CN114940270A

CN114940270A - Geological terrain surveying and mapping system based on three-dimensional modeling

Info

Publication number: CN114940270A
Application number: CN202210694958.XA
Authority: CN
Inventors: 张瑞瑜; 谢珍; 施雨声; 张笑
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2022-08-26

Abstract

The invention discloses a geological topography mapping system based on three-dimensional modeling, which belongs to the field of geological mapping, can effectively improve the efficiency of workers for collecting the appearance of geological topography, simultaneously collects high and low altitude region graphs of the same place, further improves the precision during mapping and modeling, collects high region appearance information through a main camera arranged at a higher position, collects low region appearance information through an auxiliary camera arranged at a junction bottom position, facilitates the construction of a more accurate geological topography three-dimensional model due to the mutual structure of the collected information data, simultaneously collects and analyzes surface geological information through a mineral detector, can synchronously add geological conditions when constructing a three-dimensional model, and improves the diversity of geological topography model information to a certain extent, the method is favorable for improving the functionality of the constructed model in use.

Description

Geological terrain surveying and mapping system based on three-dimensional modeling

Technical Field

The present invention relates to the field of geological mapping, and more particularly to a mapping system for geological terrain based on three-dimensional modeling.

Background

Geological and topographic surveying refers to the general term of all surveying and mapping operations involved in geological and mineral surveys and their production maps, wherein the surveying and mapping of the geological and topographic appearance is usually done by camera equipment.

In the present technology, because the high-speed development of three-dimensional modeling technology, combine together three-dimensional modeling operation and geological topography survey, arrange in order through the image that gathers camera equipment, construct the three-dimensional model of geological topography, make geological topography survey data become visual, be convenient for use it, and when making a video recording the collection to the outward appearance of geological topography, relevant geological survey personnel need carry usually to walk between the mountain and river, it is current inconvenient, lead to staff's intensity of labour to strengthen, and have certain danger, and manual collection work efficiency of making a video recording is low, and when geological topography survey work, because equipment limitation, can't gather the operation simultaneously to the high, low-altitude area figure in same place, precision when leading to the survey and building a model receives the influence.

To this end, we propose a mapping system of geological topography based on three-dimensional modeling to solve some of the problems of the prior art described above.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a geological terrain surveying and mapping system based on three-dimensional modeling, which can effectively improve the efficiency of workers for collecting the geological terrain appearances, simultaneously carry out the collection operation on high and low altitude area graphs in the same place, further improve the precision during surveying and mapping modeling, carry out high area appearance information collection through a main camera arranged at a higher position, and carry out low area appearance information collection through an auxiliary camera arranged at a cross bottom position, the information data phase structures collected by the two are beneficial to constructing a more accurate geological terrain three-dimensional model, and simultaneously, synchronously add geological conditions when constructing the three-dimensional model through the collection and analysis of surface geological information by a mineral detector, improve the diversity of the geological terrain model information to a certain extent, the method is favorable for improving the functionality of the constructed model in use.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The geological terrain mapping system based on three-dimensional modeling comprises the following steps:

s1, collecting the appearance at the high position, and by controlling the takeoff of the unmanned aerial vehicle, shooting and collecting the appearance information of the geological terrain below from the high position by means of a main camera installed below the unmanned aerial vehicle;

s2, collecting low-position appearance, namely, releasing the cotton rope wound on the outer side of the unmanned aerial vehicle by controlling the rotation of a winding roller arranged below the unmanned aerial vehicle, and further, lowering the lowering shell connected to the lower end of the cotton rope to enable an auxiliary camera arranged in the lowering shell to be positioned at a lower position, and shooting and collecting geological and topographic appearance information at a ground position by means of the auxiliary camera;

s3, collecting geological information, namely, lowering the lowering shell to the ground, and analyzing and collecting the geological surface information by virtue of a mineral detector arranged at the bottom of the lowering shell;

and S4, information gathering, namely gathering the information collected in S1, S2 and S3, and constructing a three-dimensional geological terrain model containing geological information.

