Oblique photography-based surveying and mapping unmanned aerial vehicle

Abstract

The unmanned aerial vehicle comprises a machine base, rotor arms and supporting legs, the rotor arms are fixed to the periphery of the machine base, and the supporting legs are fixed to the bottom of the machine base; the supporting frame is fixed to the top of the machine base, and the warning mechanism is fixedly arranged at the top of the machine base and comprises a containing sleeve, a smoke warning rod, a rotating base, a rotating shaft, a connecting rod, an end cover plate, a torsional spring and a bolt assembly. The holder is fixed at the bottom of the base; an oblique photography mechanism is arranged at the bottom of the holder, and the oblique photography mechanism comprises a base plate, a mounting base I, four supporting rods, four mounting bases, four camera modules, a brake assembly and a protective cover; the problems that an electronic protection system of an existing unmanned aerial vehicle often loses efficacy due to energy interruption under the extreme working condition of power-off falling, meanwhile, an exposed oblique photographic lens lacks effective physical protection, and after equipment falls, the equipment is difficult to search due to stop of positioning equipment are solved.

Description

Technical Field

[0001] This invention belongs to the field of surveying and mapping drone technology, and relates to a surveying and mapping drone based on oblique photography. Background Technology

[0002] The core of oblique photogrammetry lies in simultaneously acquiring images from multiple angles, including vertical and oblique angles, using a multi-lens camera. To achieve an unobstructed and wide-coverage field of view (FOV), the camera module typically needs to be arranged in an "umbrella-like" or "divergent" layout with the aid of a support structure. However, this open optical design exposes significant protection challenges when operating in the complex low-altitude environments of drones: to obtain an unobstructed oblique view, the camera module must extend beyond the fuselage contours, making the lens a prime point of impact upon impact. Existing protection solutions face a dilemma—a full-coverage shield would severely obstruct the lens's view, while using only partial buffer pads offers minimal protection against high-speed impacts with debris or branches.

[0003] Secondly, the electronic protection systems commonly equipped in high-end drones, such as parachutes or airbags, rely on a coherent control logic of "sensor detection of abnormalities - processor calculation - battery power supply - actuator action." However, the most fatal accidents involving drones often stem from momentary power outages (such as poor battery contact, short circuits, or impacts causing battery detachment). Once power is lost, the entire electronic protection chain will be instantly paralyzed due to the interruption of energy, causing the protection system to fail at the most critical moment.

[0004] Furthermore, in the event of a drone crashing due to a power outage, its onboard GPS transmitter, strobe lights, and other electronic positioning equipment immediately cease functioning, entering a "silent" state with no light and no signal. This poses a significant challenge to search and rescue operations, especially in densely vegetated wilderness environments where the lack of a passive marking method that does not rely on electricity and can provide continuous visual guidance over a large physical area. This invention aims to address these shortcomings by using a mechanical fail-safe mechanism to automatically trigger smoke warnings and retract the camera module upon power failure. Summary of the Invention

[0005] In view of this, in order to solve the problems that existing drones often fail due to power outages and crashes in extreme conditions, their electronic protection systems often fail due to power interruption, their exposed oblique photography lenses lack effective physical protection, and their equipment becomes difficult to search after a crash due to the malfunction of positioning equipment, this invention provides a surveying and mapping drone based on oblique photography.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A surveying and mapping drone based on oblique photography includes: a base, a rotor arm, and support legs. The rotor arm is fixed around the base, and the support legs are fixed to the bottom of the base.

[0008] A support frame is fixed to the top of the machine base. A warning mechanism is fixedly installed on the top of the support frame. The warning mechanism includes a receiving sleeve, a smoke warning stick, a rotating seat, a rotating shaft, a connecting rod, an end cover plate, a torsion spring, and a pin assembly. The smoke warning stick is located inside the receiving sleeve. The rotating seat is fixed to the outer wall of the receiving sleeve. The connecting rod is rotatably connected to the rotating seat through the rotating shaft. The end cover plate is fixed to one side of the connecting rod and covers the opening of the receiving sleeve. The torsion spring is sleeved on the rotating shaft and its two ends are fixed to the connecting rod and the rotating seat, respectively. The traction rope of the smoke warning stick is fixed to the end cover plate.

