Laser radar and multispectral integrated mapping unmanned plane

Abstract

The application discloses a kind of laser radar and multispectral integration surveying and mapping unmanned plane, belong to surveying and mapping unmanned plane technical field, including unmanned plane body, the bottom of the unmanned plane body is equipped with multispectral camera and laser radar;It further includes base, the upper surface of the base is fixed with take-off platform by support rod, the upper surface of the base is fixed with outer cylinder, installation hole is opened in the take-off platform, inner cylinder is rotatably installed in installation hole, the side wall of the inner cylinder and the outer cylinder is close to each other and is open, and the bottom end of inner cylinder is located in outer cylinder, the outer cylinder is connected with air inlet pipe, and the air inlet pipe is connected with external air source;The top wall of the inner cylinder is connected with the inclinedly arranged air blowing pipe;The unmanned plane body of the application can synchronously acquire high-precision three-dimensional terrain data and multi-band spectral information in single flight, and can efficiently and gently clean the dust and water mist on the lens surface after landing, to ensure the accuracy and stability of subsequent surveying and mapping operation.

Description

Technical Field

[0001] This invention relates to the field of surveying drone technology, specifically to a surveying drone integrating lidar and multispectral imaging. Background Technology

[0002] With the rapid development of surveying and remote sensing technology, lidar and multispectral integrated surveying drones, with their core advantage of "one flight, multi-dimensional data," have been widely applied in various fields such as high-precision topographic mapping, precision agriculture, forestry resource surveys, power line inspection, and disaster emergency assessment. To ensure stability during takeoff and landing and prevent damage to the fuselage and onboard precision surveying payloads from direct contact with the ground, existing lidar and multispectral integrated surveying drones are equipped with landing platform structures. Their main function is to provide stable support for the drone during takeoff and landing, distribute the weight of the fuselage, and reduce the impact of ground impacts on core payloads such as lidar and multispectral cameras. They are fundamental components for ensuring the safe operation of drones.

[0003] Surveying drones often operate in complex outdoor environments, such as mountains, forests, farmlands, and mining areas, where dust, floating dust, and vegetation debris are common. During flight, airflow carries particulate matter from the surrounding environment, which adheres to the fuselage and lens surface. During landing, dust generated when the landing pad re-consumes the ground, along with debris such as weeds and sand, can further contaminate the multispectral camera lens. Furthermore, outdoor environments experience significant diurnal and altitude temperature differences, especially in the early morning, evening, or at high altitudes. When a drone is quickly moved from its warm equipment case into a low-temperature environment, or when it descends from a high-altitude, low-temperature environment to a warm, humid ground, the surface temperature of the multispectral camera lens rapidly drops below the ambient dew point, causing moisture in the air to condense on the lens surface.

[0004] Currently, cleaning contamination from multispectral cameras mainly relies on manual operation. This involves operators manually cleaning the cameras before or after drone use, using tools such as air blowers and lens paper. However, this method has several drawbacks: First, the timeliness of cleaning is difficult to guarantee. Heavy workloads and tight schedules in the field can easily lead to operators neglecting cleaning steps or rushing to meet deadlines, resulting in contaminated cameras being put into use directly. Second, the cleaning standards are insufficient. Different operators use significantly different cleaning techniques. Improper operation (such as blowing directly at the lens, wiping with ordinary paper towels, or failing to thoroughly remove condensation) not only fails to effectively clean the contamination but may also scratch the special anti-reflective coating on the lens surface or allow moisture to seep into the lens, corroding the photosensitive element and further damaging delicate components. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated lidar and multispectral mapping drone to solve the following technical problems: In field operations, it is difficult to effectively solve the problems of dust adhesion and condensation on multispectral cameras. Existing manual cleaning methods have shortcomings such as timeliness, standardization, and efficiency. Pollution has become a key bottleneck restricting the accuracy of mapping data and affecting operational efficiency.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A lidar and multispectral integrated mapping drone includes a drone body, wherein a multispectral camera and a lidar are installed on the bottom of the drone body;

[0008] It also includes a base, on the upper surface of which a lifting platform is fixed by a support rod, and an outer cylinder is fixed on the upper surface of the base. An installation hole is provided on the lifting platform, and an inner cylinder is rotatably installed in the installation hole. The side walls of the inner cylinder and the outer cylinder that are close to each other are open, and the bottom end of the inner cylinder is located inside the outer cylinder. An air inlet pipe is connected to the outer cylinder, and the air inlet pipe is connected to an external air source.