Further, the device comprises an unmanned aerial vehicle for collecting geological topography and appearance information, a connecting table is installed at the middle position of the bottom of the unmanned aerial vehicle, an adjusting seat is installed at the bottom of the connecting table, a main camera is installed inside the adjusting seat, a storage box is fixedly installed on the back face of the bottom of the unmanned aerial vehicle, a winding roller is transversely and rotatably connected inside the storage box, a servo motor c is fixedly installed inside the unmanned aerial vehicle, a driving shaft of the servo motor c is in transmission connection with the winding roller, a cotton rope is uniformly wound on the outer side of the winding roller, a pay-off hole is fixedly formed in the middle position of the bottom of the storage box, the lower end of the cotton rope penetrates through the pay-off hole and extends to the outer side of the storage box, a connector is fixedly connected to the bottom of the connector in a rotating mode, an auxiliary camera is fixedly inlaid on the outer end wall of the pay-off shell, and a mineral detector is fixedly installed at the bottom of the pay-off shell, and mineral detection appearance's detection end extends to and transfers the shell outside, and the top intermediate position department fixed mounting who transfers the shell has servo motor d, and the drive shaft and the connector fixed connection of servo motor d top.

Further, the left and right sides symmetry of outer end wall is fixed with the axle bed around unmanned aerial vehicle, and the below of axle bed is connected with the supporting leg that leans out the setting, and the lower extreme of supporting leg rotates and is connected with rubber roller.

Furthermore, the upper end of the supporting leg is rotatably connected with the shaft seat, a torsion spring is installed at the rotary connection position of the shaft seat and the supporting leg, and two ends of the torsion spring are fixedly connected with the shaft seat and the supporting leg respectively.

Further, unmanned aerial vehicle's intermediate position department is fixed inlays the electric telescopic handle who has vertical setting, and electric telescopic handle's flexible end setting in the below, electric telescopic handle's flexible end and the top fixed connection of being connected the platform.

Furthermore, the bottom middle position department of connection platform is fixed to be inlayed and is had servo motor a, and is fixed to be installed the link that sets up for "Jiong" style of calligraphy structure on the drive shaft of servo motor a below, and main camera rotates to be connected in the inside of link, and the symmetry is fixed with drive shaft and main camera fixed connection's servo motor b on the both sides outer end wall of link.

Further, set up the recess that is the screw-tupe structure on the outer end wall of wire winding roller, the outer end wall left and right sides fixed mounting of wire winding roller has the baffle, and one side that two baffles are pressed close to each other sets up to the slope structure of wire winding roller.

Furthermore, permanent magnet a is fixedly inlaid in the top of the connector, an electromagnetic slide rail corresponding to the permanent magnet a is fixedly mounted on the inner end wall of the bottom of the storage box, an electromagnetic slide block is slidably connected inside the electromagnetic slide rail, and a permanent magnet b attracted with the permanent magnet a in a magnetic manner is fixedly mounted on the top of the electromagnetic slide block.

Further, the cotton rope sets up to transparent form, and the inside of connector is fixed to be inlayed and is had the laser emitter who sets up under the wire rope lower extreme, and fixed mounting has the laser receiver who sets up directly over the unwrapping wire hole on the top inner end wall of receiver.

Further, the spout of vertical setting is seted up to the symmetry on the left and right sides inner end wall of receiver, both ends are movable respectively and are inserted inside two spouts about the winding roller, the supporting spring who sets up both sides about the winding roller is all installed to the inside of two spouts, fixed the inlaying has the pressure sensor who sets up under the baffle on the bottom inner end wall of receiver, the fixed cover in the right-hand member outside of winding roller is equipped with the worm wheel, and the outside meshing of worm wheel is connected with the worm of vertical setting, the right-hand member of winding roller rotates and is connected with cooperation frame, and the other end and the worm rotation of cooperation frame are connected, the spline groove has been seted up to the inside of worm, and the inside activity of spline groove is inserted and is equipped with the spline bar with servo motor c drive shaft fixed connection.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme carries out high regional appearance information acquisition through the main camera that sets up in higher position department, and carry out low regional appearance information acquisition through the supplementary camera that sets up in the position department of crossing, both information data looks structures of gathering, be favorable to founding more accurate geological topography three-dimensional model, and simultaneously, gather the analysis to earth's surface geological information through being provided with mineral detector, can be when component three-dimensional model, add geology situation in step, geological topography model information's variety has been promoted to a certain extent, be favorable to improving the functionality when the model that founds uses.

(2) Take off through control unmanned aerial vehicle, the main camera lifting to the eminence position of drive installation in its below, can carry out more extensive appearance information shooting collection, flight with the help of unmanned aerial vehicle, be favorable to the device to accomplish the collection modeling operation of complicated geology topography appearance, the wide suitability of the device is improved, and simultaneously, through winding the cotton rope on rotatable winding roller, and the lower extreme at the cotton rope is connected to the shell of transferring that will install supplementary camera and mineral detection appearance, release to the cotton rope with the help of winding roller, can transfer servo motor c and cotton rope to lower region even subaerial, be favorable to the convenient shooting collection of accomplishing in the lower region, and geological information data analysis and operation, through multiple structure, the high-efficient convenience of geological data collection modeling has been improved.