[0009] The gimbal is fixed to the bottom of the base. The bottom of the gimbal is equipped with an oblique photography mechanism, which includes a base plate, mounting base I, four support rods, four mounting bases, four camera modules, a braking assembly, and a protective cover. The base plate is fixed to the bottom of the gimbal, the mounting base I is fixed to the bottom of the base plate, the inner end of the support rod is rotatably connected to the mounting base I, the camera module is fixed to the outer end of the support rod through the mounting base, and the protective cover is fixed to the bottom of the base plate.

[0010] When the drone is operating normally, the pin assembly locks the end cover and the braking assembly locks the support rod. After a fall and power failure, the pin assembly unlocks, the torsion spring drives the end cover to flip and triggers the smoke warning stick to release smoke through the traction rope. The braking assembly unlocks and drives the support rod to flip upward, retracting the camera module into the protective cover.

[0011] As a further improvement to the above technical solution:

[0012] The warning mechanism also includes a fixed frame, which is fitted onto the outer wall of the receiving sleeve and fixedly connected to the support frame by bolts. Two GPS positioning modules are fixedly installed on the top of the base, and the height of the two GPS positioning modules is higher than the maximum trajectory height of the end cover plate flipping.

[0013] As a further improvement to the above technical solution:

[0014] The pin assembly includes a fixed base, a pin, a connecting ring, a spring II, and an electromagnet ring II. The fixed base is fixed to the outer wall of the receiving sleeve. The pin is slidably fitted with the fixed base. The connecting ring is fixed to one side of the fixed base. The spring II is sleeved on the pin and its two ends are fixed to the fixed base and the pin, respectively. The electromagnet ring II is fixed to the outer end of the connecting ring. An extension plate is fixed to the outer wall of the end cover plate. The extension plate has an insertion hole adapted to the pin. When the electromagnet ring II is energized, it attracts the pin and inserts it into the insertion hole. When the power is turned off, the spring II pushes the pin out of the insertion hole.

[0015] As a further improvement to the above technical solution:

[0016] A mounting groove is provided on one side of the connecting rod, and a torsion spring is placed in the mounting groove. The torsion spring is in a charged state when the end cover plate is locked.

[0017] As a further improvement to the above technical solution:

[0018] The braking assembly includes a fixed sleeve, a sliding rod, a sliding plate, an electromagnet ring I, a mounting base II, and four connecting rods. The fixed sleeve is fixed to the bottom of the protective cover and is coaxial with the mounting base I. The sliding rod passes through the bottom of the fixed sleeve. The sliding plate is rotatably connected to the top of the sliding rod through a bearing. The electromagnet ring I is sleeved on the sliding rod and located inside the fixed sleeve. The mounting base II is rotatably sleeved on the bottom end of the sliding rod. The two ends of the connecting rods are hinged to the mounting base II and the support rod, respectively. When the electromagnet ring I is energized, it attracts the sliding plate to lock the angle of the support rod.

[0019] As a further improvement to the above technical solution:

[0020] A tension spring I is installed inside the fixed sleeve. The tension spring I is located on the top of the sliding plate, and its two ends are fixed to the base plate and the sliding plate respectively. After the electromagnet ring I is de-energized, the tension spring I pulls the sliding plate to move upward, and drives the support rod to flip upward through the sliding rod, mounting seat II and connecting rod.

[0021] As a further improvement to the above technical solution:

[0022] The outer wall of the electromagnet ring I has an external threaded groove, and the inner wall of the fixed sleeve has an internal thread. The electromagnet ring I is connected to the fixed sleeve through the threaded fit to adjust its height inside the fixed sleeve.

[0023] As a further improvement to the above technical solution:

[0024] Two guide rails are fixedly provided on the outer wall of the fixed sleeve, and a sliding seat is slidably provided between the two guide rails. The sliding seat has a threaded hole, and a screw is threaded in the threaded hole. An oblong hole is provided on the outer wall of the fixed sleeve, and the screw passes through the oblong hole and abuts against the electromagnet ring I to lock the position of the electromagnet ring I.

[0025] As a further improvement to the above technical solution:

[0026] A connecting collar is fixedly provided at the bottom of the end cover plate. The traction rope of the smoke warning stick is fixedly connected to the connecting collar. When the end cover plate is flipped, the traction rope is pulled through the connecting collar.

[0027] As a further improvement to the above technical solution:

[0028] The outer wall of the receiving sleeve is provided with a clearance groove, which is adapted to the extension plate to avoid interference between the extension plate and the outer wall of the receiving sleeve when the end cover plate is flipped.

