CN114964156B - Stable three-dimensional topography mapping device - Google Patents
Stable three-dimensional topography mapping device Download PDFInfo
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- CN114964156B CN114964156B CN202210557018.6A CN202210557018A CN114964156B CN 114964156 B CN114964156 B CN 114964156B CN 202210557018 A CN202210557018 A CN 202210557018A CN 114964156 B CN114964156 B CN 114964156B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention relates to the field of shape mapping equipment and discloses a stable three-dimensional topographic mapping device which comprises a machine body, wherein the bottom of the machine body is fixedly connected with a stabilizing mechanism, the stabilizing mechanism comprises a bottom box fixedly connected to the bottom of the machine body, a containing cavity is formed in the bottom box, a through hole communicated with the containing cavity is formed in the bottom of the bottom box, the inner wall of the containing cavity is fixedly connected with a motor, the output end of the motor is fixedly connected with a reel, the outer side of the reel is wound with a pull rope, one end of the pull rope extends out of the bottom box through the through hole, and a balancing weight is arranged at one end of the pull rope extending out of the bottom box; through the bottom at the fuselage hangs the balancing weight, gets into the scene of a fire after unmanned aerial vehicle, slowly puts down the balancing weight through the stay cord, and the fuselage removes the frictional force that only needs many burden balancing weights and ground this moment, when meetting the strong air current that is enough to influence the fuselage stability, has more balancing weight gravity, offsets or partly offsets the impact force of air current to the fuselage to make the fuselage more stable.
Description
Technical Field
The invention relates to the field of surveying and mapping devices, in particular to a stable three-dimensional topographic surveying and mapping device.
Background
The topographic surveying and mapping device is equipment for acquiring surrounding topographic information through light and shadow capturing and laser scanning, and is generally composed of a scanning device and a fixed carrier, and has wide application in building industry, mining industry, design industry and rescue industry.
When an indoor fire disaster is rescued, firefighters can only judge the indoor situation through a house type drawing and a decoration drawing, and because the indoor specific layout and the fire disaster damage situation cannot be known, the firefighters need to enter a fire scene through an unmanned aerial vehicle provided with mapping equipment, and the indoor specific topographic information and the fire point distribution situation are scanned so as to formulate an optimal rescue route;
because temperature variation is big in the scene of a fire, can form many interference air currents, these air currents can influence unmanned aerial vehicle's normal operating, when stronger air current impacted unmanned aerial vehicle, unmanned aerial vehicle's chance appears violently rocking, and light then leads to image capture unclear like this, and heavy then leads to unmanned aerial vehicle to collide surrounding building damage, therefore we have proposed a three-dimensional topography survey and drawing device of stable form and solved the problem.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems existing in the prior art, the invention aims to provide a stable three-dimensional topographic mapping device, which is provided with a balancing weight suspended at the bottom of a machine body, a motor drives a scroll to rotate after an unmanned aerial vehicle enters a fire scene, the balancing weight is slowly lowered through a pull rope, the pull rope with corresponding length is released according to the height of the machine body from the ground, the balancing weight is contacted with the ground, the machine body and the pull rope keep a certain towing angle, so that the machine body moves in the air to fly during scanning, the traction balancing weight slides on the ground, when the height of the machine body needs to be changed, the pull rope is properly released and rolled through the cooperation of the motor, when the machine encounters a ground obstacle, the motor pulls the balancing weight, and then the machine is lowered after the unmanned aerial vehicle passes over the obstacle, and at the moment, the machine body only needs to bear the friction force of the balancing weight and the ground;
when encountering strong air flow which is enough to influence the stability of the machine body, the air flow in the fire scene is mostly upward air flow, so that no matter what direction the air flow comes from, the machine body can be given an upward force, the machine body moves, the weight of the balancing weight needs to be burdened again, the balancing weight gives the machine body a pulling force, and the impact force of the air flow on the machine body is counteracted or partially counteracted, so that the machine body is more stable, the picture captured by the scanning lens is clear, and the machine body offset and the building collision damage can be prevented.
2. Technical proposal
In order to solve the problems, the invention adopts the following technical scheme.
The utility model provides a three-dimensional topography mapping device of stable form, includes the fuselage, and the fuselage adopts streamlined design, can reduce windage, the fixed connection horn all around of fuselage, the terminal equipment of horn, the front fixed connection scanning lens of fuselage for the environment detail in the capture scene of a fire, the bottom fixed connection of fuselage reduces the stable mechanism that the air current influences the fuselage;
the stabilizing mechanism comprises a bottom box fixedly connected to the bottom of the machine body, the bottom box is of a cake-shaped design, a containing cavity is formed in the bottom box, a through hole communicated with the containing cavity is formed in the bottom of the bottom box, a motor is fixedly connected to the inner wall of the containing cavity, the motor can rotate forwards or reversely, the output end of the motor is fixedly connected with a scroll, two limiting plates are arranged on two sides of the scroll, a pull rope is wound on the outer side of the scroll and is positioned between the two limiting plates, one end of the pull rope extends out of the bottom box through the through hole, and a balancing weight is arranged at one end of the pull rope extending out of the bottom box;
further, the grooves matched with the pull ropes are formed in the outer side of the reel, the grooves are spirally distributed, when the pull ropes are wound, the pull ropes uniformly and tightly encircle the reel along the grooves, the surface of the balancing weight is smooth and has no edges, the outer side of the power equipment is fixedly connected with an air cushion, and the thickness of the air cushion is not more than centimeter.