(3) Through installing the supporting leg slope in the below of axle bed, with the help of the support of four supporting legs that lean out, can effectual promotion the device support stability, simultaneously, through rotate the rubber gyro wheel and connect in the bottom of supporting leg, can provide certain elastic buffer for the support of supporting leg, simultaneously, can also realize falling subduction of impact force through the roll of rubber gyro wheel when descending, promoted the device stability of descending to a certain extent.

(4) Through rotating the supporting leg and connecting inside the axle bed to make the supporting leg relative with the axle bed elastic rotation with the help of torque spring, be favorable to when the device descends and lands, through torque spring's elastic support to and the rotation of supporting leg, further promote the device and fall to the ground shock-absorbing capacity, be favorable to protecting its inside part when the device descends.

(5) Through installing electric telescopic handle in unmanned aerial vehicle's intermediate position department, with the help of the extension of electric telescopic handle flexible end, can take off when shooing at the device, drive main camera and move down for unmanned aerial vehicle is kept away from to main camera, is favorable to avoiding unmanned aerial vehicle and the receiver of its lower extreme installation to cause the shooting of main camera to shelter from, has ensured the device's shooting effect to a certain extent.

(6) Through installing servo motor b in the link left and right sides to main camera the ascending adjustment in upper and lower side, both mutually support, the effectual shooting flexibility that has promoted the device, through with two servo motor b symmetries set up the left and right sides of link for main camera rotation in upper and lower side provides the power support, can balance the rotation of main camera in upper and lower side, stability when being favorable to ensureing the rotatory shooting of main camera.

(7) Through offering on the outer end wall of winding roller for the recess of screw-tupe structure, can make at the cotton rope winding and provide the guide for it, be favorable to ensureing cotton rope winding stability, simultaneously, through with two baffles fixed mounting respectively in the outer end wall left and right sides of winding roller, can guide and restrict the winding scope of cotton rope, further promote the stability of cotton rope winding in the winding roller outside.

(8) Through inlaying permanent magnet a is fixed at the top of connector to be provided with the permanent magnet b that can remove in a flexible way on the bottom inner end wall of receiver, with the help of the magnetism attraction between permanent magnet b and the permanent magnet a, and alignment and the separation of permanent magnet b and permanent magnet a, can carry out nimble control to the locking and the unblock of connector, ensured the structural stability of connector to a certain extent.

(9) Through setting up the cotton rope into transparent form, can avoid it to cause the sheltering from to the shooting of main camera, be favorable to ensureing the device job stabilization nature, simultaneously, through installing laser emitter at the lower extreme of cotton rope to install laser receiver directly over the unwrapping wire hole, can send the receipt situation of infrared laser pencil to laser emitter through laser receiver, judge whether the collision foreign matter of line rope is favorable to promoting the safety in utilization of the device.

(10) Insert the spout of seting up on the inner end wall of the receiver left and right sides through the both ends slip with the winding roller, and carry out elastic connection with the help of supporting spring, can be through the state of the reaction cotton rope that reciprocates of winding roller, and carry out real-time supervision with the help of installing the active state of pressure sensor to the winding roller below the baffle, be favorable to the device in time to carry out relevant operation transform, the operational flexibility of the device has been promoted to a certain extent, and simultaneously, through worm wheel and the unwrapping wire hole meshing that will set up at the winding roller right-hand member, and cup joint the spline outside of vertical connection on servo motor c drive end with the worm slip, be favorable to guaranteeing the winding roller and reciprocate in-process power transmission's stability, the device job stabilization nature has been ensured to a certain extent.

Drawings

Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a side sectional view of FIG. 1;

FIG. 4 is a side view of FIG. 1;

FIG. 5 is a cross-sectional view taken at A-A of FIG. 4;

FIG. 6 is a schematic view of the structure at C in FIG. 5;

FIG. 7 is a cross-sectional view taken at B-B of FIG. 4;

FIG. 8 is a schematic view of the structure of FIG. 7 at D;

FIG. 9 is a schematic view of the structure of the connecting table and the electric telescopic rod of the present invention;

fig. 10 is a schematic view of the interior of the storage case of the present invention.