[0009] An inclined air blowing pipe is connected to the top wall of the inner cylinder, and an intermittent sealing mechanism is provided on the inner cylinder to realize intermittent air output from the air blowing pipe.

[0010] An intermittent drive mechanism is provided between the base and the outer cylinder to realize the intermittent rotation of the inner cylinder.

[0011] As a further embodiment of the present invention: the intermittent sealing mechanism includes a first motor mounted on a base and a fixing block fixed to the inner surface of the top wall of the inner cylinder. The output shaft of the first motor is connected to a rotating shaft that extends into the outer cylinder. A round-headed push rod is fixed on the side wall of the top wall of the rotating shaft. A movable rod is movably mounted on the fixing block. A force-bearing block is fixed at one end of the movable rod, and a suction cup is fixed at the other end. The suction cup has micro-holes. A return spring is sleeved on the movable rod. One end of the return spring is connected to the suction cup, and the other end is connected to the fixing block. The force-bearing block is located directly below the connection between the air blowing pipe and the inner cylinder.

[0012] As a further aspect of the present invention: an adsorption plate is fixed to the top of the inner wall of the inner cylinder, and the adsorption plate corresponds to the position of the suction cup.

[0013] As a further aspect of the present invention: a mounting frame is installed on the bottom wall of the outer cylinder, a fan blade frame is installed on the mounting frame, and the fan blades in the fan blade frame are fixedly mounted on the rotating shaft.

[0014] As a further aspect of the present invention: the intermittent drive mechanism includes a second motor mounted on the base, the output shaft of the second motor is equipped with an incomplete gear, and a gear ring is mounted on the side wall of the inner cylinder, and the gear ring meshes with the incomplete gear.

[0015] As a further aspect of the present invention: multiple limiting rods are symmetrically arranged on the upper surface of the landing platform, a buffer plate is arranged between the multiple limiting rods, multiple buffer springs are connected to the bottom wall of the buffer plate, and one end of the multiple buffer springs is connected to the landing platform.

[0016] As a further aspect of the present invention, a sealing rubber strip is provided at the bottom opening of the inner cylinder.

[0017] The beneficial effects of this invention are:

[0018] (1) The present invention drives the air blowing pipe to rotate around the multispectral camera through an intermittent drive mechanism, while the intermittent sealing mechanism controls the air blowing pipe to spray air intermittently. This allows the airflow to fully cover all areas of the multispectral camera lens without any blind spots, thoroughly removing dust, floating dust and debris attached to various parts of the lens surface. It can also target and disperse the mist and water film formed by condensation, avoiding local water stains. Compared with the partiality and randomness of manual handheld air blowing cleaning, the present invention cleans more thoroughly, improves the efficiency of defogging and dust removal, and can quickly restore the lens to a clean state, meeting the needs of rapid take-off and landing of UAVs in the field.

[0019] (2) The intermittent sealing mechanism of the present invention makes the air blowing pipe intermittent instead of continuous high-pressure jetting, which can precisely control the output intensity and duration of the airflow, avoid the impact of continuous strong airflow on the special narrow-band anti-reflection film on the lens surface, prevent the film layer from falling off and cracking, and at the same time avoid the high pressure of the airflow causing water vapor and dust to be pressed into the lens gap, thus preventing the corrosion of the internal photosensitive element and the growth of mold; combined with the surrounding air blowing design, the airflow passes parallel to the lens surface without vertical impact force, and will not cause slight displacement of the lens, ensuring the calibration accuracy of the lens optical axis and the lidar, solving the problem that the camera is easily damaged by improper manual operation, extending the service life of the multispectral camera, and reducing equipment maintenance costs;

[0020] (3) This invention does not require manual cleaning by operators, which avoids the disadvantages of manual cleaning being prone to omissions and non-standard operation, and saves the tedious steps of manually disassembling the protection and cleaning with hand tools. It allows the drone to quickly clean the camera before and after use, shortening the preparation and closing time for take-off and landing. It is especially suitable for time-sensitive scenarios such as emergency mapping and large-area field mapping. There is no need to delay the work progress due to cleaning the camera, which improves the daily work efficiency and reduces the workload of operators. It is suitable for unmanned and automated operations in complex field environments.