Further, the guide ball is rotatably installed in the through hole, the guide hole is formed in the surface of the guide ball, one end of the pull rope is fixedly connected to the scroll, the other end of the pull rope penetrates through the guide hole, and the connecting line of the ball center of the guide ball and the limiting plate is not in contact with the inner wall of the through hole.
Further, an amplifying mechanism is arranged in the stabilizing mechanism;
the amplifying mechanism comprises a movable cavity which is arranged in a bottom box, the movable cavity is cylindrical, three sides of the inner wall of the movable cavity uniformly encircle a central shaft of the movable cavity to form a compression groove, the bottom wall of the compression groove is fixedly connected with a compression spring, one end of the compression spring is fixedly connected with a push rod which extends out of the compression groove, one extended end of the push rod is provided with a smooth round surface, a swinging part is arranged between the push rods which extend out of the three sides of the inner wall of the movable cavity in a pushing mode, at least eight push rods are arranged on each side of the movable cavity, sliding holes which penetrate left and right are formed in the side face of the swinging part, the inner wall of each sliding hole is provided with an air leakage hole, the inside of each sliding hole is connected with a sleeve in a sliding mode, one end of each sleeve is provided with one end in a blocking mode, the outer side of each sleeve is provided with a matched hole corresponding to the air leakage hole, one end of each sleeve close to the spool is fixedly connected with a sealing plate made of magnetic material, and the surface of each sealing plate is plated with a wear-resistant coating;
the amplifying mechanism further comprises a connecting air hole formed in the reel, the connecting air hole is communicated with the sleeve, the pull rope is of a hollow design, a reinforcing lining is arranged on the hollow part of the pull rope, the hollow part of the pull rope is prevented from being extruded and deformed in the winding process, the ventilation effect is prevented from being influenced, and the connecting end of the pull rope and the reel extends into the connecting air hole;
the amplifying mechanism further comprises a suction port arranged on the surface of the balancing weight, and the suction port is communicated with the stay cord.
Further, a communication hole is formed between the movable cavity and the containing cavity, the diameter of the communication hole is larger than that of the scroll, and the sealing plate is magnetically connected with the scroll.
Further, the swing piece is arranged at the right center of the movable cavity, one surface of the swing piece is provided with a circular groove, the other surface of the swing piece is provided with an annular groove, the scroll extends into the circular groove, and one end of the air leakage hole is positioned on the groove wall of the annular groove.
Further, the maximum displacement distance of the arranged swinging piece is X, and the X is smaller than the radius of the sealing plate and is also smaller than the distance from the matched hole to the two ends of the sliding block.
Further, the compression spring in the circumferential direction of the ornament is located above the horizontal central axis, the force required for compression is the same, and the force required for compression and extrusion is larger and larger as the force goes down after the horizontal central axis.
Further, the radius of the sealing plate is larger than the sum of the inner diameter of the sleeve and the diameter of the connecting air hole, so that the connecting air hole can be closed when the sealing plate moves along with the ornament, and the force required by compression of the compression spring is larger than the inertia of the ornament due to the acceleration of the ornament during the flying.
Further, the outer side of the balancing weight wraps the soft cushion, and when the balancing weight contacts the ground, an extrusion plane parallel to the ground is formed by gravity extrusion, and the plane area is not smaller than three square centimeters.
Furthermore, the periphery of the opening of the suction port is provided with flowing solid colloid, the solid colloid is made of resin and additives, the additives comprise plasticizer and toughening agent, the solid colloid is not adhered with dust and has toughness, and the tightness of the suction port can be ensured when the ground surface of the solid colloid is uneven.
Further, a reinforcing mechanism is arranged in the balancing weight;
the reinforcing mechanism comprises a connecting ball suspended at the bottom of the pull rope, the pull rope is communicated with the inner space of the inner ball, an interface is arranged on the outer side of the connecting ball, an elastic tube is fixedly connected between the interface and the suction port, and the elastic tube can be stretched and compressed, and the inner space of the elastic tube changes in the stretching and compressing process.
Further, the maximum included angle between the position of the suction port and the ground is larger than the dragging angle of the stay cord, so that the suction port is always contacted with the ground, and one half of the difference between the opening angle of the fixed through hole and the opening angle of the movable through hole is larger than the dragging angle of the stay cord.