The reference numbers in the figures illustrate:

1. an unmanned aerial vehicle; 101. a shaft seat; 102. supporting legs; 103. a rubber roller; 2. a connecting table; 201. an electric telescopic rod; 3. an adjusting seat; 301. a servo motor a; 302. a connecting frame; 303. a servo motor b; 4. a main camera; 5. a storage box; 501. a winding roller; 502. a servo motor c; 503. a cord; 504. a wire releasing hole; 505. a groove; 506. a baffle plate; 6. a connector; 601. putting down the shell; 602. an auxiliary camera; 603. a mineral detector; 604. a servo motor d; 605. a permanent magnet a; 606. an electromagnetic slide rail; 607. an electromagnetic slider; 608. a permanent magnet b; 7. a laser transmitter; 701. a laser receiver; 8. a chute; 801. a support spring; 802. a pressure sensor; 803. a worm gear; 804. a worm; 805. a collaboration frame; 806. a splined rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-10, a three-dimensional modeling based geological topography mapping system includes the following steps:

s1, collecting the appearance at the high position, and controlling the unmanned aerial vehicle 1 to take off, and shooting and collecting the appearance information of the geological terrain below from the high position by means of a main camera 4 installed below the unmanned aerial vehicle 1;

s2, collecting low-position appearance, namely, releasing the wire rope 503 wound on the outer side of the unmanned aerial vehicle 1 by controlling the rotation of the winding roller 501 arranged below the unmanned aerial vehicle 1, and further, lowering the lowering shell 601 connected to the lower end of the wire rope 503 to enable the auxiliary camera 602 arranged in the lowering shell 601 to be at a lower position, and shooting and collecting geological and topographic appearance information at the lower position by means of the auxiliary camera 602;

s3, collecting geological information, namely, the lower placing shell 601 is placed on the ground, and analysis and collection of geological surface information can be realized by the aid of a mineral detector 603 arranged at the bottom of the lower placing shell 601;

When adopting this mapping system to carry out the mapping and modeling to geological topography, carry out high regional appearance information acquisition through the main camera 4 that sets up in higher position department, and carry out low regional appearance information acquisition through the supplementary camera 602 that sets up in the position department of crossing, the information data looks structure that both gathered, be favorable to founding more accurate geological topography three-dimensional model, and simultaneously, gather the analysis to earth's surface geological information through being provided with mineral detector 603, can be when component three-dimensional model, add geology situation in step, geological topography model information's variety has been promoted to a certain extent, be favorable to improving the functionality when the model that founds uses.

Please refer to fig. 1 and 5, further comprising an unmanned aerial vehicle 1 for collecting geological topography information, wherein a connecting platform 2 is installed at a bottom middle position of the unmanned aerial vehicle 1, an adjusting seat 3 is installed at a bottom of the connecting platform 2, a main camera 4 is installed inside the adjusting seat 3, a storage box 5 is fixedly installed at a bottom back surface of the unmanned aerial vehicle 1, a winding roller 501 is transversely rotatably connected inside the storage box 5, a servo motor c502 is fixedly installed inside the unmanned aerial vehicle 1, a driving shaft of the servo motor c502 is in transmission connection with the winding roller 501, a cord 503 is uniformly wound on an outer side of the winding roller 501, a wire releasing hole 504 is fixedly formed at a bottom middle position of the storage box 5, a lower end of the cord 503 extends to an outer side of the storage box 5 through the wire releasing hole 504, a connector 6 is fixedly connected to a lower end of the cord 503, and a lower shell 601 is rotatably connected to a bottom of the connector 6, fixed the inlaying on the outer end wall of transferring shell 601 has supplementary camera 602, and the bottom fixed mounting who transfers shell 601 has mineral detector 603, and the detection end of mineral detector 603 extends to and transfers the shell 601 outside, and the top intermediate position department fixed mounting who transfers shell 601 has servo motor d604, and the drive shaft and the connector 6 fixed connection of servo motor d604 top.

When the device works, the unmanned aerial vehicle 1 is in the air after taking off, the main camera 4 is controlled to carry out shooting and collecting work, when the shooting and collecting and geological analysis are needed to be carried out on the regional position, a worker controls a servo motor c502 arranged in the unmanned aerial vehicle 1 to start to drive a winding roller 501 in transmission connection with a driving shaft of the unmanned aerial vehicle to rotate, the cord 503 wound on the outer side of the winding roller is released by means of the rotation of the winding roller 501 and is influenced by the falling of the gravity of a connector 6 connected with the lower end of the cord 503, the connector 6 is continuously pulled by the cord 503 to be below a lower region, at the moment, an auxiliary camera 602 arranged in a lower shell 601 below the connector 6 carries out shooting and collecting operation on appearance information in the lower region, the worker can drive the lower shell 601 to carry out the rotating operation relative to the connector 6 by controlling a servo motor d604 fixedly embedded at the upper end of the lower shell 601, and further controls the auxiliary camera 602 to carry out the rotating shooting, continuously transferring and transferring shell 601, make and transfer mineral detector 603 detection end and the ground laminating of shell 601 bottom installation, carry out sampling analysis to ground geological information through mineral detector 603, it can be supplementary camera 602 to transfer shell 601 internally mounted, mineral detector 603 and the independent power supply's of servo motor d604 battery module, the signal transmission module is still installed to the inside of transferring shell 601, supplementary camera 602, mineral detector 603 and servo motor d604 interact through the signal transmission module with the inside signal connection of unmanned aerial vehicle 1.