[0029] The beneficial effects of this invention are as follows:

[0030] 1. The UAV for surveying and mapping based on oblique photography disclosed in this invention utilizes electromagnetic attraction to counteract spring potential energy during normal operation, locking the end cover and support rod to maintain the divergent shooting configuration of the lens array. In the event of a crash causing a complete power outage, the electromagnetic force instantly disappears, and the system automatically enters a "mechanical failure-oriented safety" mode: the latch assembly unlocks using spring thrust, the torsion spring releases and drives the end cover to flip and physically triggers a smoke warning stick; the braking assembly uses the tension spring potential energy to forcibly drive the linkage mechanism, converging the divergent support rod inward and upward. The attraction force of the electromagnet ring when energized is used to generate the action potential energy of the protection mechanism (tension and torsion springs). In the event of the most dangerous "complete power outage" accident, the disappearance of the electromagnetic force serves as the trigger signal, allowing the mechanism to instantly complete the protective action using pre-stored mechanical potential energy without power intervention, completely solving the pain point of electronic protection systems under power outage conditions.

[0031] 2. The UAV for surveying and mapping based on oblique photography disclosed in this invention solves the spatial contradiction between "wide-angle expansion" and "compact storage" in oblique photography through the linkage design of the connecting rod and sliding plate. During normal operation, the support rod extends outward to ensure that the field of view of each lens is unobstructed; in critical moments, the braking component drives the support rod to flip inward and upward along a preset trajectory, instantly "folding" the originally exposed precision optical array and storing it inside the high-strength PC protective housing. This dynamic topological transformation transfers the impact force point from the fragile lens to the robust protective housing.

[0032] 3. The UAV for surveying and mapping based on oblique photography disclosed in this invention establishes an independent "physical signal" search and rescue mechanism. The smoke warning stick is triggered entirely by mechanical torque, without relying on any circuitry. Even if the UAV battery is damaged or the flight control system is completely paralyzed, the rising colored smoke can still serve as an absolutely reliable physical beacon, filling the search and rescue vacuum period after electronic positioning failure.

[0033] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0035] Figure 1 This is a three-dimensional structural diagram of a UAV for surveying and mapping based on oblique photography, according to the present invention.

[0036] Figure 2This is a schematic diagram of the end cap closure structure in this invention;

[0037] Figure 3 This is a schematic diagram of the opening structure of the end cover plate in this invention;

[0038] Figure 4 This is a schematic diagram of the torsion spring mounting structure in this invention;

[0039] Figure 5 This is a schematic diagram of the pin and fixing seat structure in this invention;

[0040] Figure 6 This is a schematic diagram of the mounting structure of the fixing sleeve and the base plate in this invention;

[0041] Figure 7 A cross-sectional schematic diagram of the central fixed sleeve and electromagnet ring I;

[0042] Figure 8 for Figure 7 Enlarged structural diagram of section A in the middle.

[0043] Reference numerals: 1. Base; 2. Rotor arm; 3. Support leg; 4. Gimbal; 5. Oblique camera mechanism; 51. Base plate; 52. Protective cover; 53. Fixing sleeve; 531. Oblong hole; 54. Sliding plate; 55. Mounting seat I; 56. Support rod; 57. Mounting base; 58. Camera module; 59. Sliding rod; 591. Mounting seat II; 592. Connecting rod; 593. Tension spring I; 594. Electromagnetic ring I; 595. Guide rail; 596. Sliding seat; 597. Screw 6. Support frame; 7. Warning mechanism; 71. Fixing frame; 72. Receiving sleeve; 73. Rotating seat; 731. Rotating shaft; 74. Connecting rod; 741. Mounting groove; 742. Torsion spring; 75. End cover plate; 76. Extension plate; 77. Fixing seat; 771. Pin; 772. Connecting ring; 773. Electromagnetic ring II; 774. Spring II; 775. Insertion hole; 78. Connecting collar; 79. Clearance groove; 8. GPS positioning module; 9. Smoke warning stick; 91. Traction rope. Detailed Implementation

[0044] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0045] like Figure 1The UAV shown is a surveying and mapping drone based on oblique photography. Its core consists of a base 1, rotor arms 2, and support legs 3. The rotor arms 2 are evenly distributed around the side walls of the base 1 and are fixed to the base 1 using hex bolts. This connection method facilitates later disassembly and maintenance. The rotor arms 2 have pre-reserved wiring channels for motor control lines and signal lines, preventing exposed wiring from being affected by the environment. The support legs 3 are installed at the bottom of the base 1, with rubber pads and anti-slip textures on the bottom to increase friction with the ground during takeoff and landing, reducing the impact of takeoff and landing on internal components. The support frame 6 is made of aluminum alloy, which combines lightweight and high strength, minimizing the drone's flight load. Its bottom is bolted to the top center of the base 1. The support frame 6 has a frame structure with a flat mounting surface on the top, ensuring the warning mechanism 7 remains horizontal after installation.