Further, the connecting ball can move inside the balancing weight, the inside fixed connection pillar of connecting ball, the inside of connecting ball is through pillar fixed connection inner ball, fixed through-hole is seted up to the bottom of inner ball, sliding connection slider between connecting ball and the inner ball, movable through-hole is seted up at the bottom center department of slider, the center department of movable through-hole sets up the counterweight, the weight of counterweight is greater than the weight of slider.
Further, the fixed through holes and the pull ropes are symmetrically distributed at the axle center of the inner ball, the opening area of the fixed through holes is larger than that of the movable through holes, and when the inner ball deflects, the fixed through holes are always communicated with the movable through holes.
Further, the force required by the stretching of the elastic tube is larger than the friction force between the balancing weight and the ground.
Further, the elastic tubes are communicated with the fixed through holes through the movable through holes, and the number of the elastic tubes which are in single butt joint with the movable through holes is the same as that of the suction ports on the extrusion plane.
The mechanism accessories are made of fireproof and high-temperature resistant materials.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) According to the scheme, the balancing weight is suspended at the bottom of the machine body, after the unmanned aerial vehicle enters a fire scene, the motor drives the scroll to rotate, the balancing weight is slowly put down through the pull rope, the pull rope with the corresponding length is released according to the height of the machine body from the ground, the balancing weight is in contact with the ground, and the machine body and the pull rope keep a certain towing angle, so that the machine body moves in the air to fly during scanning, the traction balancing weight slides on the ground, when the height of the machine body needs to be changed, the pull rope is properly released and wound through the cooperation of the motor, when the machine encounters a ground obstacle, the motor pulls the balancing weight, and after the motor passes over the obstacle, the balancing weight is put down, and at the moment, the machine body only needs to bear the friction force of the balancing weight and the ground;
when encountering strong air flow which is enough to influence the stability of the machine body, the air flow in the fire scene is mostly upward air flow, so that no matter what direction the air flow comes from, the machine body can be given an upward force, the machine body moves, the weight of the balancing weight needs to be burdened again, the balancing weight gives the machine body a pulling force, and the impact force of the air flow on the machine body is counteracted or partially counteracted, so that the machine body is more stable, the picture captured by the scanning lens is clear, and the machine body offset and the building collision damage can be prevented.
(2) Through setting up the guide ball in the junction of stay cord and fuselage, so along with the reel to the rolling or the play of stay cord, the angle of stay cord and reel changes, and the guide ball also follows this and rotates, makes the stay cord activity unobstructed more.
(3) The suction port is arranged on the outer side of the balancing weight, and when the machine body moves normally, the suction port is connected with the atmosphere through the stay cord, the connecting air hole, the sleeve, the matching hole and the air leakage hole, so that the suction port is in an internal and external balance state, the pressure is changed while the suction port can be balanced automatically, and the machine body is still normally only burdened with the friction force between the balancing weight and the ground;
when the machine body is suddenly deviated under the influence of airflow, the moving speed of the swinging part is lower than that of the machine body under the influence of inertia, the swinging part and the machine body are relatively displaced, and the position of the swinging part pushing the ejector rod is changed;
when the swinging part moves up, down, front and back, the sleeve moves along with the connecting air hole to be misplaced, the connecting air hole is closed, the suction port is changed into a sealing state, the suction port moves again or is separated from the ground and can be influenced by atmospheric pressure, the pulling force of the machine body movement is increased on the basis of the pressure of the balancing weight and the weight of the balancing weight, so that the balancing weight which is lighter and has smaller influence on the machine body can be used, the machine body can be stabilized, and the scanning and mapping work is not influenced;
when the swinging part moves in the left and right directions, the sleeve is fixed in position, the matching hole and the air leakage hole are staggered, and the connecting air hole is closed, so that the effect is the same as that of the prior art.
(4) By using springs with different elastic forces according to the pressure condition of the swing piece on the compression springs at all positions, the swing piece is placed stably, and meanwhile, when the swing piece is subjected to inertia action, the forces received by all directions are the same, so that the compression springs are prevented from bearing the pressure of the swing piece more, and the operation of the swing piece is prevented from being influenced.
(5) Through setting up the elastic tube between suction inlet and stay cord, when the fuselage receives the air current influence to deviate suddenly, the mechanism that increases starts, suction inlet become sealing state, simultaneously, the stay cord lifts up and connects the ball, connects ball tensile elastic tube, and elastic tube inner space grow, atmospheric pressure grow, so forms negative pressure environment, makes atmospheric pressure bigger the effort of balancing weight, has further improved when suffering violent air current, to the stable effect of fuselage.
(6) Through evenly densely distributing the suction opening in the below region of balancing weight, the balancing weight takes place the deflection of certain angle like this, still has suction opening and ground contact, can allow the fuselage to have multiple angle of dragging to the balancing weight like this, and scene adaptation force is stronger.
