A cooperative mapping device
Patent Information
- Application Number
- CN202521490622.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-16
- Publication Date
- 2026-08-18
- Estimated Expiration
- 2035-07-16
AI Technical Summary
[0002]无人机进行测绘的时候，不仅能够真实地反映地物情况，高精度地获取物方纹理信息，还可通过先进的定位、融合、建模等技术，生成真实的三维城市模型，满足目前我国城市信息化建设的要求；空中检测(如热成像、激光雷达扫描)与水下探测通常依赖独立设备，需人工切换或部署多套系统，导致作业效率低、数据整合困难；现有无人机测绘装置缺乏水下作业能力，水下探测需额外搭载专业设备，增加操作复杂度，鉴于此，针对上述问题深入研究，遂有本案产生
[0012]本实用新型提供了一种协同测绘装置。具备以下有益效果，该一种协同测绘装置，通过翻转驱动机驱动翻转变速齿轮箱，带动翻转板实现空中扫描组件与水下检测箱的180°快速切换，配合凹型膨胀气囊充气密封技术，确保旋转缝隙处达到防水，使单架无人机即可完成山林立体扫描与水下地形探测；水平角度驱动机通过斜齿轮组驱动扫描圆盘实现360°精准旋转，解决垂直翻转带来的扫描角度偏移问题，使热红外相机穿透烟雾监测山体热异常、多光谱相机分析植被光谱特征、激光雷达构建厘米级三维地形模型形成数据互补；水下检测组件采用回形支撑气囊与球弧缓冲块双级减震设计，通过声波雷达与高清摄像头协同，在湍流环境中仍可获取清晰水下影像；液位检测仪联动套装气囊实现自主浮力控制，湿度传感器实时监控箱体环境，配合密封胶圈与缓冲弹簧柱构成防护，显著提升复杂野外场景下的设备存活率与作业连续性。
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Figure CN224645149U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of forest scanning technology, specifically a collaborative mapping device. Background Technology
[0002] When drones are used for surveying, they can not only accurately reflect the terrain and obtain texture information of objects, but also generate realistic 3D city models through advanced positioning, fusion, and modeling technologies, meeting the requirements of my country's current urban informatization construction. Aerial detection (such as thermal imaging and lidar scanning) and underwater detection usually rely on independent equipment, requiring manual switching or deployment of multiple systems, resulting in low operational efficiency and difficulties in data integration. Existing drone surveying devices lack underwater operation capabilities, and underwater detection requires additional specialized equipment, increasing operational complexity. In view of this, in-depth research was conducted on the above issues, leading to this case. Utility Model Content
[0003] To achieve the above objectives, this utility model provides the following technical solution: a collaborative mapping device, comprising: a detection drone, a protective detection box, and a collaborative mapping structure. The protective detection box is installed at the bottom of the detection drone, and the collaborative mapping structure is installed inside the protective detection box. The collaborative mapping structure includes: a flip plate, a pair of flip angle T-shaped shaft tubes, a flip drive motor, a flip speed gearbox, a concave expansion airbag, a sealed air pump, a scanning disk, a horizontal angle drive motor, a horizontal helical gear set, a thermal infrared camera, a multispectral camera, a lidar, and an underwater detection component.
[0004] The protective detection box has a rotating groove. The flipping plate is inserted into the rotating groove through a pair of flipping angle T-shaped shaft tubes. The flipping speed-changing gearbox is fitted onto the flipping angle T-shaped shaft tubes. The flipping drive motor is installed inside the protective detection box. The drive end of the flipping drive motor is connected to the flipping speed-changing gearbox. The concave expansion airbag is installed on the rotating groove. The sealed air pump is connected to the concave expansion airbag. The flipping plate has a horizontal rotating groove. The scanning disk is inserted into the inner side of the horizontal rotating groove through a bearing. The horizontal angle drive motor is installed on the flipping plate. The horizontal helical gear set is installed on the horizontal angle drive motor and the scanning disk. The thermal infrared camera, multispectral camera, and lidar are installed on the scanning disk. The underwater detection component is installed on the other side of the flipping plate.
[0005] Preferably, the underwater detection component includes: a spiral support airbag, a support rod, an underwater detection box, multiple acoustic radars, an underwater high-definition camera, two pairs of concave shaft tubes, two pairs of convex shaft rods, two pairs of buffer spring columns, two pairs of spherical arc buffer blocks, and two pairs of circular ring buffer floating airbags.