[0046] The fixing frame 71 of the warning mechanism 7 is a split bracket structure, both welded to the upper part of the outer wall of the receiving sleeve 72. The top of the fixing frame 71 has mounting holes, the positions of which precisely correspond to the threaded holes on the top of the support frame 6. Bolts are passed through the mounting holes and threadedly connected to the top of the support frame 6, forming a stable connection between the receiving sleeve 72 and the support frame 6, ensuring even force distribution and preventing loosening. The receiving sleeve 72 is a cylindrical structure with an open top. Its internal cavity size is adapted to the shape of the smoke warning stick 9. A layer of anti-slip rubber pad is attached to the inner wall to prevent the smoke warning stick 9 from shaking due to fuselage vibration during flight. The opening edge of the receiving sleeve 72 is chamfered to prevent sharp edges from scratching the traction rope 91 at the top of the smoke warning stick 9. A threaded hole is provided through the side wall of the receiving sleeve 72, with a set screw threaded into the hole. The set screw secures the smoke warning stick 9 within the receiving sleeve 72. Two rotating seats 73 are symmetrically fixed to the outer wall of the sleeve 72. Each rotating seat 73 has a through-hole shaft hole into which a copper sleeve is inlaid. The rotating shaft 731 passes through the copper sleeve and rotates with the rotating seat 73. The copper sleeve reduces frictional resistance during shaft 731 rotation, extending the component's service life. One end of the connecting rod 74 is welded to the middle of the rotating shaft 731. The connecting rod 74 is made of high-strength plastic, ensuring structural strength while reducing overall weight. Figure 4 As shown, a mounting groove 741 is provided on one side of the connecting rod 74 corresponding to the position of the rotating seat 73. The torsion spring 742 is installed in the mounting groove 741. One end of the torsion spring 742 is embedded in the reserved hole in the groove wall of the connecting rod 74, and the other end is fixed to the side wall of the rotating seat 73. In the closed state, the torsion spring 742 is in a stored state and always has the tendency to drive the rotating shaft 731 to rotate.

[0047] like Figure 2 , 3As shown, the end cover plate 75 is a circular plate structure with a diameter slightly larger than the diameter of the upper opening of the receiving sleeve 72. The end cover plate 75 is fixed to the side of the connecting rod 74 away from the rotating shaft 731 and is located directly above the receiving sleeve 72, completely covering the opening of the receiving sleeve 72. A sealing gasket made of silicone is pasted on the bottom of the end cover plate 75. When closed, the gasket fits tightly against the edge of the opening of the receiving sleeve 72, providing dust and water protection and preventing external impurities from entering the receiving sleeve 72 and contaminating the smoke warning stick 9. A connecting collar 78 made of stainless steel is fixed to the center of the bottom of the end cover plate 75 and is fixed to the end cover plate 75 by welding. The traction rope 91 at the top of the smoke warning stick 9 is fixed to the connecting collar 78 by a tie connection. This connection method facilitates the replacement of the smoke warning stick 9. Two extension plates 76 are symmetrically fixed to the outer wall of the end cover plate 75. The extension plates 76 extend outward perpendicular to the side wall of the end cover plate 75, and the ends are rounded to prevent sharp edges from scratching the inner wall of the clearance groove 79. The outer wall of the receiving sleeve 72 is provided with a clearance groove 79 corresponding to the position of the extension plate 76. The depth of the clearance groove 79 is slightly greater than the thickness of the extension plate 76, and the width is adapted to the width of the extension plate 76. When the end cover plate 75 is flipped, the rotation trajectory of the extension plate 76 moves out of the clearance groove 79, ensuring that the end cover plate 75 will not interfere with the outer wall of the receiving sleeve 72 when it is flipped.

