A river channel surveying and mapping device based on a UAV

Abstract

This invention discloses a river mapping device based on unmanned aerial vehicles (UAVs), relating to the field of UAV mapping technology. The UAV-based river mapping device includes a UAV body; a battery module installed inside the UAV body; a central unit installed inside the UAV body and electrically connected to the battery module; a wind direction detection device installed on top of the central unit and extending to the outside of the UAV body; a camera and lidar mapping device installed at the center of the bottom of the UAV body; and a buffer support leg structure installed at the bottom edge of the UAV body. This invention allows for the determination of the overall center of gravity position of the UAV in its adjusted state and after adjustment, ensuring that the UAV will not fall due to instability during flight and adjustment. Furthermore, the position of the adjusted arms can be located during and after adjustment to maintain the overall symmetrical structure of the UAV, significantly reducing the risk of UAV loss of control.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) surveying technology, specifically to a UAV-based river surveying device. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and onboard program control devices. They are widely used in aerial photography, agriculture, logistics, rescue, surveying and mapping, and other fields. UAVs used in surveying and mapping achieve geographic information collection through aerial surveying technology, and have advantages such as high efficiency, high precision, and low cost.

[0003] A surveying drone, with application publication number CN113086230B, includes a drone body with several driving devices arranged around its periphery and a surveying device positioned at the center of its bottom surface. The surveying device includes a positioning housing disposed on the bottom surface of the drone body's inner cavity. A cylinder is fixedly connected to the top surface of the positioning housing. The cylinder's output shaft passes through one end of a telescopic rod fixedly connected to the top surface of the positioning housing. A positioning plate is fixedly connected to the other end of the telescopic rod. An angle-adjusting motor is fixedly connected to the bottom surface of the positioning plate. A hinge rod is fixedly connected to the output shaft of the angle-adjusting motor. An adjusting rod is hinged to the other end of the hinge rod. A hinge seat is hinged to the bottom of the adjusting rod, and a steering ball is fixedly connected to the bottom surface of the hinge seat. In this invention, the angle-adjusting motor drives the steering ball to rotate, thereby rotating the camera horizontally for omnidirectional shooting. Simultaneously, the cylinder adjusts the vertical angle of the steering ball by pushing and pulling the telescopic rod, expanding the camera's shooting range.

[0004] However, this drone mapping device has the following drawbacks in practical use: When existing drone mapping equipment is used for river mapping operations, the drone needs to fly over the river. Traditionally, riverbeds are lined with trees, some of whose branches grow upwards, obstructing the drone's flight path. Traditional drones, due to their size limitations, struggle to fly normally through this obstructed path. To address this issue, a telescopic arm adjustment mechanism is typically used. This mechanism extends or retracts the drone's arm when obstructions occur, allowing the drone to pass through the branches. However, during this adjustment, the extended arm alters the position of the motors (blades), shifting the drone's center of gravity significantly. This causes the drone to deviate from its geometric center, requiring constant adjustments to the speeds of motors in different locations to maintain balance. This results in flight instability, hovering tilt, flight path drift, and even the drone being unable to take off. When using drones for surveying, they need to be parked on a drone platform for battery and memory card replacements and lens cleaning. When the drone is hovering on the platform, the impact force generated when it comes into contact with the platform during its descent can cause instability during landing, potentially leading to collapse and damage to the rotating drone's wings. Summary of the Invention

[0005] The purpose of this invention is to provide a river mapping device based on unmanned aerial vehicles (UAVs) to solve the problems mentioned in the background art.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: This invention provides a river mapping device based on a drone, comprising: a drone body; a battery module installed inside the drone body; a central unit installed inside the drone body and electrically connected to the battery module; a wind direction detection device installed on top of the central unit and extending to the outside of the drone body; a camera and lidar mapping device installed at the center of the bottom of the drone body; a buffer support leg structure installed at the bottom edge of the drone body; and a drone telescopic arm device installed inside the drone body and extending to the outside, the drone telescopic arm device being electrically connected to the central unit via a cable. The drone telescopic arm device includes: an outward telescopic structure installed inside the drone body; a rope counterweight structure connected to the outward telescopic structure, a lower support base being installed at the bottom of the outward telescopic structure by screws, and a drone rotor module being installed at the top of the lower support base; and a telescopic positioning component connected to the outward telescopic structure, the telescopic positioning component pressing and fixing the position of the outward telescopic structure after it has been extended or retracted.