(7) The connecting ball is arranged between the pull rope and the elastic pipe, when the suction port is used, the lowest part of the suction port which is contacted with the ground is connected with the inner space of the inner ball through the elastic pipe, the connector, the movable through hole and the fixed through hole, and then the sealing and the opening of the suction port are controlled according to the state of the amplifying mechanism;
when the dragging angle of the balancing weight changes, the balancing weight deflects, the suction port (set as A type) which is originally contacted with the ground is lifted, the new suction port (set as B type) is contacted with the ground, and the movable through hole is always vertically downwards communicated with the suction port which is contacted with the ground due to the action of the balancing weight, so that the suction port (A type) is plugged by the sliding block, the suction port (B type) is communicated with the stay cord, only the suction port which is always contacted with the ground is ensured to be influenced by the amplifying mechanism, and the sealing effect of the suction port is not influenced when the using equipment uses a plurality of dragging angles.
(8) The distance from the connecting ball to the suction port is smaller than the distance from the connecting ball to the connection point of the pull rope and the balancing weight, so that the connecting ball is pulled, and the elastic tube is in a stretching state no matter the pulling direction is.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a bottom display view of the present invention;
FIG. 3 is a partial cross-sectional view of the present invention;
FIG. 4 is an illustration of a stabilization mechanism of the present invention;
FIG. 5 is an illustration of an amplification mechanism of the present invention;
FIG. 6 is an enlarged view of an amplifying mechanism of the present invention;
FIG. 7 is an up-shift state diagram of the amplifying mechanism of the present invention;
FIG. 8 is a state diagram of the amplification mechanism of the present invention;
FIG. 9 is a right-shift state diagram of the amplifying mechanism of the present invention;
FIG. 10 is an illustration of a reinforcement mechanism of the present invention;
fig. 11 is an enlarged view of fig. 10 at a in accordance with the present invention.
The reference numerals in the figures illustrate:
1. a body; 2. a horn; 3. a power plant; 31. an air cushion; 4. a scanning lens; 5. a stabilizing mechanism; 51. a bottom box; 52. a storage chamber; 53. a motor; 54. a reel; 55. a pull rope; 56. balancing weight; 6. a guide ball; 7. an amplifying mechanism; 71. a movable cavity; 72. a compression tank; 73. a compression spring; 74. a push rod; 75. a swinging piece; 76. a slide hole; 77. a vent hole; 78. a sleeve; 79. mating holes; 710. a sealing plate; 711. connecting air holes; 712. a suction port; 8. a reinforcement mechanism; 81. a connecting ball; 82. a support post; 83. an inner ball; 84. a fixing through hole; 85. a slide block; 86. a movable through hole; 87. a weight member; 88. an interface; 89. an elastic tube.
Detailed Description
The technical scheme of the embodiment is clearly and completely described by combining the disclosed drawings, so that the purposes, technical scheme and beneficial effects of the embodiment of the disclosure are more clear. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Unless otherwise defined, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items. "upper", "lower", "inner", "outer", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
Examples:
referring to fig. 1-4, a stable three-dimensional topographic mapping device comprises a machine body 1, wherein the machine body 1 adopts a streamline design, wind resistance can be reduced, a machine arm 2 is fixedly connected to the periphery of the machine body 1, a power device 3 is assembled at the tail end of the machine arm 2, a scanning lens 4 is fixedly connected to the front surface of the machine body 1, the device is used for capturing the detailed environment in a fire scene, and a stabilizing mechanism 5 for reducing the influence of air current on the machine body 1 is fixedly connected to the bottom of the machine body 1;
the stabilizing mechanism 5 comprises a bottom box 51 fixedly connected to the bottom of the machine body 1, the bottom box 51 is designed in a round cake shape, when the machine body 1 moves towards any direction, wind resistance born by the bottom box 51 is minimum, a containing cavity 52 is formed in the bottom box 51, a through hole communicated with the containing cavity 52 is formed in the bottom of the bottom box 51, a motor 53 is fixedly connected to the inner wall of the containing cavity 52, the motor 53 can rotate forwards or reversely, the output end of the motor 53 is fixedly connected with a scroll 54, two limiting plates are arranged on two sides of the scroll 54, a pull rope 55 is wound on the outer side of the scroll 54, the pull rope 55 is positioned between the two limiting plates, one end of the pull rope 55 extends out of the bottom box 51 through the through hole, a balancing weight 56 is mounted at one end of the pull rope 55, and when a severe airflow is encountered, the machine body 1 is pulled in an auxiliary manner;
through suspending the balancing weight 56 at the bottom of the machine body 1, after the unmanned aerial vehicle enters a fire scene, the motor 53 drives the scroll 54 to rotate, the balancing weight 56 is slowly put down through the pull rope 55, the pull rope 55 with corresponding length is released according to the height of the machine body 1 from the ground, the balancing weight 56 is contacted with the ground, and the machine body 1 and the pull rope 55 keep a certain dragging angle, so that the machine body 1 moves in the air to fly during scanning, the balancing weight 56 is dragged to slide on the ground, when the height of the machine body 1 needs to be changed, the pull rope 55 is properly released and wound through the cooperation of the motor 53, when encountering a ground obstacle, the motor 53 pulls the balancing weight 56, after the obstacle is passed, the balancing weight 56 is put down, and at the moment, the machine body 1 moves only by the friction force of the balancing weight 56 and the ground;
when strong airflow which is enough to influence the stability of the machine body 1 is encountered, the airflow in the fire scene is mostly upward airflow, so that no matter what direction the airflow is from, the machine body 1 can be given an upward force, so that the machine body 1 moves, the gravity of the balancing weight 56 is needed to be borne again, the balancing weight 56 gives the machine body 1 a pulling force, and the impact force of the airflow on the machine body 1 is counteracted or partially counteracted, so that the machine body 1 is more stable, the picture captured by the scanning lens 4 is clear, and the damage caused by the collision of the machine body 1 offset and a building body can be prevented.
