Unmanned aerial vehicle-mounted power transmission line detection device

Abstract

The unmanned aerial vehicle-mounted power transmission line detection device comprises an unmanned aerial vehicle, laser detection equipment and a detection adjusting mechanism, the detection adjusting mechanism comprises a three-axis adjusting mechanism and an acceleration sensor; the three-axis adjusting mechanism comprises an X-axis-around angle adjusting mechanism, a Z-axis-around angle adjusting mechanism, an X-axis-around angle adjusting motor, a Y-axis-around angle adjusting motor and a Z-axis-around angle adjusting motor. The Z-axis-around angle adjusting mechanism is rotationally connected to the belly of the unmanned aerial vehicle; the X-axis-around angle adjusting mechanism is rotationally connected to the Z-axis-around angle adjusting mechanism. The laser detection equipment is rotationally connected into the hollow part of the rectangular frame structure; the Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the X axis; the acceleration sensor comprises a first acceleration sensor and a second acceleration sensor; the first acceleration sensor is rigidly connected to the laser detection equipment; the second acceleration sensor is flexibly connected to the laser detection equipment; the acceleration sensor connecting rigid rod and the acceleration sensor connecting flexible rope are the same in length.

Description

Technical Field

[0001] The utility model relates to a power transmission line detection technology, in particular to a power transmission line detection device carried by an unmanned aerial vehicle. Background Art

[0002] Power cables are a core component of power transmission and distribution, and are vital to the stable operation of power systems. In power transmission, overhead line power transmission is a highly applied technology. Inspection of overhead lines is a daily maintenance task. Traditional inspection methods have a series of limitations when inspecting power cables, such as low efficiency, high cost, and inability to fully cover. Therefore, in response to this problem, flight inspection technology for power cables has emerged. It uses drones to fly and utilizes laser ranging technology, machine vision technology, etc. to cover more inspection items. At present, the more common practice is to directly install laser ranging equipment, video acquisition equipment, etc. on drones, and drones are independent of these devices. The main problems caused by this are:

[0003] 1) During the flight of the drone, the aerial posture is changing due to the influence of the environment. The sensor of the detection equipment is not easy to stably face the power cable under test, and the verticality of the detection laser to the ground needs to be dynamically adjusted and corrected;

[0004] 2) The drone has limited payload, and external equipment such as the flight control panel and detection devices require external power supply, which will reduce the drone's endurance. Summary of the invention

[0005] In order to solve the above technical problems, the utility model proposes a power transmission line detection device carried by an unmanned aerial vehicle, comprising an unmanned aerial vehicle and a laser detection device.

[0006] In order to solve the above problem 1), it also includes a detection and adjustment mechanism; the detection and adjustment mechanism includes a three-axis adjustment mechanism and an acceleration sensor; the three-axis adjustment mechanism includes an angle adjustment mechanism around the X-axis, an angle adjustment mechanism around the Z-axis, an angle adjustment motor around the X-axis, an angle adjustment motor around the Y-axis and an angle adjustment motor around the Z-axis;

[0007] The angle adjustment mechanism around the Z axis is a gantry structure. The crossbeam of the gantry structure rotates around the Z axis and is connected to the belly of the drone. It can rotate around the Z axis. The rotation axis is the Z axis. The rotation action is driven by the angle adjustment motor around the Z axis. When the flight plane of the drone is parallel to the ground plane, the Z axis is perpendicular to the ground plane.

[0008] The angle adjustment mechanism around the X-axis is a rectangular frame structure. The midpoints of the two opposite sides of the rectangular frame structure rotate around the X-axis and are connected to the two side columns of the gantry structure. The rotation axis is the X-axis, and the rotation action is driven by the angle adjustment motor around the X-axis.

[0009] The laser (range-finding) detection device is connected to the hollow of the rectangular frame structure and can rotate around the Y axis. The rotation axis is the Y axis, and the rotation action is driven by the motor for adjusting the angle around the Y axis.