[0007] As a preferred embodiment of the present invention, the wind direction detection device includes: An upper support base is installed on top of the central unit, and a blade unit is rotatably connected to the top of the upper support base. The blade unit is rotatably connected to the interior of the UAV body. An upper connecting rod is snapped and fixed to the top of the blade unit. The upper connecting rod is movably disposed on the top of the UAV body. An infrared emitting unit is installed at the bottom of the upper connecting rod. A circular guide rail is mounted on the top of the drone's body. A position detection unit is movably connected to the top of the circular guide rail via ball bearings. The position detection unit is located on the side of the infrared emitting unit. The position detection unit is connected to the upper connecting rod via a side connector, which is located at the bottom of the infrared emitting unit.

[0008] As a preferred embodiment of the present invention, the camera and lidar mapping device includes: A lower metal base is mounted on the center of the bottom of the drone body using screws. A linear drive source is installed on the inner bottom of the lower metal base, and the output end of the linear drive source is connected to the lower metal frame. The lower metal frame is movably disposed at the bottom of the lower metal base; An inner movable seat is rotatably connected inside the lower metal frame. A camera unit is movably connected to the inner side of the inner movable seat via a drive source. A lidar unit is installed on one side of the bottom of the inner movable seat.

[0009] As a preferred embodiment of the present invention, the buffer support leg structure includes: The hollow support leg is installed at the edge of the bottom of the drone body by screws. A positioning sleeve is installed inside the hollow support leg, and a vertical support rod is slidably installed through the inside of the positioning sleeve. A buffer spring is sleeved on the outer side of the top of the vertical support rod and connected to the top of the positioning sleeve. A bottom rod is fixed to the bottom of the vertical support rod by a pin and is slidably connected to the inside of the vertical support rod.

[0010] In a preferred embodiment of the present invention, the bottom of the bottom rod is connected to an elastic rubber block via a ball joint. The bottom of the elastic rubber block is arc-shaped, and first inclined surfaces are provided on both sides of the bottom of the elastic rubber block. The portion of the elastic rubber block that contacts the bottom rod is arc-shaped, and the diameter of the arc-shaped opening is larger than the diameter of the bottom rod, thus limiting the range of motion of the elastic rubber block.

[0011] As a preferred embodiment of the present invention, the outward expansion and telescopic structure includes: A rotary drive source is installed inside the drone body, and the output end of the rotary drive source is connected to a rotating disk, which is rotatably connected inside the drone body. An arc-shaped groove is formed at an eccentric position inside the rotating disk. Multiple arc-shaped grooves are provided. A movable head is movably disposed inside the arc-shaped groove, and an L-shaped connecting arm is rotatably connected to the top of the movable head. A movable arm is rotatably connected to the bottom of the L-shaped connecting arm. A straight metal rod is fixed to the bottom of the movable arm by screws, and the straight metal rod is slidably connected inside the metal frame. The metal frame is fixed inside the drone body by screws and extends to the outside of the drone body.

[0012] In a preferred embodiment of the present invention, a linear threaded rod is installed at the bottom center of the linear metal rod, and an adjusting nut is threadedly connected to the outer side of the linear threaded rod. The adjusting nut is rotatably connected to the side of the connecting block, and a movable metal rod is installed on the side of the connecting block by screws. The movable metal rod is slidably connected inside the metal frame and extends to the outer side of the metal frame. The movable metal rod has a lower support base installed at its bottom, and rope counterweight structures are installed on both sides of the movable metal rod. The rope counterweight structures are installed on the outside of the metal frame, and a telescopic positioning component is installed on one side of the bottom of the movable metal rod.

[0013] As a preferred embodiment of the present invention, the rope counterweight structure includes: The first toothed rack is installed on the left and right sides of the movable metal rod. A gear structure is meshed with the side of the first toothed rack, and the gear structure is rotatably connected inside the metal frame. A rope winding and unwinding device is provided, wherein the rope winding and unwinding device is connected to the shaft end of a set of gears inside the gear structure, the rope winding and unwinding device is movably connected to the top of the metal frame, and a steel wire rope is wound inside the rope winding and unwinding device and connected to the mounting base through the steel wire rope. The rope winding and unwinding equipment is equipped with a winding and unwinding control system, which controls the winding and unwinding operation of the wire rope in conjunction with the forward and reverse rotation of the rope winding and unwinding equipment. A counterweight is installed on the top of the mounting base, which is slidably connected to the top of the metal frame. Multiple mounting bases and counterweights are provided, and the multiple mounting bases are connected and fixed together by H-shaped connectors.

[0014] As a preferred embodiment of the present invention, the telescopic positioning component includes: The second toothed rack is fixed to one side of the bottom of the movable metal rod. A transmission gear is meshed with the outer side of the second toothed rack, and the transmission gear is rotatably connected to the outer side of the metal frame. A toothed belt is connected to the shaft end of the transmission gear via a synchronous pulley. The toothed belt is movably disposed on the top of the metal frame. An upper frame is mounted on one side of the top of the metal frame. A vertical lead screw is rotatably connected inside the upper frame. The vertical lead screw is connected to the inner side of the transmission toothed belt via a synchronous pulley installed on the outer side of the bottom. A lifting slider is connected to the outer side of the vertical lead screw via ball bearings. The lifting slider is slidably connected inside the upper frame. A tapered pressing block is installed inside the lifting slider by screws. The tapered pressing block abuts against the top of the inclined friction surface, which is located inside the movable metal rod.