[0006] The U-shaped support airbag is installed on the outside of the protective detection box, the support rod is installed on the flip plate, the underwater detection box is installed on the support rod, two pairs of concave shaft tubes are installed on the side wall and bottom of the underwater detection box, two pairs of convex shaft rods are respectively movably inserted into the inner side of the two pairs of concave shaft tubes, two pairs of buffer spring columns are respectively installed into the inner side of the two pairs of concave shaft tubes, and the two pairs of buffer spring columns are respectively connected to the two pairs of convex shaft rods, two pairs of spherical arc buffer blocks are respectively installed on the two pairs of convex shaft rods, two pairs of circular ring buffer floating airbags are respectively fitted onto the two pairs of concave shaft tubes, the high-definition camera is inserted into the underwater detection box, and multiple acoustic radars are respectively installed on the two pairs of spherical arc buffer blocks and the underwater detection box.
[0007] Preferably, the detection drone is equipped with a liquid level detector.
[0008] Preferably, the testing drone support is equipped with a kit airbag.
[0009] Preferably, a humidity sensor is installed on the inside of the protective detection box.
[0010] Preferably, a sealing ring is provided on the inner side of the protective testing box.
[0011] Beneficial effects
[0012] This invention provides a collaborative mapping device. It offers the following advantages: This collaborative mapping device uses a flip drive motor to drive a flip speed gearbox, which in turn drives a flip plate to achieve a 180° rapid switch between the aerial scanning component and the underwater detection box. Combined with concave expansion airbag inflation and sealing technology, it ensures waterproofing at the rotation gaps, allowing a single drone to complete 3D mountain and forest scanning and underwater terrain detection. The horizontal angle drive motor, through a helical gear set, drives the scanning disk to achieve precise 360° rotation, solving the scanning angle offset problem caused by vertical flipping. This enables the thermal infrared camera to penetrate smoke to monitor mountain thermal anomalies, the multispectral camera to analyze vegetation spectral characteristics, and the lidar to construct centimeter-level 3D terrain models, forming complementary data. The underwater detection component adopts a dual-stage shock absorption design with a U-shaped support airbag and a spherical arc buffer block. Through the collaboration of acoustic radar and a high-definition camera, it can still acquire clear underwater images in turbulent environments. The liquid level detector, linked to the airbag, achieves autonomous buoyancy control, and the humidity sensor monitors the box environment in real time. Combined with sealing rings and buffer spring columns, it provides protection, significantly improving the equipment's survivability and operational continuity in complex field scenarios. Attached Figure Description
[0013] Figure 1 This is a three-dimensional partial cross-sectional view of the collaborative mapping device described in this utility model.
[0014] Figure 2 This is a cross-sectional schematic diagram of the protective detection box of the collaborative mapping device described in this utility model.
[0015] Figure 3 This is a three-dimensional cross-sectional schematic diagram of the protective detection box of the collaborative mapping device described in this utility model.
[0016] In the diagram: 1. Inspection drone; 2. Protective inspection box; 3. Flip plate; 4. T-shaped shaft tube for flipping angle; 5. Flipping drive motor; 6. Flipping speed gearbox; 7. Concave expansion airbag; 8. Sealed air pump; 9. Scanning disk; 10. Horizontal angle drive motor; 11. Horizontal helical gear set; 12. U-shaped support airbag; 13. Support rod; 14. Underwater inspection box; 15. Concave shaft tube; 16. Convex shaft; 17. Buffer spring column; 18. Ball arc buffer block. Detailed Implementation
[0017] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0018] Those skilled in the art should connect all electrical components and their compatible power supplies in this case via wires. Appropriate controllers and encoders should be selected according to the actual situation to meet control requirements. The specific connection and control sequence should refer to the working principle described below, where the electrical components are connected in sequence. The detailed connection methods are well-known in the art. The following mainly introduces the working principle and process, and will not describe the electrical control further.
[0019] Example
[0020] like Figure 1-3 As shown, the protective detection box 2 is installed at the bottom of the detection drone 1, and the collaborative mapping structure is installed inside the protective detection box 2. The collaborative mapping structure includes: a flip plate 3, a pair of flip angle T-shaped shaft tubes 4, a flip drive motor 5, a flip speed gearbox 6, a concave expansion airbag 7, a sealed air pump 8, a scanning disk 9, a horizontal angle drive motor 10, a horizontal helical gear set 11, a thermal infrared camera, a multispectral camera, a lidar, and an underwater detection component.