[0010] The Y axis is perpendicular to the X axis, the Z axis is perpendicular to the X axis, and the Z axis is perpendicular to the Y axis; the center point of the sensor of the laser (ranging) detection device is point O, and point O is on the XOY plane, the XOZ plane, and the YOZ plane;

[0011] The acceleration sensor comprises a first acceleration sensor and a second acceleration sensor; the first acceleration sensor is connected to a laser (distance measuring) detection device via an acceleration sensor connecting rigid rod, and the acceleration sensor connecting rigid rod is parallel to the irradiation direction of the sensor; the second acceleration sensor is connected to the laser (distance measuring) detection device via an acceleration sensor connecting flexible rope; the lengths of the acceleration sensor connecting rigid rod and the acceleration sensor connecting flexible rope are the same;

[0012] The distance between the laser (ranging) detection equipment and the belly of the drone is smaller than the height of the drone landing gear.

[0013] In order to solve the above problem 2), it also includes an onboard power board and a (onboard) control board; the circuit boards where the onboard power board and the onboard control board are located are installed in an onboard control box, and the onboard control box is fixed on the belly of the UAV; the angle adjustment mechanism around the Z axis is connected to the bottom surface of the onboard control box;

[0014] The power input end of the flight-borne power board is connected to the power output end of the UAV lithium battery; the power output end of the flight-borne power board is respectively connected to the power input end of the laser (range-finding) detection device and the power input end of the flight-borne control board;

[0015] The power input terminals of the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor are directly connected to the power output terminal of the drone lithium battery through a protection circuit;

[0016] The flight onboard control board includes a processor circuit and a wireless communication circuit;

[0017] The serial communication data output terminal of the laser (range-finding) detection device is connected to the serial communication data receiving terminal of the processor circuit through a serial communication line;

[0018] The serial communication data output terminal of the processor circuit is connected to the serial communication data receiving terminal of the detection device through a serial communication line;

[0019] The motor control signal output end of the processor circuit is respectively connected to the rotation control signal input end of the motor for adjusting the angle around the X axis, the motor for adjusting the angle around the Y axis, and the motor for adjusting the angle around the Z axis through connecting lines;

[0020] The processor circuit and the wireless communication circuit are connected via a serial communication line; a wireless communication terminal is connected to the surface of the flight airborne control box, and the wireless communication connection line of the wireless communication circuit is connected to the external antenna of the flight airborne control box via the wireless communication terminal.

[0021] Furthermore, a first threading hole is formed on the top surface of the flight airborne control box, and a power harness connected to the power output end of the lithium battery of the drone is inserted into the flight airborne control box through the first threading hole;

[0022] A second threading hole is opened on the bottom surface of the flight airborne control box; a power line between the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor and the lithium battery of the drone, a processor circuit, and a serial communication line between the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor constitutes a wiring harness that passes through the second threading hole;

[0023] A power line between the laser (range-finding) detection device and the aircraft-mounted power board and a serial communication line between the laser (range-finding) detection device and the processor circuit form a wiring harness that passes through the second threading hole;

[0024] Insulating sealing fillers are filled between the first threading hole and the second threading hole and the wire harnesses in the corresponding holes.

[0025] Specifically, the flight onboard power board includes two sets of step-down circuits;

[0026] The power input end of the first step-down circuit is connected to the power output end of the UAV lithium battery;

[0027] The power output end of the first step-down circuit outputs 12V voltage and 5V voltage;

[0028] The 12V voltage output terminal of the first step-down circuit is connected to the power input terminal of the wireless communication circuit;

[0029] The 5V voltage output terminal of the first step-down circuit is connected to the power input terminal of the laser (distance measuring) detection device;

[0030] The power input end of the second step-down circuit is connected to the 5V voltage output end of the first step-down circuit, and the power output end of the second step-down circuit outputs a 3.3V voltage and is connected to the power input end of the processor circuit.