[0015] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. In UAV-based river mapping devices, during river mapping, the overall size of the UAV can be adjusted by changing its arms, ensuring smooth passage through smaller spaces in the river and maximizing its usability. Simultaneously, when adjusting the length of the UAV arms, the counterweight on the arms can be extended or retracted using gears and wire ropes. This allows for precise control of the UAV's center of gravity after adjustment, preventing falls due to instability and improving flight safety. Furthermore, after adjustment, the arms can be secured using screws and gears to prevent accidental retraction or extension due to vibration or aerodynamic forces during flight. This maintains the UAV's symmetrical structure, prevents center of gravity shift and changes in moment of inertia, and significantly reduces the risk of loss of control. It should be noted that by limiting and fixing the position of the drone's arms, the lift and vibration generated by the rotor can be effectively transmitted and dispersed, reducing fatigue damage and resonance at the drone's joints, which is beneficial to extending the overall lifespan of the drone and improving the stability of the shooting platform. 2. In the UAV-based river mapping device, when mapping a river, the wind direction and external wind force experienced by the UAV during flight can be detected in real time through a wind-driven rotating infrared transmitting unit and position detection unit. Real-time detection of wind direction and speed allows the flight control system to dynamically adjust attitude and flight path, reducing deviations caused by crosswinds and ensuring stable flight along the preset survey line. Simultaneously, it can monitor instantaneous gusts, automatically pausing mapping or returning to base when the wind speed exceeds a safety threshold, ensuring the safety of UAV equipment and data. This device is suitable for open river channels, mountain pass wind zones, and other similar areas. 3. In UAV-based river mapping devices, the elastic support components for the UAV can absorb most of the kinetic energy when the UAV contacts the ground (or UAV platform) upon landing, reducing the transmission of vibration to the fuselage, protecting the delicate internal components of the UAV, and lowering the risk of damage. Simultaneously, the first inclined surfaces on the left and right sides of the bottom of the elastic rubber block allow the UAV to land at a slight angle, and still provide cushioning support during this angled landing, reducing the probability of damage when the UAV docks. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0017] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall main view of the present invention; Figure 3 This is a top view of the overall structure of the invention; Figure 4 This is a schematic diagram of the connection between the UAV body and the wind direction detection device of the present invention; Figure 5 This is the present invention. Figure 4 Enlarged structural diagram of region A in the middle; Figure 6 This is a schematic diagram of the connection between the camera and lidar mapping device and the buffer support leg structure of the present invention; Figure 7 This is a schematic diagram of the buffer support leg structure of the present invention; Figure 8 This is a schematic diagram of the connection between the UAV body and the UAV telescopic arm device of the present invention; Figure 9 This is the present invention. Figure 8 Schematic diagram of the structure viewed from the middle II-II' section; Figure 10 This is the present invention. Figure 8 Enlarged structural diagram of region B in the middle; Figure 11 This is a partially enlarged structural diagram of the outward expansion and telescopic structure of the present invention; Figure 12 This is a schematic diagram of the connection between the metal frame and the telescopic positioning component of the present invention; Figure 13 This is the present invention. Figure 12 A schematic diagram of the structure viewed in section ii-ii'. Figure 14 This is a schematic diagram of the connection between the metal frame and the rope counterweight structure of the present invention; Figure 15 This is a schematic diagram of the connection between the lower support base and the telescopic positioning component of the present invention; Figure 16 This is the present invention. Figure 15 Schematic diagram of the structure viewed in cross section of the LL-LL' plane; In the picture: 10. Unmanned aerial vehicle (UAV) airframe; 20. Battery module; 30. Central control unit; 40. Wind direction detection device; 401. Upper support base; 402. Blade unit; 403. Upper connecting rod; 404. Infrared emitting unit; 405. Circular guide rail; 406. Position detection unit; 407. Side connecting base; 50. Camera and lidar mapping device; 501. Lower metal base; 502. Linear drive source; 503. Lower metal frame; 504. Inner movable base; 505. Camera unit; 506. LiDAR unit; 60. Buffer support leg structure; 601. Hollowed-out support leg; 602. Positioning sleeve; 603. Vertical support rod; 604. Buffer spring; 605. Bottom rod; 6051. Elastic rubber block; 6052. First inclined surface; 70. Telescopic boom device for unmanned aerial vehicles (UAVs); 701. Outward telescopic structure; 702. Rope counterweight structure; 703. Lower support base; 704. UAV rotor module; 705. Telescopic positioning assembly; 7011, Rotary drive source; 7012, Rotating disk; 7013, Arc-shaped groove; 7014, Movable head; 7015, L-shaped connecting arm; 7016, Movable arm; 70160, Straight metal rod; 70161, Straight threaded rod; 70162, Adjusting nut; 70163, Connecting block; 70164, Movable metal rod; 7017, Metal frame body; 7021. First toothed rack; 7022. Gear structure; 7023. Rope winding and unwinding device; 7024. Mounting base; 7025. Counterweight; 7026. H-shaped connector; 7051. Second toothed rack; 7052. Transmission gear; 7053. Transmission toothed belt; 7054. Upper frame; 7055. Vertical lead screw; 7056. Lifting slider; 7057. Conical lower pressure block; 7058. Inclined friction surface. Detailed Implementation