[0021] Specifically, the protective detection box 2 has a rotating groove, the flip plate 3 is inserted into the rotating groove through a pair of flip angle T-shaped shaft tubes 4, the flip speed gearbox 6 is fitted onto the flip angle T-shaped shaft tubes 4, the flip drive motor 5 is installed inside the protective detection box 2, the drive end of the flip drive motor 5 is connected to the flip speed gearbox 6, the concave expansion airbag 7 is installed on the rotating groove, the sealed air pump 8 is connected to the concave expansion airbag 7, the flip plate 3 has a horizontal rotating groove, the scanning disk 9 is inserted into the inside of the horizontal rotating groove through a bearing, the horizontal angle drive motor 10 is installed on the flip plate 3, the horizontal helical gear set 11 is installed on the horizontal angle drive motor 10 and the scanning disk 9, the thermal infrared camera, the multispectral camera and the lidar are installed on the scanning disk 9, and the underwater detection component is installed on the other side of the flip plate 3;
[0022] It should be noted that, as described above, the operation of the detection drone 1 drives the protective detection box 2 on it, causing the collaborative mapping structure inside the protective detection box 2 to scan the mountain and the water surface. Simultaneously, the underwater detection component inside the collaborative mapping structure scans the water surface. The operation of the flip drive motor 5 inside the protective detection box 2 drives the flip speed-changing gearbox 6 on its drive end. The flip speed-changing gearbox 6 drives the flip angle T-shaped shaft tube 4 inside, which in turn drives the flip plate 3. The cable is guided through a pair of flip angle T-shaped shaft tubes 4. The rotation of the pair of flip angle T-shaped shaft tubes 4 rotates and replaces the aerial scanning equipment and underwater scanning equipment on the flip plate 3. The operation of the sealed air pump 8 inflates the concave expansion airbag 7, thereby expanding and sealing the rotational gap between the flip plate 3 and the protective detection box 2. The flipping... The horizontal angle drive 10 on plate 3 operates, reaching the horizontal helical gear set 11 on the drive end of the horizontal angle drive 10. The horizontal helical gear set 11 drives the scanning disk 9 on it to rotate, thereby changing the thermal infrared camera, multispectral camera and lidar on the scanning disk 9. This avoids the vertical scanning flip plate 3, which would otherwise cause scanning angle problems for the thermal infrared camera (which captures the thermal radiation emitted by objects to generate images, can work without visible light, and can penetrate obstacles such as smoke and haze), the multispectral camera (which can simultaneously capture images of multiple bands such as visible light, near infrared, and short-wave infrared, and extract information such as crop health, pests and diseases, and soil moisture by analyzing the reflectivity of different bands), and the lidar (which calculates the target distance by emitting laser pulses and measuring the reflection time, generating high-precision three-dimensional point cloud data, and constructing a three-dimensional model of terrain, buildings or vegetation). This achieves the scanning of the mountain forest.
[0023] like Figure 1-3As shown, the underwater detection assembly includes: a spiral support airbag 12, a support rod 13, an underwater detection box 14, multiple acoustic radars, an underwater high-definition camera, two pairs of concave shaft tubes 15, two pairs of convex shaft rods 16, two pairs of buffer spring columns 17, two pairs of spherical arc buffer blocks 18, and two pairs of circular ring buffer floating airbags.
[0024] Specifically, the U-shaped support airbag 12 is installed on the outside of the protective detection box 2, the support rod 13 is installed on the flip plate 3, the underwater detection box 14 is installed on the support rod 13, two pairs of concave shaft tubes 15 are installed on the side wall and bottom of the underwater detection box 14, two pairs of convex shaft tubes 16 are respectively movably inserted into the inner side of the two pairs of concave shaft tubes 15, two pairs of buffer spring columns 17 are respectively installed into the inner side of the two pairs of concave shaft tubes 15, and the two pairs of buffer spring columns 17 are respectively connected to the two pairs of convex shaft tubes 16, two pairs of spherical arc buffer blocks 18 are respectively installed on the two pairs of convex shaft tubes 16, two pairs of circular ring buffer floating airbags are respectively fitted onto the two pairs of concave shaft tubes 15, the high-definition camera is inserted into the underwater detection box 14, and multiple acoustic radars are respectively installed on the two pairs of spherical arc buffer blocks 18 and the underwater detection box 14;
[0025] It should be noted that, as described above, by flipping the underwater detection component on the flip plate 3 to the outside of the protective detection box 2, the detection drone 1 is lowered into the water. The entire device is floated and supported by the U-shaped support airbag 12. The flip plate 3 drives the support rod 13 on it, and the support rod 13 drives the underwater detection box 14 on it, thereby inserting the underwater detection box 14 into the water. Multiple acoustic radars and underwater high-definition cameras on the underwater detection box 14 scan the underwater environment. The ball-arc buffer block 18 blocks and buffers the underwater flowing objects. The ball-arc buffer block 18 drives the convex shaft 16 on it, so that the convex shaft 16 can stably extend and retract along the inner side of the concave shaft tube 15. The buffer spring column 17 provides buffering, thereby buffering the underwater objects.