Take off through control unmanned aerial vehicle 1, the main camera 4 that drives below it is installed lifts to eminence position, can carry out more extensive appearance information and shoot the collection, flight with the help of unmanned aerial vehicle 1, be favorable to the device to accomplish the collection modeling operation of complicated geological topography appearance, the wide applicability of the device has been improved, and simultaneously, through winding cotton rope 503 on rotatable winding roller 501, and the lower extreme at cotton rope 503 is connected to the shell 601 that transfers that will install auxiliary camera 602 and mineral detector 603, release to the cotton rope 503 with the help of winding roller 501, can transfer servo motor c502 and cotton rope 503 to lower region or even subaerial, be favorable to the convenient shooting collection of accomplishing in the lower region, and geological information data analysis operation, through multiple structure, the high-efficient convenience of geological data collection modeling has been improved.

Please refer to fig. 4, the left and right sides symmetry of outer end wall is fixed with axle bed 101 around unmanned aerial vehicle 1, and the below of axle bed 101 is connected with the supporting leg 102 that leans out the setting, the lower extreme of supporting leg 102 rotates and is connected with rubber gyro wheel 103, the device during operation, through installing supporting leg 102 slope in the below of axle bed 101, support with the help of four supporting legs 102 that lean out, can effectual promotion the device stability of support, and simultaneously, rotate through with rubber gyro wheel 103 and connect in the bottom of supporting leg 102, can provide certain elastic buffer for supporting leg 102's support, and simultaneously, can also realize falling the subduction of impact force through rubber gyro wheel 103's roll when descending, the device stability of descending has been promoted to a certain extent.

The upper end and the axle bed 101 of supporting leg 102 are rotated and are connected, torsion spring is installed with supporting leg 102 rotation junction to axle bed 101, torsion spring's both ends respectively with axle bed 101 and supporting leg 102 fixed connection, the device during operation, the internally mounted of axle bed 101 has the stopper of restriction supporting leg 102 rotation angle, restriction through the stopper, make supporting leg 102 only can carry out 0-15 deflection for axle bed 101, through with supporting leg 102 swivelling joint inside axle bed 101, and make supporting leg 102 relative and axle bed 101 elastic rotation with the help of torsion spring, be favorable to landing when the device, elastic support through torsion spring, and the rotation of supporting leg 102, further promote the device and fall to the ground shock-absorbing capacity, be favorable to protecting its inside part when the device descends.

Please refer to fig. 3, the fixed electric telescopic handle 201 that inlays there is vertical setting in unmanned aerial vehicle 1's intermediate position department, and electric telescopic handle 201's flexible end sets up in the below, electric telescopic handle 201's flexible end and the top fixed connection of being connected platform 2, the device during operation, through installing electric telescopic handle 201 in unmanned aerial vehicle 1's intermediate position department, with the help of the extension of the flexible end of electric telescopic handle 201, can take off when shooting at the device, it moves down to drive main camera 4, make main camera 4 keep away from unmanned aerial vehicle 1, be favorable to avoiding unmanned aerial vehicle 1 and the receiver 5 of its lower extreme installation to cause the shooting of main camera 4 to shelter from, the shooting effect of the device has been ensured to a certain extent.

Referring to fig. 2 and 9, a servo motor a301 is fixedly embedded in the middle position of the bottom of the connecting table 2, a connecting frame 302 with an Jiong-shaped structure is fixedly installed on a driving shaft below the servo motor a301, the main camera 4 is rotatably connected inside the connecting frame 302, servo motors b303 which are fixedly connected with the driving shaft and the main camera 4 are symmetrically fixed on the outer end walls of the two sides of the connecting frame 302, when the device works and adjusts the shooting direction of the main camera 4, the main camera 4 can be adjusted in the left-right direction by the servo motor a301 installed at the bottom of the connecting table 2, the main camera 4 can be adjusted in the up-down direction by the servo motors b303 installed at the left and right sides of the connecting frame 302, and the servo motors are matched with each other, so that the shooting flexibility of the device is effectively improved, and power support is provided for the rotation of the main camera 4 in the up-down direction by symmetrically installing the two servo motors b303 at the left and right sides of the connecting frame 302, can balance the rotation of main camera 4 up-down side, be favorable to the stability when the rotatory shooting of guarantee main camera 4.