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

[0020] Please see Figures 1-16 A drone-based river mapping device includes a drone body 10; a battery module 20 installed inside the drone body 10; a central unit 30 installed inside the drone body 10 and electrically connected to the battery module 20; a wind direction detection device 40 installed on top of the central unit 30 and extending to the outside of the drone body 10; a camera and lidar mapping device 50 installed at the center of the bottom of the drone body 10; a buffer support leg structure 60 installed at the bottom edge of the drone body 10; and a drone telescopic arm device 7 installed inside the drone body 10 and extending to the outside. 0. The drone telescopic arm device 70 is electrically connected to the central unit 30 via cables. The drone telescopic arm device 70 includes: an outward telescopic structure 701 installed inside the drone body 10; a rope counterweight structure 702 connected to the outward telescopic structure 701; a lower support base 703 installed at the bottom of the outward telescopic structure 701 by screws; and a drone rotor module 704 installed at the top of the lower support base 703; and a telescopic positioning component 705 connected to the outward telescopic structure 701, which presses and fixes the position of the outward telescopic structure 701 after it has been extended or retracted.

[0021] The working principle is as follows: When conducting UAV mapping operations on a river channel, the UAV in flight can detect the wind direction under its flight attitude through the wind direction detection device 40 and transmit the data to the UAV platform. This allows for adjustment of the UAV's flight attitude based on real-time wind direction, ensuring safety during UAV mapping operations. During river channel mapping, the camera and lidar mapping device 50 can ensure the accuracy of the river channel mapping through a combination of radar and camera inputs. The buffer support leg structure 60 supports the UAV during descent, ensuring safety during landing.

[0022] When conducting aerial surveying over a river, the distance between the lower support 703 and the UAV rotor module 704 and the UAV body 10 can be adjusted by activating the outward expansion and telescopic structure 701, ensuring the UAV can fly normally within the limited space of the river. Simultaneously, the outward expansion and telescopic structure 701 also activates the cable counterweight structure 702, providing counterweight to the adjusted UAV and ensuring its overall center of gravity remains consistent, thus guaranteeing flight stability. Furthermore, after adjustment, the outward expansion and telescopic structure 701 can be positioned by activating the telescopic positioning component 705, ensuring the stability of the UAV's arm section (outward expansion and telescopic structure 701). This prevents the arm section from unexpectedly retracting or extending due to vibration or aerodynamic forces during flight, thereby maintaining flight stability, preventing center of gravity shift and changes in moment of inertia, and significantly reducing the risk of UAV loss of control.

[0023] For details, please refer to the following: Figure 4 and Figure 5 The wind direction detection device 40 includes an upper support base 401, which is installed on the top of the central unit 30. A blade unit 402 is rotatably connected to the top of the upper support base 401 and is rotatably connected to the inside of the UAV body 10. An upper connecting rod 403 is snapped and fixed to the top of the blade unit 402 and is movably disposed on the top of the UAV body 10. An infrared emitting unit 404 is installed at the bottom of the upper connecting rod 403. An annular guide rail 405 is installed on the top of the UAV body 10. A position detection unit 406 is movably connected to the top of the annular guide rail 405 via ball bearings. The position detection unit 406 is disposed on the side of the infrared emitting unit 404. The position detection unit 406 is connected to the upper connecting rod 403 via a side connecting seat 407, which is disposed at the bottom of the infrared emitting unit 404.

[0024] In the UAV-based river mapping device of the present invention, when mapping a river, the flight of the UAV causes the blade unit 402 to rotate due to the influence of external wind. This rotation of the blade unit 402, in turn, causes the upper connecting rod 403 to rotate, thereby adjusting the positions of the infrared emitting unit 404 and the position detection unit 406 mounted on the top of the upper connecting rod 403. Once determined, the wind direction during the UAV's flight is determined in real time by the infrared rays emitted by the infrared emitting unit 404 and the infrared rays transmitted to the position detection unit 406.