[0026] As a preferred option, the detection drone 1 is further equipped with a liquid level detector.
[0027] As a preferred option, the support frame of the detection drone 1 is further equipped with a suit airbag.
[0028] As a preferred option, a humidity sensor is further provided on the inside of the protective detection box 2.
[0029] As a preferred option, the inner side of the protective testing box 2 is provided with a sealing ring.
[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A collaborative mapping device, comprising: The invention relates to a detection drone, a protective detection box, and a collaborative mapping structure. The protective detection box is installed at the bottom of the detection drone, and the collaborative mapping structure is installed inside the protective detection box. The collaborative mapping structure comprises: a flip plate, a pair of T-shaped shaft tubes with flip angles, a flip drive motor, a flip speed gearbox, a concave expansion airbag, a sealed air pump, a scanning disk, a horizontal angle drive motor, a horizontal helical gear set, a thermal infrared camera, a multispectral camera, a lidar, and underwater detection components. The protective detection box has a rotating groove. The flipping plate is inserted into the rotating groove through a pair of flipping angle T-shaped shaft tubes. The flipping speed-changing gearbox is fitted onto the flipping angle T-shaped shaft tubes. The flipping drive motor is installed inside the protective detection box. The drive end of the flipping drive motor is connected to the flipping speed-changing gearbox. The concave expansion airbag is installed on the rotating groove. The sealed air pump is connected to the concave expansion airbag. The flipping plate has a horizontal rotating groove. The scanning disk is inserted into the inner side of the horizontal rotating groove through a bearing. The horizontal angle drive motor is installed on the flipping plate. The horizontal helical gear set is installed on the horizontal angle drive motor and the scanning disk. The thermal infrared camera, multispectral camera, and lidar are installed on the scanning disk. The underwater detection component is installed on the other side of the flipping plate.
2. The collaborative mapping device according to claim 1, characterized in that, The underwater detection assembly includes: a spiral support airbag, a support rod, an underwater detection box, multiple acoustic radars, an underwater high-definition camera, two pairs of concave shaft tubes, two pairs of convex shaft rods, two pairs of buffer spring columns, two pairs of spherical arc buffer blocks, and two pairs of circular ring buffer floating airbags. The U-shaped support airbag is installed on the outside of the protective detection box, the support rod is installed on the flip plate, the underwater detection box is installed on the support rod, two pairs of concave shaft tubes are installed on the side wall and bottom of the underwater detection box, two pairs of convex shaft rods are respectively movably inserted into the inner side of the two pairs of concave shaft tubes, two pairs of buffer spring columns are respectively installed into the inner side of the two pairs of concave shaft tubes, and the two pairs of buffer spring columns are respectively connected to the two pairs of convex shaft rods, two pairs of spherical arc buffer blocks are respectively installed on the two pairs of convex shaft rods, two pairs of circular ring buffer floating airbags are respectively fitted onto the two pairs of concave shaft tubes, the high-definition camera is inserted into the underwater detection box, and multiple acoustic radars are respectively installed on the two pairs of spherical arc buffer blocks and the underwater detection box.
3. The collaborative mapping device according to claim 2, characterized in that, The detection drone is equipped with a liquid level detector.
4. The collaborative mapping device according to claim 3, characterized in that, The testing drone support is equipped with a set of airbags.
5. A collaborative mapping device according to claim 4, characterized in that, A humidity sensor is installed inside the protective testing box.
6. The collaborative mapping device according to claim 5, characterized in that, The inner side of the protective testing box is equipped with a sealing ring.