The outside of spool 54 has seted up the slot with stay cord 55 adaptation, and the slot is the spiral distribution, and when this rolling stay cord 55, stay cord 55 is whole evenly inseparable the surrounding along the slot, can prevent that stay cord 55 from twining in disorder, appears blocking when letting out, and the balancing weight 56 surface is smooth no edges and corners, reduces the frictional force of balancing weight 56 and ground, and the outside fixed connection air cushion 31 of power equipment 3, and the thickness of air cushion 31 is no more than 2 centimetres, plays the guard action when power equipment 3 collides with article.
A guide ball 6 is rotatably arranged in the through hole, a guide hole is formed in the surface of the guide ball 6, one end of a pull rope 55 is fixedly connected to the scroll 54, the other end of the pull rope 55 penetrates through the guide hole, and the connecting line of the center of the guide ball 6 and the limiting plate is not contacted with the inner wall of the through hole;
through setting up the direction ball 6 in the junction of stay cord 55 and fuselage 1, so along with the reel 54 to the rolling or paying out of stay cord 55, the angle of stay cord 55 and reel 54 changes, and the direction ball 6 is followed the rotation also, makes stay cord 55 activity more unobstructed.
Referring to fig. 5-9, a stable three-dimensional topographic mapping apparatus, wherein an amplifying mechanism 7 is disposed in a stabilizing mechanism 5;
the amplifying mechanism 7 comprises a movable cavity 71 arranged in the bottom box 51, the movable cavity 71 is cylindrical, three surfaces of the inner wall of the movable cavity 71 uniformly encircle around a central shaft of the movable cavity 71 and are provided with a compression groove 72, the bottom wall of the compression groove 72 is fixedly connected with a compression spring 73, one end of the compression spring 73 is fixedly connected with a push rod 74 extending out of the compression groove 72, one end of the push rod 74 extending is provided with a smooth round surface, a swinging part 75 is arranged between the push rods 74 extending out of three surfaces of the inner wall of the movable cavity 71 in a pushing mode, at least eight push rods 74 on each surface of the movable cavity 71 are needed to ensure stability of the swinging part 75, the side surface of the swinging part 75 is provided with sliding holes 76 penetrating left and right, the inner wall of the sliding hole 76 is provided with air leakage holes 77, a sleeve 78 is connected in a sliding mode, one end of the sleeve 78 is opened, one end of the sleeve 78 is blocked, the outer side of the sleeve 78 is provided with a pairing hole 79 corresponding to the air leakage holes 77, one end of the sleeve 78 close to the scroll 54 is fixedly connected with a sealing plate 710, the sealing plate 710 is made of a magnetic material, and the surface is plated with a wear-resistant coating;
the amplifying mechanism 7 further comprises a connecting air hole 711 arranged in the reel 54, the connecting air hole 711 is communicated with the sleeve 78, the pull rope 55 is of a hollow design, a reinforced lining is arranged at the hollow part of the pull rope 55, the hollow part of the pull rope 55 is prevented from being extruded and deformed in the winding process, the ventilation effect is prevented from being influenced, and the connecting end of the pull rope 55 and the reel 54 extends into the connecting air hole 711;
the amplifying mechanism 7 further comprises a suction port 712 formed on the surface of the balancing weight 56, and the suction port 712 is communicated with the stay cord 55.