[0025] For details, please refer to the following: Figure 6The camera and lidar mapping device 50 includes a lower metal base 501, which is installed at the center of the bottom of the UAV body 10 by screws. A linear drive source 502 is installed on the inner bottom of the lower metal base 501. The output end of the linear drive source 502 is connected to a lower metal frame 503, which is movably disposed at the bottom of the lower metal base 501. An inner movable base 504 is rotatably connected to the inside of the lower metal frame 503. A camera unit 505 is movably connected to the inner side of the inner movable base 504 through a drive source. A lidar unit 506 is installed on one side of the bottom of the inner movable base 504.

[0026] In the UAV-based river mapping device of the present invention, when mapping a river, the lower metal frame 503 connected to the output end of the linear drive source 502 can be rotated by activating the linear drive source 502, thereby adjusting the angle (vertical direction) of the camera unit 505 and the lidar unit 506 installed inside the lower metal frame 503; the position and angle of the camera unit 505 in the horizontal direction can be adjusted by activating the drive source inside the inner movable seat 504, thereby changing the shooting angle (horizontal direction) of the camera unit 505; the lidar unit 506 can measure the depth of river water with low turbidity, up to 1.5-2 times the depth of the Seychelles disk.

[0027] For details, please refer to the following: Figure 6 and Figure 7 The buffer support leg structure 60 includes a hollow support leg 601, which is installed at the bottom edge of the drone body 10 by screws. A positioning sleeve 602 is installed inside the hollow support leg 601, and a vertical support rod 603 is slidably installed through the inside of the positioning sleeve 602. A buffer spring 604 is sleeved on the outside of the top of the vertical support rod 603 and connected to the top of the positioning sleeve 602. A bottom rod 605 is installed and fixed at the bottom of the vertical support rod 603 by a pin and is slidably connected inside the vertical support rod 603.

[0028] In this design, the bottom of the bottom rod 605 is connected to an elastic rubber block 6051 via a universal ball joint. The bottom of the elastic rubber block 6051 is arc-shaped, and the two sides of the bottom of the elastic rubber block 6051 are provided with first inclined surfaces 6052. The part of the elastic rubber block 6051 that contacts the bottom rod 605 is arc-shaped, and the diameter of the arc opening is larger than the diameter of the bottom rod 605, thus limiting the movement angle of the elastic rubber block 6051.

[0029] In the UAV-based river mapping device of the present invention, when the UAV is parked, the elastic rubber block 6051 in contact with the UAV platform generates a feedback force on the elastic rubber block 6051, causing the bottom rod 605 and the vertical support rod 603 connected to the elastic rubber block 6051 to slide inside the positioning sleeve 602, and compressing the buffer spring 604 sleeved on the outside of the vertical support rod 603. At this time, the elasticity of the buffer spring 604 can buffer and dampen the direct compressive force (in conjunction with the damping unit), ensuring the stability of the UAV in the hovering state.

[0030] It should be noted that when the drone is parked at an angle, the first inclined surface 6052 of the elastic rubber block 6051 will come into contact with the platform surface. At this time, the universal structure of the connection between the elastic rubber block 6051 and the bottom rod 605 can ensure the normal movement of the elastic rubber block 6051, further improving the safety of the drone when hovering.

[0031] For details, please refer to the following: Figure 11 and Figure 12 The externally extending and retractable structure 701 includes a rotary drive source 7011, which is installed inside the drone body 10. The output end of the rotary drive source 7011 is connected to a rotating disk 7012, which is rotatably connected inside the drone body 10. An arc-shaped groove 7013 is formed at an eccentric position inside the rotating disk 7012. Multiple arc-shaped grooves 7013 are provided. A movable head 7014 is movably disposed inside the arc-shaped groove 7013. An L-shaped connecting arm 7015 is rotatably connected to the top of the movable head 7014. A movable arm 7016 is rotatably connected to the bottom of the L-shaped connecting arm 7015. A straight metal rod 70160 is fixed to the bottom of the movable arm 7016 by screws. The straight metal rod 70160 is slidably connected inside a metal frame 7017, which is fixed to the inside of the drone body 10 by screws and extends to the outside of the drone body 10.

[0032] In the UAV-based river mapping device of the present invention, when it is necessary to change the length of the UAV arm, the rotary drive source 7011 can be activated through the operating terminal to drive the rotating disk 7012 connected to the output end of the rotary drive source 7011 to rotate. When the rotating disk 7012 rotates, the arc-shaped groove 7013 opened at its eccentric part will drive the movable head 7014 inside the arc-shaped groove 7013 to extend and retract, driving the L-shaped connecting arm 7015 rotatably connected to the top outer side of the movable head 7014 to operate. When the L-shaped connecting arm 7015 operates, it will drive the movable arm 7016 and the straight metal rod 70160 rotatably connected to the bottom of the L-shaped connecting arm 7015 to extend and retract within the metal frame 7017, adjusting the distance between the lower support seat 703 installed at the bottom of the straight metal rod 70160 and the UAV body 10.