Referring to fig. 8, a groove 505 having a spiral structure is formed in an outer end wall of the winding roller 501, baffles 506 are fixedly mounted on left and right sides of the outer end wall of the winding roller 501, and a side, which is close to each other, of the two baffles 506 is set to be inclined toward the winding roller 501.

Referring to fig. 6, a permanent magnet a605 is fixedly embedded in the top of the connector 6, an electromagnetic slide rail 606 corresponding to the permanent magnet a605 is fixedly installed on the inner end wall of the bottom of the storage box 5, an electromagnetic slider 607 is slidably connected inside the electromagnetic slide rail 606, and a permanent magnet b608 magnetically attracted to the permanent magnet a605 is fixedly installed on the top of the electromagnetic slider 607, when the device works, if the position of the connector 6 needs to be fixed, the electromagnetic slide rail 606 installed on the inner end wall of the bottom of the storage box 5 is powered on and started to drive the electromagnetic slider 607 to move right above the permanent magnet a605, the permanent magnet b608 on the top of the electromagnetic slider 607 and the permanent magnet a605 generate stronger magnetic attraction to fix the position of the connector 6, so as to prevent the connector 6 from being loosened at will at the bottom of the storage box 5, and if the connector 6 needs to be lowered, the electromagnetic slider 607 is only required to move away from the top of the permanent magnet 605 a through the electromagnetic slide rail 606, make permanent magnet b608 and permanent magnet a605 separation, the magnetic attraction between the two disappears, then connector 6 can carry out normal operation of transferring, through inlaying permanent magnet a605 is fixed at the top of connector 6, and be provided with permanent magnet b608 that can move in a flexible way on the bottom inner end wall of receiver 5, with the help of the magnetic attraction between permanent magnet b608 and the permanent magnet a605, and the alignment and the separation of permanent magnet b608 and permanent magnet a605, can carry out flexible control to the locking and the unblock of connector 6, ensured the structural stability of connector 6 to a certain extent.

Referring to fig. 5-6, the string 503 is transparent, the laser emitter 7 disposed under the lower end of the string 503 is fixedly embedded in the connector 6, the laser receiver 701 disposed over the wire releasing hole 504 is fixedly mounted on the top inner end wall of the storage box 5, when the device works, the laser emitter 7 mounted under the string 503 is powered on and emits a vertical infrared laser beam upwards along the transparent string 503, the power supply of the laser emitter 7 is from the battery module mounted in the lower shell 601, the laser receiver 701 mounted on the top inner end wall of the storage box 5 can receive the infrared laser beam, when the device flies, the laser receiver 701 detects that the infrared light emitted by the laser emitter 7 is interrupted, it indicates that the string 503 touches a foreign object during the flight process, and the infrared laser beam is blocked by the foreign object and then is interrupted, then laser receiver 701 can send a signal to the inside relevant the control unit of unmanned aerial vehicle 1, remind the device, so that it is nimble in the face of unexpected condition, through setting up cotton rope 503 into transparent form, can avoid it to cause the sheltering from to main camera 4's shooting, be favorable to ensureing the device job stabilization nature, and simultaneously, through installing laser emitter 7 at cotton rope 503's lower extreme, and install laser receiver 701 directly over unwrapping wire hole 504, can send out the receipt situation of infrared laser pencil to laser emitter 7 through laser receiver 701, judge whether the line rope 503 bumps the foreign matter, be favorable to promoting the device's safety in utilization.

Referring to fig. 7, 8 and 10, vertically arranged sliding grooves 8 are symmetrically formed in inner end walls of left and right sides of the storage box 5, the left and right ends of the winding roller 501 are movably inserted into the two sliding grooves 8, supporting springs 801 arranged on upper and lower sides of the winding roller 501 are mounted inside the two sliding grooves 8, a pressure sensor 802 arranged right below the baffle 506 is fixedly embedded in an inner end wall of the bottom of the storage box 5, a worm wheel 803 is fixedly sleeved on the outer side of the right end of the winding roller 501, a vertically arranged worm 804 is meshed and connected to the outer side of the worm wheel 803, a cooperation frame 805 is rotatably connected to the right end of the winding roller 501, the other end of the cooperation frame 805 is rotatably connected with the worm 804, a spline groove is formed in the worm 804, and a spline rod 806 fixedly connected with a driving shaft of a servo motor c502 is movably inserted in the spline groove.