[0021] (4) The intermittent blowing of the present invention can avoid the surrounding dust caused by continuous blowing being carried by the airflow and re-attached to the lens surface. At the same time, compared with continuous blowing, it will not cause a sudden drop in the lens surface temperature, thereby reducing the probability of secondary condensation of condensate from the source. The all-around blowing can simultaneously blow away the floating dust around the camera, forming a temporary clean airflow barrier. After cleaning, it can prevent dust from quickly attaching in the short term, providing a clean lens environment for the initial surveying and mapping operation after the UAV takes off, and further ensuring the stability of the operation. Attached Figure Description

[0022] The invention will now be further described with reference to the accompanying drawings.

[0023] Figure 1 This is a first-view structural diagram of the UAV of the present invention;

[0024] Figure 2 This is a schematic diagram of the second-view structure of the UAV of the present invention;

[0025] Figure 3 This is a structural schematic diagram of the drone and its base of the present invention;

[0026] Figure 4 This is a structural schematic diagram of the base and landing platform of the present invention;

[0027] Figure 5 This is a schematic diagram of the internal structure of the inner cylinder of the present invention from a first-view perspective;

[0028] Figure 6 This is a schematic diagram of the internal structure of the inner cylinder of the present invention from a second perspective.

[0029] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0030] In the diagram: 1. UAV body; 2. Multispectral camera; 3. LiDAR; 4. Base; 5. Support rod; 6. Landing platform; 7. Outer cylinder; 8. Inner cylinder; 9. Air blowing pipe; 10. Air inlet pipe; 11. First motor; 12. Rotating shaft; 13. Round-headed push rod; 14. Fixing block; 15. Movable rod; 16. Force-bearing block; 17. Suction cup; 18. Micro-hole; 19. Return spring; 20. Adsorption plate; 21. Mounting bracket; 22. Fan blade frame; 23. Second motor; 24. Incomplete gear; 25. Gear ring; 26. Limiting rod; 27. Buffer spring; 28. Buffer plate.

[0031] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. To better illustrate this embodiment, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual size and shape of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1 to 7 As shown, this invention is an integrated lidar and multispectral mapping drone, including a drone body 1, with a multispectral camera 2 and a lidar 3 mounted on the bottom of the drone body 1; it also includes a base 4, with a landing platform 6 fixed to the upper surface of the base 4 via a support rod 5, and an outer cylinder 7 fixed to the upper surface of the base 4. The landing platform 6 has mounting holes, and an inner cylinder 8 is rotatably mounted within the mounting holes. The sidewalls of the inner cylinder 8 and the outer cylinder 7 are open, and the bottom end of the inner cylinder 8 is located inside the outer cylinder 7. An air inlet pipe 10 is connected to the outer cylinder 7, and the air inlet pipe 10 is connected to the external air... The system includes a source connection; an inclined air-blowing pipe 9 is connected to the top wall of the inner cylinder 8, and an intermittent sealing mechanism is provided on the inner cylinder 8 to achieve intermittent air output from the air-blowing pipe 9; an intermittent drive mechanism is provided between the base 4 and the outer cylinder 7 to achieve intermittent rotation of the inner cylinder 8; a sealing rubber strip is provided at the bottom opening of the inner cylinder 8; the UAV body 1 integrates a multispectral camera 2 and a lidar 3, which can simultaneously acquire high-precision three-dimensional terrain data and multi-band spectral information in a single flight, providing "one flight, multi-dimensional data" for industries such as surveying, agriculture, forestry, and power. This is a comprehensive solution equipped with a landing platform 6. After the drone body 1 completes its flight, it lands on the landing platform 6. After the drone body 1 stops, the tilted air pipe 9 is aligned with the multispectral camera 2. The operator uses an external air source to supply air to the outer cylinder 7. At the same time, the intermittent drive mechanism drives the outer cylinder 7 to rotate intermittently. In conjunction with the intermittent sealing mechanism, the air pipe 9 blows air intermittently, outputting a gentle and stable airflow. This effectively promotes air circulation around the lens, increasing the local evaporation rate. It is both efficient and gentle. If air is blown continuously, the air outlet of the air pipe 9 will release compressed air. The release generates a slight temperature rise, and the local temperature will increase. The optical glass of the multispectral camera 2 is sensitive to temperature difference. Sudden heating will cause slight deformation of the lens, affecting the imaging accuracy. By using short-term, intermittent air blowing, there is no temperature accumulation. Heat dissipation is carried out at intervals, and the lens temperature remains stable throughout the process, eliminating the risk of deformation. After the inner cylinder 8 rotates once, the airflow fully covers all areas of the multispectral camera 2 lens, with no blind spots. It thoroughly removes dust, floating dust and debris attached to all parts of the lens surface, and can also target and disperse the thin mist and water film formed by condensation, avoiding local water stains.

