provided inside the top of the main housing (1) near the head end, and an arc-shaped surface is provided on the arc-shaped bottom shell (4) near the lower side of the scanning device (15). The central angle of the arc-shaped surface is 90 degrees. A rectangular hole (401) is opened in the middle of the arc-shaped surface, and symmetrical side sliding grooves (402) are opened on the inner walls of the front and rear sides of the rectangular hole (401). The same hatch (5) is slidably connected between the two side sliding grooves (402). The shape of the hatch (5) is the same as the curvature of the arc-shaped surface. A worm gear rack (6) is embedded in the middle of the lower surface of the hatch (5). A drive unit (18) is provided on the inner wall of the bottom of the arc-shaped bottom shell (4) near the outer arc side of the worm gear rack (6). A delay toucher (10) is provided on the opposite side of the two side panels of the main body shell (1) near the bottom. The delay toucher (10) includes an outer cover. An oil tank (19) with the same structure is embedded inside the outer cover. A push rod (193) is inserted into the bottom of the oil tank (19). A piston plate (191) and a support module are respectively provided at the upper and lower ends of the push rod (193). A damping hole is provided on the piston plate (191).

2. The adaptive UAV geographic information mapping device according to claim 1, characterized in that, An automatic obstacle avoidance radar (3) is provided on the outer side of the arc-shaped bottom shell (4) away from the flight control module (17).

3. The adaptive UAV geographic information mapping device according to claim 2, characterized in that, Wear-resistant slide rods (501) are fixed at the ends of the front and rear sides of the hatch (5) away from the drive unit (18), and the wear-resistant slide rods (501) are slidably connected in the side slide groove (402) as the hatch (5) is opened and closed. The bottom inner wall of the arc-shaped bottom shell (4) has a rack through groove (403) that is adapted to the running trajectory of the worm gear rack (6) near the middle of the rectangular hole (401).

4. The adaptive UAV geographic information mapping device according to claim 3, characterized in that, The drive unit (18) includes a base fixed to the inner wall of the bottom of the arc-shaped base shell (4). An L-shaped hinge seat (181) is fixed on the upper surface of the base. A U-shaped notch is reserved at the top of the L-shaped hinge seat (181). A bearing seat (186) is rotatably connected to the top of the U-shaped notch. An anti-slip bearing is embedded in the middle of the bearing seat (186). A transmission rod is rotatably connected to the middle of the anti-slip bearing. A geared motor (189) and a worm gear sleeve are fixed at the upper and lower ends of the transmission rod, respectively. A Z-shaped motor base (185) is fixed to the lower surface of (189), and the same return spring (182) is fixed between the lower surface of the motor base (185) and the upper surface of the horizontal plate of the L-shaped hinge base (181); a magnetic rod (184) is also embedded at the top of the motor base (185), and an electromagnet (183) is fixed at the end of the upper surface of the horizontal plate of the L-shaped hinge base (181) away from the worm gear sleeve, and the top of the electromagnet (183) is close to the lower surface of the magnetic rod (184).

5. The adaptive UAV geographic information mapping device according to claim 4, characterized in that, The horizontal plate surface of the L-shaped hinge seat (181) is also fixed with a shaft seat (188), and the middle of the shaft seat (188) is rotatably connected to a horizontally extending rope rod (187). Both ends of the rope rod (187) are provided with rope winding parts. The rope rod (187) is parallel to the vertical plate of the L-shaped hinge seat (181), and a reset pull rope is wound on both rope winding parts. The other end of the reset pull rope is fixed to the wear-resistant slide rod (501) closest to the side. Both ends of the rope rod (187) are provided with coil springs (1810), and the coil springs (1810) are wound in the same direction as the reset pull rope.

6. The adaptive UAV geographic information mapping device according to claim 5, characterized in that, The top inner wall of the main housing (1) is fixed with a fixed hanger (13) near the head end, and the bottom end of the fixed hanger (13) is provided with an electric push rod (16) that is tilted downward at 45 degrees toward the rectangular hole (401). The end of the extension rod of the electric push rod (16) is fixed with a U-shaped snap plate (14), and the scanning device (15) is set in the U-shaped snap plate (14). The control switch of the electric push rod (16) is opened at the same time as the hatch (5).

7. The adaptive UAV geographic information mapping device according to claim 1, characterized in that, The delayed contactor (10) also includes a bearing slot located on the lower surface of the outer cover directly below the oil tank (19). A sliding bearing (194) is fixed to the lower surface of each bearing slot, and the push rod (193) is slidably inserted into the corresponding sliding bearing (194). A detachable internal threaded connector (12) is provided between the bottom end of the push rod (193) and the support module. A sealing bottom ring is fixed at the bottom opening of the oil tank (19), and a fitting is embedded in the middle of the sealing bottom ring that is compatible with the push rod (193). A sealing ring with a diameter matching the sealing ring is provided. A movable contact piece 2 (21) is fixed on the outer wall of one of the push rods (193) near the bottom of the sealing ring. A contact piece 1 (20) that can contact the lower surface of the movable contact piece 2 (21) is fixed on the upper surface of the arc-shaped bottom shell (4) near the bearing groove. A pressure sensor is fixed on the upper surface of the contact piece 1 (20). A compression spring (192) is fixed between the top of the piston disc (191) and the top inner wall of the oil tank (19). The oil tank (19) is filled with hydraulic oil.

8. The adaptive UAV geographic information mapping device according to claim 7, characterized in that, The support module includes a diagonal brace (9) screwed to the bottom of the internal threaded connector (12), and the top of the diagonal brace (9) and the bottom of the top rod (193) are respectively provided with dense threads in opposite directions; the bottom of the diagonal brace (9) is fixed with a bottom rod that arches upward in the middle, and both ends of the bottom rod are fixed with a return spring (7), and the ends of the two return springs (7) away from the bottom rod are fixed with ground support rods (8), and the ends of the two ground support rods (8) away from each other are provided with ball heads.

9. An adaptive UAV geographic information mapping device according to claim 8, characterized in that, The main body housing (1) has a heat dissipation vent (101) in the middle of both side panels, and a bird deterrent device is installed in one of the heat dissipation vents (101).

10. An adaptive UAV geographic information mapping method, comprising an adaptive UAV geographic information mapping device as described in claim 9, characterized in that, Includes the following steps: S1: Before takeoff, install the two sets of support modules. When docking, first adjust the tilt direction of the diagonal brace (9); then tighten the internal threaded connector (12). Ensure that the extension rod of the electric push rod (16) is in the initial position, that is, the entire scanning device (15) is located inside the main housing (1) and no part is in the rectangular hole (401). Then start the geared motor (189) in the drive unit (18) and slowly close the cabin door (5). Then the entire device can be placed on the ground to wait for takeoff. S2: Since the equipment is placed on the ground, under its own pressure, the oil in the delayed contactor (10) will slowly pass through the damping hole to the bottom of the piston plate (191). After the oil in the oil tank (19) stabilizes, that is, after the moving contact piece (21) is far away from the pressure sensor, it will take off. S3; At the moment of takeoff, under the action of gravity and compression spring (192), the push rod column (193) and the moving contact plate (21) are slowly pushed to move downward axially. Due to the action of the damping hole, the push rod column (193) will slowly descend. After the UAV body flies for a period of time, it will touch the pressure sensor and then send a signal to open the hatch (5). After the signal is sent, the electromagnet (183) and the electric push rod (16) are energized at the same time. At this time, the worm sleeve and the worm gear rack (6) quickly lose engagement, and the hatch (5) will be quickly pulled open by the reset rope; the electric push rod (16) will also slowly push out the scanning device (15).

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