The device during operation, install pressure sensor 802 on the inner endwall in receiver 5 bottom and can detect the downforce of its top baffle 506, through inserting the activity of the left and right ends of winding roller 501 inside the spout 8 who sets up on the inner endwall of the receiver 5 left and right sides, and carry out elastic connection with the help of a plurality of supporting spring 801, make winding roller 501 in the normal rotation in-process, if when its outside winding cotton rope 503 lower extreme gravity changes, winding roller 501 can produce the slight change of upper and lower direction upper position, and then detect pressure variation through pressure sensor 802 and carry out real-time supervision.

When the rope 503 is collided by a foreign object in the releasing process, the downward pulling force on the rope 503 is raised under the blocking of the foreign object, so that the rope 503 drives the winding roller 501 to present a downward moving trend, the pressure sensor 802 arranged below the baffle 506 detects a signal with increased pressure and transmits the signal to a related control unit inside the unmanned aerial vehicle 1 for processing, when the connector 6 connected to the lower end of the rope 503 and the lower shell 601 are grounded, the falling influence of the connector 6 and the lower shell 601 is lost, the winding roller 501 moves upwards by means of the elastic support of the supporting spring 801 below the winding roller 501, the pressure detected by the pressure sensor 802 is reduced, and therefore the bottom of the lower shell 601 is judged to be in contact with the ground, so that the start of the mineral detector 603 is controlled in time, and the spline rod 806 fixedly connected with the driving shaft of the servo motor c502 can be driven to rotate after being electrified, and then the worm 804 sleeved on the outer side of the spline rod 806 is driven to rotate, the winding roller 501 is driven to rotate through the meshing of the worm 804 and the teeth of the worm wheel 803, the worm 804 can slide up and down along the spline rod 806, and further the influence of the up-and-down movement of the winding roller 501 on the transmission between the servo motor c502 and the winding roller 501 is avoided.

Through the both ends slip of winding roller 501 insert establish in the spout 8 of seting up on the inner wall of receiver 5 left and right sides, and carry out elastic connection with the help of supporting spring 801, can be through the state of winding roller 501's the reaction cotton rope 503 that reciprocates, and carry out real-time supervision to winding roller 501's active state with the help of pressure sensor 802 of installing below baffle 506, be favorable to the device in time to carry out relevant operation transform, the operating flexibility of the device has been promoted to a certain extent, and simultaneously, through setting up worm wheel 803 and the meshing of unwrapping wire hole 504 at winding roller 501 right-hand member, and with the spline 806 outside of the vertical connection on servo motor c502 drive end of worm 804 slip cup joint, be favorable to guaranteeing winding roller 501 reciprocates in-process power transmission's stability, the device job stabilization nature has been ensured to a certain extent.

The above are merely preferred embodiments of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The geological terrain surveying and mapping system based on three-dimensional modeling is characterized by comprising the following steps of:

s1, collecting samples at a high position, wherein the unmanned aerial vehicle (1) is controlled to take off, and the main camera (4) arranged below the unmanned aerial vehicle (1) is used for shooting and collecting the sample information of the geological terrain below from the high position;

s2, collecting low-position appearance, namely, controlling a winding roller (501) arranged below an unmanned aerial vehicle (1) to rotate, releasing a wire rope (503) wound on the outer side of the winding roller, and then lowering a lower shell (601) connected to the lower end of the wire rope (503) to enable an auxiliary camera (602) arranged inside the lower shell (601) to be located at a lower position, and shooting and collecting geological and topographic appearance information at the lower position by means of the auxiliary camera (602);

s3, collecting geological information, namely, the lower shell (601) is lowered to the ground, and the geological surface information can be analyzed and collected by the aid of a mineral detector (603) arranged at the bottom of the lower shell (601);