[0034] See Figure 3 , Figure 6 and Figure 7 The intermittent sealing mechanism includes a first motor 11 mounted on the base 4 and a fixing block 14 fixed to the inner surface of the top wall of the inner cylinder 8. The output shaft of the first motor 11 is connected to a rotating shaft 12 that extends into the outer cylinder 7. A round-headed push rod 13 is fixed to the side wall of the top wall of the rotating shaft 12. A movable rod 15 is movably mounted on the fixing block 14. A force-bearing block 16 is fixed to one end of the movable rod 15, and a suction cup 17 is fixed to the other end. The suction cup 17 has micro-holes 18. A return spring 19 is sleeved on the movable rod 15. One end of the return spring 19 is connected to the suction cup 17, and the other end is connected to the fixing block 14. The force-bearing block 16 is located directly below the connection between the air blowing pipe 9 and the inner cylinder 8. An adsorption plate 20 is fixed to the top of the inner wall of the inner cylinder 8, and the adsorption plate 20 corresponds to the position of the suction cup 17. In the initial state, the force-bearing block 16 blocks the air blowing pipe 9. When the air inlet pipe 10 supplies air, the first motor 11 is started simultaneously. The first motor 11 drives the round-headed push rod 13 to rotate. When the round-headed push rod 13 rotates past the force block 16, it pushes the force block 16 to move. At this time, air can be blown out through the air blowing pipe 9. The force block 16 and the movable rod 15 move synchronously, squeezing the suction cup 17 to adhere to the smooth surface of the suction plate 20. Micropores 18 are opened on the suction cup 17. External air will continuously permeate into the suction cup 17 through the micropores 18. As air continues to enter, the air pressure inside the suction cup 17 gradually increases, and the pressure difference between the inside and outside air continuously decreases. The atmospheric pressure on the suction cup 17 decreases synchronously. When the inside and outside air pressure tend to be balanced (no pressure difference), the suction cup 17 loses its suction force and directly detaches from the suction plate 20, causing the force block 16 to reset. In this way, the air output time can be accurately controlled. By setting the speed of the first motor 11, air can be blown for 3-5 seconds, with a 2-second interval before blowing again, and this process can be repeated continuously. Under the premise of protecting the lens from damage, it can gently and efficiently remove fog and dust without leaving any hidden dangers that may affect the accuracy of the surveying.

[0035] See Figure 5 and Figure 6 An installation frame 21 is installed on the bottom wall of the outer cylinder 7, and a fan blade frame 22 is installed on the installation frame 21. The fan blades inside the fan blade frame 22 are fixedly mounted on the rotating shaft 12. When the rotating shaft 12 rotates, it drives the fan blades to rotate synchronously. The fan blades agitate to eliminate dead zones in the airflow of the box, so that the gas pressure in the outer cylinder 7 and the inner cylinder 8 is evenly distributed, the gas flows in an orderly and directional manner, and there is no local accumulation. The incoming gas can be quickly pushed to the blowing pipe 9, which improves the stability of the gas output and there is no delay in the gas output.

[0036] See Figure 1 and Figure 4The intermittent drive mechanism includes a second motor 23 mounted on the base 4. An incomplete gear 24 is mounted on the output shaft of the second motor 23. A gear ring 25 is mounted on the side wall of the inner cylinder 8, and the gear ring 25 meshes with the incomplete gear 24. When the second motor 23 is started, it drives the incomplete gear 24 to rotate, which in turn drives the gear ring 25 and the inner cylinder 8 to rotate. The speed of the output shaft of the second motor 23 is set so that after cleaning one angle of the multispectral camera 2, the inner cylinder 8 rotates to the next angle for cleaning.