[0048] like Figure 5As shown, the fixing seat 77 of the pin assembly is welded to the outer wall of the receiving sleeve 72 and corresponds to the position of the extension plate 76. The fixing seat 77 has a through sliding hole, and the inner wall of the sliding hole is coated with a lubricating layer to make the pin 771 slide more smoothly. The pin 771 passes through the sliding hole and slides with the fixing seat 77. The end of the pin 771 is tapered and chamfered to facilitate alignment and insertion into the insertion hole 775 on the extension plate 76, so as to achieve quick fixation of the end cover plate 75. A connecting ring 772 is fixed to the side of the fixed base 77 away from the extension plate 76. The connecting ring 772 is coaxially arranged with the pin 771. Spring II 774 is sleeved on the outer wall of the pin 771 and located inside the connecting ring 772. One end of spring II 774 is fixed to the outer wall of the fixed base 77, and the other end is fixed to the end of the pin 771. A gap is left between the inner wall of the connecting ring 772 and the spring II 774 to avoid friction between the spring II 774 and the inner wall of the connecting ring 772 when the spring II 774 extends or retracts. When the pin 771 is inserted into the insertion hole 775, the spring II 774 is compressed, generating a thrust on the pin 771. Electromagnetic ring II 773 is fixed to the outer end of connecting ring 772 by bolts. The installation position of electromagnetic ring II 773 is precisely aligned with the end of pin 771, ensuring that it can accurately attract pin 771 after being energized. This allows pin 771 to overcome the thrust of spring II 774 and maintain a stable state. Electromagnetic ring II 773 is covered with a plastic protective shell to prevent damage from collisions during flight. Two GPS positioning modules 8 are symmetrically fixed to the top of the base 1. The GPS positioning modules 8 are connected to the base 1 through adjustable brackets. The bottom of the brackets is fixed to the base 1 by bolts. The installation height of the GPS positioning modules 8 can be adjusted according to actual needs. Its final installation height is higher than the maximum trajectory height when the end cover 75 is flipped, avoiding collision between the end cover 75 and the GPS positioning modules 8 when flipped.

[0049] The gimbal 4 is fixed to the center of the bottom of the base 1 via a flange connection. The flange enhances connection stability, preventing the gimbal 4 from loosening during rotation. The gimbal 4 employs a three-axis stabilized gimbal, enabling horizontal and pitch angle adjustment of the tilting camera mechanism 5, ensuring stability during shooting unaffected by camera body vibration. The control cable of the gimbal 4 connects to the drone's control system through a pre-designed wiring channel inside the base 1, avoiding exposed and tangled wiring. Figure 6As shown, the base plate 51 of the tilting camera mechanism 5 is a circular plate structure, which is fixed to the bottom of the gimbal 4 by bolts. The edges of the base plate 51 are chamfered to prevent sharp edges from scratching the operator. The mounting seat I 55 is fixed at the bottom center of the base plate 51. The mounting seat I 55 is a frustum structure with four evenly spaced hinge slots on its outer wall. Wear-resistant pads are embedded in the hinge slots. The inner ends of the four support rods 56 are rotatably connected to the hinge slots of the mounting seat I 55 by pins. The wear-resistant pads can reduce the wear of the support rods 56 when they rotate and extend their service life. The support rods 56 can be rotated up and down around the hinge point to realize the angle adjustment of the camera module 58. Each support rod 56 has a fixed mounting base 57 at its outer end. The mounting base 57 is a cylindrical structure with a cushioning pad made of sponge material adhered to its inner wall. The camera module 58 is fixed inside the mounting base 57 by bolts. The cushioning pad fills the gap between the camera module 58 and the mounting base 57, reducing the impact of vibration on the camera module 58 during flight. The four camera modules 58 are oriented in four tilting directions (front, back, left, and right) to ensure that the shooting angles do not overlap and have complete coverage, meeting the requirements for tilt photography.

[0050] The protective cover 52 is a ring-shaped shell structure with an open bottom, made of transparent PC material. It does not affect the shooting angle of the camera module 58, while providing dust and impact protection. The protective cover 52 is fixed to the bottom of the base plate 51 by bolts and locating pins. The locating pins ensure the precise installation position of the protective cover 52, preventing misalignment from affecting the camera angle. The internal space of the protective cover 52 can fully accommodate four camera modules 58, and a certain gap is left between the inner wall of the protective cover 52 and the camera modules 58, which effectively protects the camera modules 58 without hindering their rotation. The bottom edge of the protective cover 52 is flanged to enhance structural strength and prevent edge deformation under stress.