[0031] After adopting the utility model:

[0032] 1) It can reduce or avoid the error of detection data results when the drone is in non-level flight state in the air.

[0033] 2) The structure of the detection equipment is simplified. The drone lithium battery provides external power to power the flight control board and external equipment such as the detection device, avoiding the need for additional large-capacity power supply. At the same time, in order to further reduce the power consumption of the detection equipment, the MCU of the processor circuit in the flight control board is used to transmit the data information obtained by the sensor through the communication circuit. The detection equipment has the characteristics of low power consumption, and the calculation task of obtaining sensor data is handed over to the ground monitoring equipment. The flight control board is only responsible for data collection, which reduces the overall energy consumption.

[0034] 3) During the flight detection process, the laser (range-finding) sensor carried by the aircraft cannot keep the emitted laser beam perpendicular to the ground due to the influence of aircraft acceleration and deceleration, crosswind, and side wind. The laser (range-finding) sensor is dynamically adjusted through the acceleration sensor, adjustment mechanism, and adjustment motor device to keep the laser beam perpendicular to the ground, avoid detection errors, and complete high-precision detection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The utility model is further described below in conjunction with the accompanying drawings and implementation examples:

[0036] Figure 1 It is a schematic diagram of the utility model;

[0037] Figure 2 It is a 24V to 12V power supply circuit;

[0038] Figure 3 It is a 24V to 5V power supply circuit;

[0039] Figure 4 It is a 5V to 3.3V power supply circuit;

[0040] Figure 5 It is a serial port to 232 level conversion circuit;

[0041] Figure 6 is a schematic diagram of the detection and adjustment mechanism of this embodiment;

[0042] Figure 7 It is a schematic diagram of the flight onboard control box;

[0043] Figure 8 is a schematic diagram of the first state of the detection and adjustment mechanism of this embodiment ( Figure 6 left perspective);

[0044] Fig. 9 is a schematic diagram of the second state of the detection and adjustment mechanism of this embodiment (similar to Figure 6 same viewing angle);

[0045] In the figure: UAV 1, laser ranging detection equipment 2, flight airborne control box 3, detection and adjustment mechanism 4, wireless communication terminal 301, first threading hole 302, second threading hole 303, Z-axis angle adjustment mechanism 401, X-axis angle adjustment mechanism 402, X-axis angle adjustment motor 403, Y-axis angle adjustment motor 404, Z-axis angle adjustment motor 405, first acceleration sensor 406, second acceleration sensor 407, acceleration sensor connected flexible rope 408, acceleration sensor connected rigid rod 409. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the utility model are described in conjunction with the drawings in the embodiments.

[0047] refer to Figure 1 , a transmission line detection device carried by an unmanned aerial vehicle, comprising an unmanned aerial vehicle 1 and a laser ranging detection device 2 (in this example, the laser ranging detection device is a "laser ranging detection device" for ranging); including a detection adjustment mechanism;

[0048] Further references Figure 6 The detection and adjustment mechanism includes a three-axis adjustment mechanism and an acceleration sensor; the three-axis adjustment mechanism includes an X-axis angle adjustment mechanism 402, a Z-axis angle adjustment mechanism 401, an X-axis angle adjustment motor 403, a Y-axis angle adjustment motor 404 and a Z-axis angle adjustment motor 405;

[0049] The Z-axis angle adjustment mechanism 401 is a gantry structure, the crossbeam of the gantry structure is rotatably connected to the belly of the drone, and can rotate around the Z-axis (in this example, it is connected to the belly of the drone through the flight airborne control box 3), the rotation axis is the Z-axis, and the rotation action is driven by the Z-axis angle adjustment motor 405; when the flight plane of the drone is parallel to the ground plane, the Z-axis is perpendicular to the ground plane;

[0050] The X-axis angle adjustment mechanism 402 is a rectangular frame structure, and the midpoints of the two opposite sides of the rectangular frame structure are rotatably connected to the two side columns of the gantry structure, and the rotation axis is the X-axis. The rotation action is driven by the X-axis angle adjustment motor 403;

[0051] The laser distance measuring detection device 2 is rotatably connected in the hollow of the rectangular frame structure and can rotate around the Y axis. The rotation is driven by the Y axis angle adjustment motor 404.