[0037] See Figure 3 Multiple limiting rods 26 are symmetrically arranged on the upper surface of the landing platform 6. A buffer plate 28 is arranged between the multiple limiting rods 26. Multiple buffer springs 27 are connected to the bottom wall of the buffer plate 28, and one end of the multiple buffer springs 27 is connected to the landing platform 6. By setting the buffer plate 28 and the buffer springs 27, the landing of the UAV body 1 is buffered, reducing the damage to the UAV body 1 during landing.

[0038] The working principle of this invention is as follows: The UAV body 1 integrates a multispectral camera 2 and a lidar 3, which can simultaneously acquire high-precision three-dimensional terrain data and multi-band spectral information during a single flight, providing a comprehensive solution of "one flight, multi-dimensional data" for industries such as surveying, agriculture, forestry, and power. After the UAV body 1 completes its flight, it lands on the landing platform 6. The buffer plate 28 and the buffer spring 27 can buffer the landing of the UAV body 1 and reduce the damage to the UAV body 1 during landing.

[0039] After the drone body 1 stops, the air blowing pipe 9, which is tilted on the top wall of the inner cylinder 8, is precisely aligned with the multispectral camera 2. The operator connects the external air source (not shown) to the air inlet pipe 10 connected to the outer cylinder 7 and supplies air. The sealing rubber strip at the bottom opening of the inner cylinder 8 ensures the airtightness when the outer cylinder 7 and the inner cylinder 8 are rotated. When supplying air, the intermittent sealing mechanism and the intermittent driving mechanism are activated simultaneously. The first motor 11 starts, and the output shaft of the first motor 11 drives the rotating shaft 12 and the round-headed push rod 13 to rotate. In the initial state, the force block 16 blocks the bottom of the air blowing pipe 9. When the round-headed push rod 13 rotates past the force block 16, it pushes the force block 16 to move. At this time, the blockage of the air blowing pipe 9 is released, and the air in the outer cylinder 7 can be blown out through the air blowing pipe 9. At the same time, the force block 16 drives the movable rod 15 to move synchronously, squeezing the suction cup 17 to adhere to the smooth surface of the suction plate 20. External air is continuously supplied through the micropores 18 on the suction cup 17. As air continuously enters the suction cup 17, the internal air pressure gradually increases, the pressure difference between the inside and outside of the suction cup 17 continuously decreases, and the atmospheric pressure on the suction cup 17 decreases synchronously. When the internal and external air pressures tend to be balanced and there is no pressure difference, the suction cup 17 loses its adsorption force. Under the elastic action of the return spring 19, the suction cup 17 directly detaches from the adsorption plate 20, driving the movable rod 15 and the force block 16 to reset and re-seal the air blowing pipe 9. By setting the speed of the first motor 11, the air blowing pipe 9 can be precisely realized in a cycle mode of blowing air for 3-5 seconds, with an interval of 2 seconds before blowing again, outputting a gentle and stable airflow. This just drives the air circulation around the lens of the multispectral camera 2, improving the local evaporation speed. It is both efficient and gentle, avoiding the problem of slight temperature rise and local temperature rise at the air outlet of the air blowing pipe 9 during continuous blowing, which can cause deformation of the optical glass of the multispectral camera 2. This achieves stable lens temperature and no risk of deformation throughout the process.