[0051] The fixing sleeve 53 of the braking assembly is cylindrical and is welded to the bottom center of the protective cover 52, and is coaxially arranged with the mounting base I 55. The bottom of the fixing sleeve 53 has a through hole with chamfered edges to prevent scratching the sliding rod 59 passing through it. The sliding rod 59 slides through the through hole and engages with the fixing sleeve 53. The top of the sliding rod 59 is rotatably connected to a sliding plate 54 via a bearing. The sliding plate 54 is made of ferromagnetic material or has a ferromagnetic adsorption plate at its bottom. The sliding plate 54 is a circular plate structure with a diameter that matches the inner diameter of the fixing sleeve 53. The edge of the sliding plate 54 has a guide groove that engages with the inner wall of the fixing sleeve 53 to prevent the sliding plate 54 from rotating during its up-and-down sliding.

[0052] Tension spring I 593 is located inside the fixed sleeve 53 and above the sliding plate 54. Spring steel is used to ensure stable elastic performance and prevent fatigue deformation. One end of tension spring I 593 is fixed to the bottom of the base plate 51, and the other end is fixed to the top of the sliding plate 54. Normally, tension spring I 593 is in a retracted state and tends to pull the sliding plate 54 upwards. Electromagnetic ring I 594 is slidably sleeved on the outer wall of the sliding rod 59. The outer wall of electromagnetic ring I 594 has an external threaded groove, and the inner wall of the fixed sleeve 53 has a corresponding internal thread. Electromagnetic ring I 594 is connected to the fixed sleeve 53 through threaded engagement and can be adjusted vertically within the fixed sleeve 53 by rotation. Figure 7 , 8 As shown, two guide rails 595 are symmetrically fixed to the outer wall of the fixed sleeve 53. The guide rails 595 are fixed to the outer wall of the fixed sleeve 53 by bolts. The two guide rails 595 are arranged in parallel. The sliding seat 596 is located between the two guide rails 595. The sliding seat 596 has grooves on both sides that mate with the guide rails 595. The grooves are coated with grease to reduce the frictional resistance when the sliding seat 596 slides, so that the sliding seat 596 can slide smoothly up and down along the guide rails 595. A threaded hole is opened on one side of the sliding seat 596. The screw 597 passes through the threaded hole and engages with the threaded part of the sliding seat 596. The head of the screw 597 adopts an internal hexagonal structure for easy adjustment with tools. A rubber pad is attached to the inner end of the screw 597 to avoid hard contact with the outer wall of the electromagnet ring I 594, thus playing a buffering and protective role. The outer wall of the fixing sleeve 53 has an oblong hole 531 corresponding to the position of the screw 597. The oblong hole 531 extends along the axial direction of the fixing sleeve 53. The inner end of the screw 597 passes through the oblong hole 531 and abuts against the outer wall of the electromagnet ring I 594, which can limit and fix the position of the electromagnet ring I 594 and prevent it from rotating on its own due to vibration during the flight of the UAV.

[0053] The bottom outer wall of the sliding rod 59 is rotatably fitted with the mounting seat II 591 via a bearing. The bearing allows the mounting seat II 591 to rotate flexibly relative to the sliding rod 59. The mounting seat II 591 has a cross-shaped frame structure with hinge ears at each of its four ends. The hinge ears have shaft holes and are hinged to one end of the connecting rod 592 via a pin. The other end of the connecting rod 592 is also hinged to the middle of the support rod 56 via a pin, allowing for a certain angle of rotation to accommodate the angle change when the support rod 56 is flipped. When the mounting seat II 591 moves up and down, it can smoothly drive the support rod 56 to flip around the mounting seat I 55 via the connecting rod 592, avoiding jamming.

[0054] The working process of this UAV for surveying and mapping based on oblique photography is as follows: When the UAV is performing normal surveying and mapping operations, the UAV's control system monitors the power status in real time to ensure that electromagnet ring II 773 and electromagnet ring I 594 are continuously energized. After being energized, electromagnet ring II 773 generates magnetism, precisely attracting the end of pin 771, keeping pin 771 inserted into the insertion hole 775 of extension plate 76. End cover plate 75 is stably closed on the top of receiving sleeve 72, smoke warning stick 9 is in the stored state, and sealing gasket is tightly fitted with the opening of receiving sleeve 72, achieving dustproof and waterproof effect.