A communication hole is formed between the movable cavity 71 and the accommodating cavity 52, and the diameter of the communication hole is larger than that of the scroll 54;
the sealing plate 710 is magnetically connected with the reel 54, so that the sealing plate 710 is always connected with the reel 54 when the swinging piece 75 moves left and right;
through opening the suction port 712 on the outside of the balancing weight 56, when the machine body 1 moves normally, the suction port 712 is connected with the atmosphere through the stay cord 55, the connecting air hole 711, the sleeve 78, the mating hole 79 and the air leakage hole 77, so that the suction port 712 is in an internal and external balance state, the pressure changes on one side and the other side can be balanced automatically, and the machine body 1 is still normally only loaded with the friction force between the balancing weight 56 and the ground;
when the machine body 1 is suddenly deviated under the influence of airflow, the moving speed of the swinging piece 75 is lower than that of the machine body 1 under the influence of inertia, the swinging piece 75 is relatively displaced, and the position of the push rod 74 is changed;
when the swinging piece 75 moves up, down, front and back, the sleeve 78 moves along with the connecting air hole 711 to be misplaced, the connecting air hole 711 is closed, the suction port 712 is in a sealing state, the suction port 712 moves again or is separated from the ground and can be influenced by atmospheric pressure, the pulling force of the movement of the machine body 1 is increased on the basis of the pressure of the balancing weight 56 and the weight of the balancing weight 56, the balancing weight 56 which is lighter and has smaller influence on the machine body 1 can be used, the effect of stabilizing the machine body 1 is achieved, and the scanning and mapping work is ensured not to be influenced;
when the ornament 75 moves left and right, the sleeve 78 is fixed, the matching hole 79 and the air leakage hole 77 are misplaced, and the connecting air hole 711 is closed, so that the effect is the same as above;
the swing piece 75 is displaced from the center of the movable cavity 71, one surface of the swing piece 75 is provided with a circular groove, the other surface is provided with an annular groove, the scroll 54 extends into the circular groove, and one end of the air leakage hole 77 is positioned on the groove wall of the annular groove.
The maximum displacement distance of the swinging piece 75 is set to be X, wherein X is smaller than the radius of the sealing plate 710 and is also smaller than the distance from the matched hole 79 to the two ends of the sliding hole 76, so that the connecting air hole 711 is prevented from losing sealing state when the swinging piece 75 moves;
the compression springs 73 in the circumferential direction of the swinging piece 75 are positioned above the horizontal central axis, the compression force is the same, and the compression force is larger and larger when the compression force is downward after the horizontal central axis is horizontal;
by using springs with different elastic forces according to the pressure condition of the swing piece 75 to the compression springs 73 at each position, the swing piece 75 is placed stably, and meanwhile, when the swing piece 75 is subjected to inertia action, the forces applied to all directions are the same, so that the compression springs 73 are prevented from bearing the pressure of the swing piece 75 more, and the operation of the swing piece is prevented from being influenced.
The radius of the sealing plate 710 is larger than the sum of the inner diameter of the sleeve 78 and the diameter of the connecting air hole 711, so that when the sealing plate 710 moves along with the swinging piece 75, the connecting air hole 711 can be closed, the force required by compression of the compression spring 73 is larger than the inertia of the swinging piece 75 due to acceleration of the equipment in flight, and the false triggering of the amplifying mechanism 7 is prevented.
The outer side of the balancing weight 56 is wrapped with a soft cushion, and when the balancing weight 56 contacts with the ground, an extrusion plane parallel to the ground is formed by gravity extrusion, and the plane area is not smaller than three square centimeters, so that the suction port 712 contacts with the ground more tightly and is attached to the ground;
the periphery of the opening of the suction port 712 is provided with flowing solid colloid, the solid colloid is made of resin and additives, the additives comprise plasticizer and toughening agent, the solid colloid is not adhered with dust and has toughness, and the tightness of the suction port 712 can be ensured when the ground surface of the solid colloid is uneven.
Referring to fig. 10-11, a stable three-dimensional topographic mapping apparatus, wherein a weight 56 is provided with a reinforcing mechanism 8;
the reinforcing mechanism 8 comprises a connecting ball 81 suspended at the bottom of the pull rope 55, the pull rope 55 is communicated with the inner space of the inner ball 83, a connector 88 is arranged at the outer side of the connecting ball 81, an elastic tube 89 is fixedly connected between the connector 88 and the suction port 712, the elastic tube 89 can be stretched and compressed, and the inner space of the elastic tube 89 changes in the stretching and compressing process;
the maximum included angle between the position of the suction port 712 and the ground is larger than the dragging angle of the pull rope 55, so that the suction port 712 always contacts the ground, and one half of the difference between the opening angle of the fixed through hole 84 and the opening angle of the movable through hole 86 is larger than the dragging angle of the pull rope 55;
through setting up elastic tube 89 between suction inlet 712 and stay cord 55, when fuselage 1 receives the influence of air current to suddenly squint, amplification mechanism 7 starts, suction inlet 712 become sealed state, simultaneously, stay cord 55 lift up connect ball 81, connect ball 81 tensile elastic tube 89, elastic tube 89 inner space grow, atmospheric pressure grow, so form negative pressure environment, make atmospheric pressure to the effort of balancing weight 56 bigger, further improved when suffering violent air current, stability effect to fuselage 1.