[0040] The second motor 23 in the intermittent drive mechanism starts synchronously. The output shaft of the second motor 23 drives the incomplete gear 24 to rotate, which in turn drives the gear ring 25 and the inner cylinder 8 to rotate intermittently. By setting the speed of the output shaft of the second motor 23, it can be ensured that the inner cylinder 8 rotates to the next angle for cleaning after cleaning one angle of the multispectral camera 2. When the rotating shaft 12 rotates, it drives the fan blade to rotate synchronously. The fan blade agitation eliminates the dead zones of airflow in the outer cylinder 7 and the inner cylinder 8, so that the gas pressure in the outer cylinder 7 and the inner cylinder 8 is evenly distributed. The gas flows in an orderly and directional manner without local accumulation. The incoming gas can be quickly pushed to the blowing pipe 9, improving the stability of the outgoing gas. Moreover, there is no delay in air output. The inner cylinder 8 rotates intermittently under the drive mechanism, which synchronously drives the air blowing pipe 9 to rotate around the multispectral camera 2. After the inner cylinder 8 rotates once, the airflow blown out by the air blowing pipe 9 can fully cover all areas of the lens of the multispectral camera 2 without any blind spots. It can thoroughly remove dust, floating dust and debris attached to various positions on the lens surface, and can also selectively blow away the thin mist and water film formed by condensation, avoiding local water stains. Ultimately, it achieves gentle and efficient defogging and dust removal while protecting the lens from damage, without leaving any hidden dangers that may affect the accuracy of the surveying and mapping, thus ensuring the accuracy and stability of the UAV's subsequent surveying and mapping operations.

[0041] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A lidar and multispectral integrated mapping UAV, comprising the UAV body (1), characterized in that, The bottom of the UAV body (1) is equipped with a multispectral camera (2) and a lidar (3). It also includes a base (4), on the upper surface of the base (4) a lifting platform (6) is fixed by a support rod (5), an outer cylinder (7) is fixed on the upper surface of the base (4), an installation hole is provided on the lifting platform (6), an inner cylinder (8) is rotatably installed in the installation hole, the side walls of the inner cylinder (8) and the outer cylinder (7) are open, and the bottom end of the inner cylinder (8) is located inside the outer cylinder (7), an air inlet pipe (10) is connected to the outer cylinder (7), and the air inlet pipe (10) is connected to an external air source; An inclined air-blowing pipe (9) is connected to the top wall of the inner cylinder (8), and an intermittent sealing mechanism is provided on the inner cylinder (8) to realize intermittent air output from the air-blowing pipe (9); An intermittent drive mechanism is provided between the base (4) and the outer cylinder (7) to realize the intermittent rotation of the inner cylinder (8); The intermittent sealing mechanism includes a first motor (11) mounted on the base (4) and a fixing block (14) fixed on the inner surface of the top wall of the inner cylinder (8). The output shaft of the first motor (11) extends into the outer cylinder (7) and is connected to a rotating shaft (12). A round-headed push rod (13) is fixed on the side wall of the top wall of the rotating shaft (12). A movable rod (15) is movably mounted on the fixing block (14). A force-bearing block (16) is fixed at one end of the movable rod (15), and a suction cup (17) is fixed at the other end. A microhole (18) is opened on the suction cup (17). A return spring (19) is sleeved on the movable rod (15). One end of the return spring (19) is connected to the suction cup (17), and the other end is connected to the fixing block (14). The force-bearing block (16) is located directly below the connection between the air blowing pipe (9) and the inner cylinder (8). An adsorption plate (20) is fixed to the top of the inner wall of the inner cylinder (8), and the adsorption plate (20) is positioned opposite to the suction cup (17).

2. The integrated lidar and multispectral mapping UAV according to claim 1, characterized in that, An mounting bracket (21) is installed on the bottom wall of the outer cylinder (7), and a fan blade frame (22) is installed on the mounting bracket (21). The fan blades inside the fan blade frame (22) are fixedly mounted on the rotating shaft (12).

3. The integrated lidar and multispectral mapping UAV according to claim 1, characterized in that, The intermittent drive mechanism includes a second motor (23) mounted on the base (4), the output shaft of the second motor (23) is equipped with an incomplete gear (24), and a gear ring (25) is mounted on the side wall of the inner cylinder (8), and the gear ring (25) meshes with the incomplete gear (24).

4. The integrated lidar and multispectral mapping UAV according to claim 1, characterized in that, The upper surface of the landing platform (6) is symmetrically provided with multiple limiting rods (26), and a buffer plate (28) is provided between the multiple limiting rods (26). Multiple buffer springs (27) are connected to the bottom wall of the buffer plate (28), and one end of the multiple buffer springs (27) is connected to the landing platform (6).

5. The integrated lidar and multispectral mapping UAV according to claim 1, characterized in that, A sealing rubber strip is provided at the bottom opening of the inner cylinder (8).

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