[0055] At this time, the sliding rod 59 is pulled down. The sliding rod 59 overcomes the tension of the tension spring I 593 and moves downward, so that the sliding plate 54 abuts against the top of the electromagnet ring I 594. After the electromagnet ring I 594 is energized, it generates an attraction force and firmly attracts the sliding plate 54, so that the sliding plate 54 overcomes the tension of the tension spring I 593. The sliding rod 59 drives the mounting base II 591 to move downward, and pushes the support rod 56 to maintain it at the preset tilt angle through the connecting rod 592. The four camera modules 58 are in the working position. With the stable adjustment of the gimbal 4, clear tilt photography is achieved.

[0056] When a drone crashes or experiences a power outage, both electromagnet rings II 773 and I 594 lose their magnetism. After the power is cut off, the attraction force of electromagnet ring II 773 to pin 771 disappears, and spring II 774 generates elasticity, pushing pin 771 away from extension plate 76. The tapered chamfer at the end of pin 771 allows it to smoothly disengage from insertion hole 775, releasing the fixation to end cover plate 75. At this time, torsion spring 742 releases its stored force, driving shaft 731 to rotate within the copper sleeve of rotating seat 73. Shaft 731 drives connecting rod 74 and end cover plate 75 to rotate synchronously. During the rotation of end cover plate 75, the connecting collar 78 pulls the traction rope 91, which in turn triggers the smoke warning stick 9, releasing bright red smoke. The smoke can remain suspended in the air for at least 30 minutes, facilitating rapid detection and location of the drone's crash site in complex environments.

[0057] Simultaneously, after the electromagnet ring I 594 is de-energized, the attraction force on the sliding plate 54 disappears, and the tension spring I 593 contracts to generate an upward pulling force, pulling the sliding plate 54 to slide upward along the inner wall of the fixed sleeve 53. The sliding plate 54 drives the sliding rod 59 and the mounting base II 591 to move upward synchronously. The mounting base II 591 pulls the support rod 56 outward through the connecting rod 592, causing the camera module 58 to retract into the protective cover 52 and completely enter the protection range of the protective cover 52. The protective cover 52 can effectively block external impacts and scratches from ground debris during a fall, providing comprehensive protection for the camera module 58 and reducing the probability of damage during a fall.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A surveying and mapping drone based on oblique photography, characterized in that, The system includes four rotor arms (2) fixedly installed around the base (1) and two support legs (3) fixedly installed at the bottom of the base (1); a support frame (6) for fixing the warning mechanism (7) is fixedly installed on the top of the base (1). The warning mechanism (7) includes a receiving sleeve (72) and a smoke warning rod (9) located inside the receiving sleeve (72). A rotating seat (73) and a fixed seat (77) are fixedly installed on the outer wall of the receiving sleeve (72) and are arranged opposite to each other. A connecting rod (74) is rotatably connected to the rotating seat (73) through a rotating shaft (731). A covering receiving sleeve is fixedly installed at one end of the connecting rod (74). The end cover plate (75) of the cylinder (72) is fitted with a torsion spring (742) on the rotating shaft (731), and the two ends of the torsion spring (742) are fixed to the connecting rod (74) and the rotating seat (73) respectively. The traction rope (91) connected to the smoke warning stick (9) is fixed to the end cover plate (75). The fixed seat (77) is provided with a pin assembly for opening and closing the end cover plate (75) by electromagnetic control. When the drone is operating normally, the pin assembly locks the end cover plate (75). After the drone falls and the power is cut off, the pin assembly unlocks, the torsion spring (742) drives the end cover plate (75) to flip and triggers the smoke warning stick (9) to release smoke through the traction rope (91). The base (1) is connected to the tilting camera mechanism (5) via the gimbal (4). The tilting camera mechanism (5) includes a base plate (51) fixed to the bottom of the gimbal (4) and a mounting base I (55) fixed to the bottom of the base plate (51). Four support rods (56) are rotatably mounted on the periphery of the mounting base I (55). A camera module (58) is mounted on the outer end of the support rods (56) via the mounting base (57). A protective cover (52) is provided on the periphery of the bottom of the base plate (51). A braking component is provided at the bottom of the protective cover (52) and is coaxial with the mounting base I (55) to control the support rods (56) to drive the camera module (58) to rotate. When the drone is operating normally, the braking component locks the support rods (56). After the drone falls and loses power, the braking component locks the support rods (56), unlocks the braking component and drives the support rods (56) to flip upward, and retracts the camera module (58) into the protective cover (52) for protection.