The connecting ball 81 can move in the balancing weight 56, the inside of the connecting ball 81 is fixedly connected with the support column 82, the inside of the connecting ball 81 is fixedly connected with the inner ball 83 through the support column 82, the bottom of the inner ball 83 is provided with a fixed through hole 84, the connecting ball 81 and the inner ball 83 are in sliding connection with the sliding block 85, the center of the bottom of the sliding block 85 is provided with a movable through hole 86, the center of the movable through hole 86 is provided with a counterweight 87, the weight of the counterweight 87 is larger than that of the sliding block 85, and the movable through hole 86 is always vertically downward due to the gravity of the counterweight 87;
the suction ports 712 are uniformly and densely distributed in the lower area of the balancing weight 56, so that the balancing weight 56 deflects at a certain angle, and the suction ports 712 are still in contact with the ground, so that the machine body 1 can be allowed to have various dragging angles on the balancing weight 56, and the scene adaptation force is stronger;
when the suction port 712, which is in contact with the ground, is connected with the inner space of the inner ball 83 through the elastic tube 89, the connector 88, the movable through hole 86 and the fixed through hole 84, and then the sealing and the opening of the suction port 712 are controlled according to the state of the amplifying mechanism 7;
when the dragging angle of the balancing weight 56 changes, the balancing weight 56 deflects, the suction port 712 (set as class A) which is originally in contact with the ground is lifted, the new suction port 712 (set as class B) is in contact with the ground, and the movable through hole 86 is always vertically communicated downwards with the suction port 712 in contact with the ground due to the action of the balancing weight 87, so that the suction port 712 (class A) is plugged by the sliding block 85, the suction port 712 (class B) is communicated with the stay cord 55, and therefore, the purpose that only and only the suction port 712 in contact with the ground is always influenced by the amplifying mechanism 7 is ensured, and the sealing effect of the suction port 712 is not influenced when the multi-dragging angle is used by using equipment.
The fixed through holes 84 and the pull ropes 55 are symmetrically distributed by the axis of the inner ball 83, the opening area of the fixed through holes 84 is larger than that of the movable through holes 86, and when the inner ball 83 deflects, the fixed through holes 84 are always communicated with the movable through holes 86;
the distance from the connecting ball 81 to the suction port 712 is smaller than the distance from the connecting ball 81 to the connection point of the pull rope 55 and the weight 56, so that the elastic tube 89 is stretched regardless of the pulling direction in which the connecting ball 81 is pulled.
The force required by the elastic tube 89 to stretch is greater than the friction force between the balancing weight 56 and the ground, so that the elastic tube 89 is stretched only when needed;
the elastic tubes 89 are communicated with the fixed through holes 84 through the movable through holes 86, and the number of the elastic tubes 89 which are butted by the movable through holes 86 for one time is the same as the number of the suction ports 712 on the extrusion plane;
the mechanism accessories are made of fireproof and high-temperature resistant materials, and can be better adapted to the fire scene environment.
The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (9)
1. The utility model provides a three-dimensional topography mapping device of stable form, includes fuselage (1), fixed connection horn (2) all around of fuselage (1), terminal assembly power equipment (3) of horn (2), positive fixed connection scanning lens (4) of fuselage (1), its characterized in that: the bottom of the machine body (1) is fixedly connected with a stabilizing mechanism (5);
the stabilizing mechanism (5) comprises a bottom box (51) fixedly connected to the bottom of the machine body (1), a containing cavity (52) is formed in the bottom box (51), a through hole communicated with the containing cavity (52) is formed in the bottom of the bottom box (51), a motor (53) is fixedly connected to the inner wall of the containing cavity (52), a winding shaft (54) is fixedly connected to the output end of the motor (53), a pull rope (55) is wound on the outer side of the winding shaft (54), one end of the pull rope (55) extends out of the bottom box (51) through the through hole, and a balancing weight (56) is mounted at one end of the pull rope (55) extending out of the bottom box (51);
an amplifying mechanism (7) is arranged in the stabilizing mechanism (5);
the amplifying mechanism (7) comprises a movable cavity (71) arranged inside a bottom box (51), the movable cavity (71) is cylindrical, three sides of the inner wall of the movable cavity (71) uniformly encircle around a central shaft of the movable cavity to form a compression groove (72), the bottom wall of the compression groove (72) is fixedly connected with a compression spring (73), one end of the compression spring (73) is fixedly connected with a push rod (74) extending out of the compression groove (72), a swinging part (75) is mounted between the push rods (74) extending out of the three sides of the inner wall of the movable cavity (71) in a pushing mode, a sliding hole (76) penetrating left and right is formed in the side face of the swinging part (75), an air leakage hole (77) is formed in the inner wall of the sliding hole (76), a matched hole (79) corresponding to the air leakage hole (77) is formed in the outer side of the sleeve (78), and one end, close to the spool (54), of the sleeve (78) is fixedly connected with a sealing plate (710);
the amplifying mechanism (7) further comprises a connecting air hole (711) formed in the reel (54), the connecting air hole (711) is communicated with the sleeve (78), the pull rope (55) is in a hollow design, and the connecting end of the pull rope (55) and the reel (54) extends into the connecting air hole (711);
the amplifying mechanism (7) further comprises a suction port (712) formed in the surface of the balancing weight (56).