[0033] For details, please refer to the following: Figure 13 and Figure 14 A straight threaded rod 70161 is installed at the bottom center of the straight metal rod 70160. An adjusting nut 70162 is threadedly connected to the outer side of the straight threaded rod 70161. The adjusting nut 70162 is rotatably connected to the side of the connecting block 70163. A movable metal rod 70164 is installed on the side of the connecting block 70163 by screws. The movable metal rod 70164 is slidably connected to the inside of the metal frame 7017 and extends to the outside of the metal frame 7017. A lower support seat 703 is installed at the bottom of the movable metal rod 70164. Rope counterweight structures 702 are installed on the left and right sides of the movable metal rod 70164. The rope counterweight structures 702 are installed on the outside of the metal frame 7017. A telescopic positioning component 705 is installed on one side of the bottom of the movable metal rod 70164.

[0034] In the UAV-based river mapping device of the present invention, when the UAV maps the river, the length of the UAV arm and the counterweight can be initially adjusted according to the river conditions. At this time, by rotating the adjusting nut 70162, the connecting block 70163 and the movable metal rod 70164, which are rotatably connected to the adjusting nut 70162, can be driven to extend and retract outside the straight threaded rod 70161, thereby changing the distance between the movable metal rod 70164 and the straight metal rod 70160 and the overall length of the UAV arm.

[0035] For details, please refer to the following: Figure 13 and Figure 14The rope counterweight structure 702 includes a first toothed rack 7021, which is installed on the left and right sides of the movable metal rod 70164. A gear structure 7022 is meshed with the side of the first toothed rack 7021 and is rotatably connected to the inside of the metal frame 7017. A rope winding and unwinding device 7023 is connected to the shaft end of a set of gears inside the gear structure 7022. The rope winding and unwinding device 7023 is movably connected to the top of the metal frame 7017. The internal winding mechanism contains a steel wire rope, which is connected to the mounting base 7024. The rope winding and unwinding device 7023 is equipped with a winding and unwinding control system, which controls the winding and unwinding operation of the steel wire rope in conjunction with the forward and reverse rotation of the rope winding and unwinding device 7023. The counterweight 7025 is installed on the top of the mounting base 7024, which is slidably connected to the top of the metal frame 7017. Multiple mounting bases 7024 and counterweights 7025 are provided, and the multiple mounting bases 7024 are connected and fixed together by H-shaped connectors 7026.

[0036] In the UAV-based river mapping device of the present invention, when the movable metal rod 70164 extends and retracts, the first toothed rack 7021 mounted on its side moves, causing the gear structure 7022 meshing with the first toothed rack 7021 to rotate. At this time, the rotation of the gear structure 7022 drives the rope winding and unwinding device 7023 connected to the gear structure 7022 to operate, stretching the steel wire rope wound on its outer side and causing the counterweight 7025 to move, thus performing counterweight processing on the UAV after the arm is adjusted.

[0037] It should be noted that the configuration of the drone's arms can be adjusted by adding or removing the corresponding number of counterweights 7025, depending on the actual situation, to ensure the stability of the drone during flight.

[0038] For details, please refer to the following: Figure 15 and Figure 16The telescopic positioning assembly 705 includes a second toothed rack 7051, which is fixedly mounted on one side of the bottom of the movable metal rod 70164. A transmission gear 7052 is meshed with the outer side of the second toothed rack 7051, and the transmission gear 7052 is rotatably connected to the outer side of the metal frame 7017. A transmission toothed belt 7053 is connected to the shaft end of the transmission gear 7052 via a synchronous pulley. The transmission toothed belt 7053 is movably disposed on the top of the metal frame 7017, and an upper frame 7054 is mounted on one side of the top of the metal frame 7017. A vertical lead screw 7055 is rotatably connected inside the upper frame 7054. The vertical lead screw 7055 is connected to the inner side of the transmission toothed belt 7053 via a synchronous pulley mounted on the outer side of the bottom. A lifting slider 7056 is connected to the outer side of the vertical lead screw 7055 via ball bearings. The lifting slider 7056 is slidably connected inside the upper frame 7054. A conical lower pressure block 7057 is installed inside the lifting slider 7056 by screws. The conical lower pressure block 7057 abuts against the top of the inclined friction surface 7058, which is located inside the movable metal rod 70164.