[0052] The Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the X axis; the center point of the sensor of the laser distance measurement detection equipment is point O, and point O is on the XOY plane, the XOZ plane, and the YOZ plane;

[0053] The acceleration sensor includes a first acceleration sensor 406 and a second acceleration sensor 407; the first acceleration sensor is connected to the laser ranging detection device through an acceleration sensor connecting rigid rod 409, and the acceleration sensor connecting rigid rod is parallel to the irradiation direction of the sensor; the second acceleration sensor is connected to the laser ranging detection device through an acceleration sensor connecting flexible rope 408; the lengths of the acceleration sensor connecting rigid rod and the acceleration sensor connecting flexible rope are the same.

[0054] The distance between the laser ranging detection equipment and the belly of the UAV is smaller than the height of the UAV landing gear.

[0055] refer to Figure 8-Figure 9 The method for determining the vertical level of the laser beam of the laser radar of the laser ranging sensor is as follows: the first acceleration sensor is fixed to the laser ranging detection device by connecting the acceleration sensor to a rigid rod, and the position will not change with the movement of the aircraft. The second acceleration sensor is connected to the laser ranging detection device by connecting the acceleration sensor to a flexible rope, and the rope will adjust and change the current position during the movement. The length of the acceleration sensor connecting the rigid rod and the length of the acceleration sensor connecting the flexible rope are the same.

[0056] When the drone is hovering stably, the first acceleration sensor and the second acceleration sensor coincide (the deflection angles θ1 and θ2 are 0), and the current laser irradiation angle is vertically toward the ground (ground plane);

[0057] When the UAV pitches or rolls during flight, the first acceleration sensor and the second acceleration sensor do not overlap and produce a deflection angle θ1 or θ2. At this time, the lidar laser beam is not pointing vertically downward. It is necessary to adjust the three-axis adjustment mechanism so that the deflection angle between the first acceleration sensor and the second acceleration sensor is 0. Figure 8 In the figure, when the aircraft is flying in a pitch direction, the two acceleration sensors generate a deflection angle θ1 on the XOZ plane. Fig. 9 In the figure, when the aircraft flies sideways, the two acceleration sensors generate a deflection angle θ2 on the YOZ plane. When the above two types of deflection angles occur, they are adjusted by adjusting the angle around the X-axis angle adjustment motor 403 and the angle around the Y-axis angle adjustment motor 404, respectively, so that the first and second acceleration sensors gradually overlap (the deflection angles θ1 and θ2 are 0).

[0058] In the prior art, the principle of the acceleration sensor is that the component of gravity acceleration can be obtained through the three-axis acceleration data, usually the acceleration value along the axis of the vertical plane. If the directions of the synthetic accelerations measured by the first and second acceleration sensors are both perpendicular to the horizontal plane, it means that the sensor of the detection device is vertically facing downward.

[0059] In this example, the circuit boards where the flight-borne power board and the flight-borne control board are located are installed in the flight-borne control box 3, and the flight-borne control box 3 is fixed on the belly of the drone; the angle adjustment mechanism around the Z axis is connected to the bottom surface of the flight-borne control box;

[0060] The power input end of the flight-mounted power board is connected to the power output end of the UAV lithium battery; the power output end of the flight-mounted power board is respectively connected to the power input end of the laser ranging detection device and the power input end of the flight-mounted control board;

[0061] The power input terminals of the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor are directly connected to the power output terminal of the drone lithium battery through a protection circuit;

[0062] The flight onboard control board includes a processor circuit and a wireless communication circuit;

[0063] The serial communication data output terminal of the laser distance measuring detection device is connected to the serial communication data receiving terminal of the processor circuit through a serial communication line;