2. The system for mapping geological terrain based on three-dimensional modeling according to claim 1, characterized in that: the device is characterized by further comprising an unmanned aerial vehicle (1) for collecting geological and topographic appearance information, wherein a connecting table (2) is installed at the middle position of the bottom of the unmanned aerial vehicle (1), a regulating seat (3) is installed at the bottom of the connecting table (2), a main camera (4) is installed inside the regulating seat (3), a storage box (5) is fixedly installed on the back face of the bottom of the unmanned aerial vehicle (1), a winding roller (501) is transversely and rotatably connected inside the storage box (5), a servo motor c (502) is fixedly installed inside the unmanned aerial vehicle (1), a driving shaft of the servo motor c (502) is in transmission connection with the winding roller (501), a thread rope (503) is uniformly wound on the outer side of the winding roller (501), a thread releasing hole (504) is fixedly formed in the middle position of the bottom of the storage box (5), and the lower end of the thread rope (503) penetrates through the thread releasing hole (504) and extends to the outer side of the storage box (5), lower extreme fixedly connected with connector (6) of cotton rope (503), and the bottom of connector (6) is rotated and is connected with and transfers shell (601), it has supplementary camera (602) to fix on the outer end wall of shell (601) to inlay, the bottom fixed mounting who transfers shell (601) has mineral detection appearance (603), and the detection end of mineral detection appearance (603) extends to and transfers the shell (601) outside, the top intermediate position department fixed mounting who transfers shell (601) has servo motor d (604), and the drive shaft and connector (6) fixed connection of servo motor d (604) top.

3. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: the left and right sides symmetry of outer end wall is fixed with axle bed (101) around unmanned aerial vehicle (1), and the below of axle bed (101) is connected with supporting leg (102) that lean out the setting, the lower extreme of supporting leg (102) is rotated and is connected with rubber gyro wheel (103).

4. The system for mapping geological terrain based on three-dimensional modeling according to claim 3, characterized in that: the upper end of the supporting leg (102) is rotatably connected with the shaft seat (101), a torsion spring is installed at the rotary connection position of the shaft seat (101) and the supporting leg (102), and two ends of the torsion spring are fixedly connected with the shaft seat (101) and the supporting leg (102) respectively.

5. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: the fixed electric telescopic handle (201) that have vertical setting of inlaying of intermediate position department of unmanned aerial vehicle (1), and the flexible end setting of electric telescopic handle (201) is in the below, the flexible end of electric telescopic handle (201) and the top fixed connection of being connected platform (2).

6. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: the fixed link (302) of having inlayed servo motor a (301) of bottom intermediate position department of connecting platform (2), and the fixed mounting has the setting of "Jiong" style of calligraphy structure in the drive shaft of servo motor a (301) below, main camera (4) rotate the inside of connecting at link (302), the symmetry is fixed with drive shaft and main camera (4) fixed connection's servo motor b (303) on the both sides outer end wall of link (302).

7. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: offer recess (505) for the screw-tupe structure on the outer end wall of wire winding roller (501), the outer end wall left and right sides fixed mounting of wire winding roller (501) has baffle (506), two one side that baffle (506) are pressed close to each other sets up to winding roller (501) slope structure.

8. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: the fixed permanent magnet a (605) of inlaying in top of connector (6), fixed mounting has electromagnetism slide rail (606) that correspond the setting with permanent magnet a (605) on the bottom inner end wall of receiver (5), and the inside sliding connection of electromagnetism slide rail (606) has electromagnetism slider (607), the top fixed mounting of electromagnetism slider (607) has permanent magnet b (608) of inhaling mutually with permanent magnet a (605) magnetism.

9. The system for mapping geological terrain based on three-dimensional modeling according to claim 2, characterized in that: the wire rope (503) is transparent, the laser emitter (7) arranged under the lower end of the wire rope (503) is fixedly embedded in the connector (6), and the laser receiver (701) arranged over the paying-off hole (504) is fixedly mounted on the inner end wall of the top of the storage box (5).

10. The system for mapping geological terrain based on three-dimensional modeling according to claim 7, characterized in that: the utility model discloses a winding roller, including receiver (5), the symmetry has seted up the spout (8) of vertical setting on the wall of the left and right sides inner end of receiver (5), both ends are movable respectively and insert and establish inside two spout (8), two supporting spring (801) that set up both sides about winding roller (501) are all installed to the inside of spout (8), fixed the inlaying has pressure sensor (802) that set up under baffle (506) on the wall of the bottom inner end of receiver (5), the fixed cover in the right-hand member outside of winding roller (501) is equipped with worm wheel (803), and the outside meshing of worm wheel (803) is connected with worm (804) of vertical setting, the right-hand member of winding roller (501) is rotated and is connected with cooperation frame (805), and cooperates the other end of frame (805) to rotate with worm (804) and be connected, the spline groove has been seted up to the inside of worm (804), and the inside activity of spline groove inserts spline pole (806) that are equipped with servo motor c (502) drive shaft fixed connection.