[0039] In the UAV-based river mapping device of the present invention, when the movable metal rod 70164 extends and retracts, it drives the second toothed rack 7051 installed on one side of the bottom of the movable metal rod 70164 to move, causing the transmission gear 7052, which is meshed with the second toothed rack 7051, to rotate. At this time, the rotation of the transmission gear 7052 drives the transmission toothed belt 7053 connected to the outer side of the shaft end of the transmission gear 7052 through the synchronous pulley to operate, causing the vertical lead screw 7055 connected to the inner side of the transmission toothed belt 7053 through the synchronous pulley to rotate. When the vertical lead screw 7055 rotates, the lifting slider 7056 connected to its outer side through the ball bearings will move up and down, causing the conical pressing block 7057 installed on the side of the lifting slider 7056 to always abut against the oblique friction surface 7058 of the movable metal rod 70164, thus squeezing and positioning the adjusted movable metal rod 70164 to prevent the movable metal rod 70164 from bending during flight.

[0040] It should be noted that by limiting the adjustment of the drone's arms, the accidental retraction or extension of the arms due to vibration or aerodynamic forces during flight can be avoided, preventing shift of the center of gravity and changes in the moment of inertia, and significantly reducing the risk of the drone going out of control.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

[0042] The terms “center,” “longitudinal,” “lateral,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely simplified descriptions for the convenience of describing the present invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention.

[0043] Therefore, any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this invention, based on the technical solution and inventive concept of this invention, should be covered within the protection scope of this invention.

Claims

1. A river mapping device based on unmanned aerial vehicles (UAVs), characterized in that, include: The drone body (10); a battery module (20) installed inside the drone body (10); a central unit (30) installed inside the drone body (10) and electrically connected to the battery module (20); a wind direction detection device (40) installed on the top of the central unit (30) and extending to the outside of the drone body (10); a camera and lidar mapping device (50) installed at the center of the bottom of the drone body (10); a buffer support leg structure (60) installed at the bottom edge of the drone body (10); and a drone telescopic arm device (70) installed inside the drone body (10) and extending to the outside, wherein the drone telescopic arm device (70) is electrically connected to the central unit (30) via a cable. The UAV telescopic arm device (70) includes: an outward telescopic structure (701) installed inside the UAV body (10); a rope counterweight structure (702) connected to the outward telescopic structure (701), a lower support seat (703) installed at the bottom of the outward telescopic structure (701) by screws, and a UAV rotor module (704) installed at the top of the lower support seat (703); and a telescopic positioning component (705) connected to the outward telescopic structure (701), which presses and fixes the position of the outward telescopic structure (701) after it has been telescopically extended.

2. The river mapping device based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The wind direction detection device (40) includes: Upper support base (401), the upper support base (401) is installed on the top of the central unit (30), and the top of the upper support base (401) is rotatably connected to the blade unit (402), the blade unit (402) is rotatably connected to the inside of the UAV body (10); The upper connecting rod (403) is snapped and fixed to the top of the blade unit (402). The upper connecting rod (403) is movably disposed on the top of the UAV body (10). An infrared emitting unit (404) is installed at the bottom of the upper connecting rod (403). A ring guide rail (405) is mounted on the top of the UAV body (10). A position detection unit (406) is movably connected to the top of the ring guide rail (405) via ball bearings. The position detection unit (406) is located on the side of the infrared emitting unit (404). The position detection unit (406) is connected to the upper connecting rod (403) via a side connector (407), which is located at the bottom of the infrared emitting unit (404).

3. The river mapping device based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The camera and lidar mapping device (50) includes: The lower metal base (501) is installed at the center of the bottom of the UAV body (10) by screws. A linear drive source (502) is installed on the inner bottom of the lower metal base (501), and the output end of the linear drive source (502) is connected to the lower metal frame (503). The lower metal frame (503) is movably disposed at the bottom of the lower metal base (501); An inner movable seat (504) is rotatably connected inside the lower metal frame (503). A camera unit (505) is movably connected to the inner side of the inner movable seat (504) via a drive source. A lidar unit (506) is installed on one side of the bottom of the inner movable seat (504).

4. The river mapping device based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The buffer support leg structure (60) includes: Hollow support leg (601), the hollow support leg (601) is installed at the bottom edge of the drone body (10) by screws, the hollow support leg (601) is equipped with a positioning sleeve (602), and a vertical support rod (603) is slidably inserted inside the positioning sleeve (602). A buffer spring (604) is sleeved on the outer side of the top of the vertical support rod (603). The buffer spring (604) is connected to the top of the positioning sleeve (602). A bottom rod (605) is installed and fixed at the bottom of the vertical support rod (603) by a pin. The bottom rod (605) is slidably connected inside the vertical support rod (603).