2. The UAV for surveying and mapping based on oblique photography according to claim 1, characterized in that, The warning mechanism (7) also includes a fixing frame (71), which is fitted on the outer wall of the receiving sleeve (72) and fixedly connected to the support frame (6) by bolts. Two GPS positioning modules (8) are fixedly installed on the top of the base (1), and the height of the two GPS positioning modules (8) is higher than the maximum trajectory height of the end cover plate (75) when it is flipped.

3. The UAV for surveying and mapping based on oblique photography according to claim 2, characterized in that, The pin assembly includes a pin (771), a connecting ring (772), a spring II (774), and an electromagnet ring II (773). A fixed seat (77) is fixed to the outer wall of the receiving sleeve (72). The pin (771) is slidably engaged with the fixed seat (77). The connecting ring (772) is fixed to one side of the fixed seat (77). The spring II (774) is sleeved on the pin (771) and its two ends are fixed to the fixed seat (77) and the pin (771) respectively. The electromagnet ring II (773) is fixed to the outer end of the connecting ring (772). An extension plate (76) is fixed on the outer wall of the end cover plate (75). The extension plate (76) has an insertion hole (775) that is adapted to the pin (771). When the electromagnet ring II (773) is energized, it attracts the pin (771) and inserts it into the insertion hole (775). When the power is turned off, the spring II (774) pushes the pin (771) to disengage from the insertion hole (775).

4. The UAV for surveying and mapping based on oblique photography according to claim 3, characterized in that, The connecting rod (74) has an installation groove (741) on one side, and the torsion spring (742) is located in the installation groove (741). The torsion spring (742) is in a stored state when the end cover plate (75) is locked.

5. The UAV for surveying and mapping based on oblique photography according to claim 1, characterized in that, The braking assembly includes a fixed sleeve (53), a sliding rod (59), a sliding plate (54), an electromagnet ring I (594), a mounting base II (591), and four connecting rods (592). The fixed sleeve (53) is fixed to the bottom of the protective cover (52) and is coaxial with the mounting base I (55). The sliding rod (59) passes through the bottom of the fixed sleeve (53). The sliding plate (54) is rotatably connected to the top of the sliding rod (59) through a bearing. The electromagnet ring I (594) is sleeved on the sliding rod (59) and located inside the fixed sleeve (53). The mounting base II (591) is rotatably sleeved on the bottom end of the sliding rod (59). The two ends of the connecting rods (592) are hinged to the mounting base II (591) and the support rod (56) respectively. The electromagnet ring I (594) is energized to attract the sliding plate (54) to lock the angle of the support rod (56).

6. The UAV for surveying and mapping based on oblique photography according to claim 5, characterized in that, The fixed sleeve (53) is provided with a tension spring I (593). The tension spring I (593) is located on the top of the sliding plate (54), and its two ends are fixed to the base plate (51) and the sliding plate (54) respectively. After the electromagnet ring I (594) is de-energized, the tension spring I (593) pulls the sliding plate (54) to move upward, and drives the support rod (56) to flip upward through the sliding rod (59), the mounting seat II (591) and the connecting rod (592).

7. The UAV for surveying and mapping based on oblique photography according to claim 6, characterized in that, The outer wall of the electromagnet ring I (594) is provided with an external thread groove, and the inner wall of the fixed sleeve (53) is provided with an internal thread. The electromagnet ring I (594) is connected to the fixed sleeve (53) through threaded engagement to adjust its height inside the fixed sleeve (53).

8. The UAV for surveying and mapping based on oblique photography according to claim 7, characterized in that, The outer wall of the fixed sleeve (53) is fixed with two guide rails (595), and a sliding seat (596) is slidably provided between the two guide rails (595). The sliding seat (596) has a threaded hole, and a screw (597) is threaded inside the threaded hole. The outer wall of the fixed sleeve (53) has an oblong hole (531). The screw (597) passes through the oblong hole (531) and abuts against the electromagnet ring I (594) to lock the position of the electromagnet ring I (594).

9. The UAV for surveying and mapping based on oblique photography according to claim 1, characterized in that, The end cover plate (75) is fixedly provided with a connecting collar (78) at the bottom. The traction rope (91) of the smoke warning stick (9) is fixedly connected to the connecting collar (78). When the end cover plate (75) is flipped, the traction rope (91) is pulled through the connecting collar (78).

10. The UAV for surveying and mapping based on oblique photography according to claim 3, characterized in that, The outer wall of the receiving sleeve (72) is provided with a relief groove (79), which is adapted to the extension plate (76) to avoid interference between the extension plate (76) and the outer wall of the receiving sleeve (72) when the end cover plate (75) is flipped.

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