2. A stable three-dimensional topographic device as set forth in claim 1, wherein: the outside of spool (54) is seted up and is had the slot with stay cord (55) adaptation, the smooth no edges and corners in balancing weight (56) surface, the outside fixed connection air cushion (31) of power equipment (3).
3. A stable three-dimensional topographic device as set forth in claim 1, wherein: the guide ball (6) is rotatably arranged in the through hole, the guide hole is formed in the surface of the guide ball (6), one end of the pull rope (55) is fixedly connected to the scroll (54), and the other end of the pull rope (55) penetrates through the guide hole.
4. A stable three-dimensional topographic device according to claim 3, characterized in that: the movable cavity (71) and the accommodating cavity (52) are provided with communication holes, the diameter of each communication hole is larger than that of the corresponding reel (54), one surface of the ornament (75) is provided with a circular groove, the other surface of the ornament is provided with an annular groove, the reel (54) extends into the circular groove, and one end of each air leakage hole (77) is located on the groove wall of the annular groove.
5. A stable three-dimensional topographical mapping apparatus as claimed in claim 4, wherein: the compression springs (73) are positioned above the horizontal central axis in the circumferential direction of the swinging piece (75), the force required by compression is the same, and the force required by compression and extrusion is larger and larger when the force is downward after the force is horizontal to the horizontal central axis;
the seal plate (710) is magnetically coupled to the spool (54).
6. A stable three-dimensional topographical mapping apparatus as claimed in claim 4, wherein: the outer side of the balancing weight (56) is wrapped with a soft cushion, the balancing weight (56) can be extruded by gravity to form an extrusion plane parallel to the ground when contacting with the ground, and flowing solid colloid is arranged around an opening of the suction port (712).
7. A stable three-dimensional topographical mapping apparatus as claimed in claim 4, wherein: a reinforcing mechanism (8) is arranged in the balancing weight (56);
reinforcing mechanism (8) are including hanging connecting ball (81) in stay cord (55) bottom, the inside fixed connection pillar (82) of connecting ball (81), the inside of connecting ball (81) is through pillar (82) fixed connection interior ball (83), fixed through-hole (84) are seted up to the bottom of interior ball (83), sliding connection slider (85) between connecting ball (81) and interior ball (83), movable through-hole (86) are seted up in the bottom center department of slider (85), the center department of movable through-hole (86) sets up counterweight (87), interface (88) are seted up in the outside of connecting ball (81), fixed connection elastic tube (89) between interface (88) and suction inlet (712).
8. A stable three-dimensional topographical mapping apparatus as set forth in claim 7, wherein: the pull rope (55) is communicated with the inner space of the inner ball (83), the fixed through holes (84) and the pull rope (55) are symmetrically distributed by the axis of the inner ball (83), and the opening area of the fixed through holes (84) is larger than that of the movable through holes (86);
the elastic tubes (89) are communicated with the fixed through holes (84) through the movable through holes (86), and the number of the elastic tubes (89) which are in single butt joint with the movable through holes (86) is the same as the number of the suction ports (712) on the extrusion plane.
9. A stable three-dimensional topographic device as set forth in claim 8 wherein: the maximum included angle between the position of the suction port (712) and the ground is larger than the dragging angle of the pull rope (55), and one half of the difference between the opening angle of the fixed through hole (84) and the opening angle of the movable through hole (86) is larger than the dragging angle of the pull rope (55).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210557018.6A CN114964156B (en) | 2022-05-19 | 2022-05-19 | Stable three-dimensional topography mapping device |
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| CN202210557018.6A CN114964156B (en) | 2022-05-19 | 2022-05-19 | Stable three-dimensional topography mapping device |
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| EP3306344A1 (en) * | 2016-10-07 | 2018-04-11 | Leica Geosystems AG | Flying sensor |
| KR101948810B1 (en) * | 2018-07-23 | 2019-05-02 | 주식회사 미래지중정보 | Image Map System for Processing Based Image Data by Unmanned Aerial Vehicel |
| CN112208756A (en) * | 2020-09-24 | 2021-01-12 | 安徽同绘家园土地信息技术有限公司 | A many rotor unmanned aerial vehicle mapping device for rural planning |
| CN112762900B (en) * | 2021-01-12 | 2022-09-13 | 潍坊工程职业学院 | Auxiliary device for increasing mapping precision of remote sensing image |
| CN113280791B (en) * | 2021-06-02 | 2021-12-17 | 宿迁学院 | Oblique photography measuring device for realizing topographic mapping |
| CN215725839U (en) * | 2021-09-07 | 2022-02-01 | 张振硕 | Three-dimensional equipment device for surveying and mapping landforms |
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