5. A river mapping device based on unmanned aerial vehicles (UAVs) according to claim 4, characterized in that: The bottom of the bottom rod (605) is connected to an elastic rubber block (6051) via a universal ball joint. The bottom of the elastic rubber block (6051) is arc-shaped, and the two sides of the bottom of the elastic rubber block (6051) are provided with first inclined surfaces (6052). The part of the elastic rubber block (6051) that contacts the bottom rod (605) is set to be arc-shaped, and the diameter of the arc-shaped opening is larger than the diameter of the bottom rod (605), thereby limiting the movement angle of the elastic rubber block (6051).

6. The river mapping device based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: The outward expansion and telescopic structure (701) includes: A rotary drive source (7011) is installed inside the drone body (10). The output end of the rotary drive source (7011) is connected to a rotating disk (7012), which is rotatably connected inside the drone body (10). An arc-shaped groove (7013) is formed at an eccentric position inside the rotating disk (7012). Multiple arc-shaped grooves (7013) are provided. An movable head (7014) is movably arranged inside the arc-shaped groove (7013). An L-shaped connecting arm (7015) is rotatably connected to the top of the movable head (7014). A movable arm (7016) is rotatably connected to the bottom of the L-shaped connecting arm (7015). A straight metal rod (70160) is fixed to the bottom of the movable arm (7016) by screws. The straight metal rod (70160) is slidably connected inside the metal frame (7017). The metal frame (7017) is fixed inside the drone body (10) by screws and extends to the outside of the drone body (10).

7. A river mapping device based on unmanned aerial vehicles (UAVs) according to claim 6, characterized in that: A straight threaded rod (70161) is installed at the bottom center of the straight metal rod (70160). An adjusting nut (70162) is threadedly connected to the outer side of the straight threaded rod (70161). The adjusting nut (70162) is rotatably connected to the side of the connecting block (70163). A movable metal rod (70164) is installed on the side of the connecting block (70163) by screws. The movable metal rod (70164) is slidably connected to the inside of the metal frame (7017) and extends to the outside of the metal frame (7017). The movable metal rod (70164) has a lower support base (703) installed at its bottom, and rope counterweight structures (702) are installed on the left and right sides of the movable metal rod (70164). The rope counterweight structures (702) are installed on the outside of the metal frame (7017), and a telescopic positioning component (705) is installed on one side of the bottom of the movable metal rod (70164).

8. A river mapping device based on unmanned aerial vehicles (UAVs) according to claim 7, characterized in that: The rope counterweight structure (702) includes: The first toothed rack (7021) is installed on the left and right sides of the movable metal rod (70164). The side of the first toothed rack (7021) is meshed with a gear structure (7022), which is rotatably connected to the inside of the metal frame (7017). A rope winding and unwinding device (7023) is provided, wherein the rope winding and unwinding device (7023) is connected to the shaft end of a set of gears inside the gear structure (7022). The rope winding and unwinding device (7023) is movably connected to the top of the metal frame body (7017). The rope winding and unwinding device (7023) has a steel wire rope wound inside and is connected to the mounting base (7024) through the steel wire rope. The rope winding and unwinding device (7023) is equipped with a winding and unwinding control system, which controls the winding and unwinding operation of the wire rope in conjunction with the forward and reverse rotation of the rope winding and unwinding device (7023). A counterweight (7025) is installed on the top of the mounting base (7024), which is slidably connected to the top of the metal frame (7017). Multiple mounting bases (7024) and counterweights (7025) are provided, and the multiple mounting bases (7024) are connected and fixed to each other by H-shaped connectors (7026).

9. A river mapping device based on unmanned aerial vehicles (UAVs) according to claim 7, characterized in that: The telescopic positioning assembly (705) includes: The second toothed rack (7051) is installed and fixed on one side of the bottom of the movable metal rod (70164). The outer side of the second toothed rack (7051) is meshed with a transmission gear (7052), which is rotatably connected to the outer side of the metal frame (7017). A transmission toothed belt (7053) is connected to the shaft end of the transmission gear (7052) via a synchronous pulley. The transmission toothed belt (7053) is movably disposed on the top of the metal frame (7017). An upper frame (7054) is disposed on the top of the transmission toothed belt (7053) and installed on one side of the top of the metal frame (7017). A vertical lead screw (7055) is rotatably connected inside the upper frame (7054). The vertical lead screw (7055) is connected to the inner side of the transmission toothed belt (7053) via a synchronous pulley installed on the outer side of the bottom. A lifting slider (7056) is connected to the outer side of the vertical lead screw (7055) via ball bearings. The lifting slider (7056) is slidably connected inside the upper frame (7054). A conical pressing block (7057) is installed inside the lifting slider (7056) by screws. The conical pressing block (7057) abuts against the top of the inclined friction surface (7058), which is located inside the movable metal rod (70164).

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