[0064] The serial communication data output terminal of the processor circuit is connected to the serial communication data receiving terminal of the detection device through a serial communication line;

[0065] The motor control signal output end of the processor circuit is respectively connected to the rotation control signal input end of the motor for adjusting the angle around the X axis, the motor for adjusting the angle around the Y axis, and the motor for adjusting the angle around the Z axis through connecting lines;

[0066] The processor circuit and the wireless communication circuit are connected via a serial communication line; a wireless communication terminal is connected to the surface of the flight airborne control box, and the wireless communication connection line of the wireless communication circuit is connected to the external antenna of the flight airborne control box via the wireless communication terminal 301.

[0067] refer to Figure 7 The top surface of the flight airborne control box 3 is provided with a first threading hole 302, and the power harness connected to the power output end of the UAV lithium battery is inserted into the flight airborne control box through the first threading hole;

[0068] A second threading hole 303 is opened on the bottom surface of the flight airborne control box; a power line between the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor and the lithium battery of the drone, and a serial communication line between the processor circuit and the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor constitutes a wiring harness that passes through the second threading hole;

[0069] A power line between the laser distance measuring detection device and the aircraft power board and a serial communication line between the laser distance measuring detection device and the processor circuit form a wiring harness that passes through the second threading hole;

[0070] Sealing fillers are filled between the first threading hole and the second threading hole and the wire harnesses in the corresponding holes.

[0071] Specifically, the flight onboard power board includes two sets of step-down circuits;

[0072] The power input end of the first step-down circuit is connected to the power output end of the UAV lithium battery;

[0073] The power output end of the first step-down circuit outputs 12V voltage and 5V voltage;

[0074] The 12V voltage output terminal of the first step-down circuit is connected to the power input terminal of the wireless communication circuit;

[0075] The 5V voltage output terminal of the first step-down circuit is connected to the power input terminal of the laser distance measurement detection device;

[0076] The power input end of the second step-down circuit is connected to the 5V voltage output end of the first step-down circuit, and the power output end of the second step-down circuit outputs a 3.3V voltage and is connected to the power input end of the processor circuit.

[0077] The laser distance measurement detection equipment in this example is used to detect the sag of power cables.

[0078] The flight onboard control box 3 is a hollow box body with a detachable bottom surface.

[0079] First install the circuit board on the top surface of the flight control box, insert the power harness of the drone lithium battery (DC 24V) into the flight control box, and fix the flight control box on the belly of the drone.

[0080] After the corresponding wire harness is passed through the second threading hole of the bottom surface, the bottom surface is installed on the hollow box body.

[0081] In this example, the MCU model of the processor circuit is STM32F407VET6. The two sets of buck circuits use buck chips LM22676-ADJ and LM1117-3.3 respectively. The wireless communication circuit also has a level conversion chip MAX232. The wireless communication circuit is based on Ebyte E90-DTU (433L30). The laser distance sensor in this example is the TF03 laser distance meter of Benewake Company.

[0082] This embodiment uses a laser ranging module as the detection device. Figure 2 to Figure 5, the 24V voltage provided by the drone is rectified by the D1 Schottky diode, filtered by C10 and C3 and connected to the input pin of the LM22676 power chip. The output voltage is passed through the LC filter circuit, where R2 and R4 resistors are adjustment resistors, and 15K and 1.8K ohms are selected to obtain a 12V output voltage to power the wireless communication circuit. Through the above circuit, the resistance size is adjusted to obtain a 5V output voltage to power the laser ranging module. The 5V voltage is connected to the input end of the LM1117 power chip, and a 3.3V output voltage is directly output. It is filtered by the C5 capacitor to power the MCU controller. The MCU is connected to the 11th pin (T1IN) and 13th pin (R1IN) of the MAX232 level conversion chip, and the sent data is converted to a level, and the standard RS-232C technology is implemented. The wireless data transmission module is connected to the 12th pin (R1OUT) and 14th pin (T1OUT) of the MAX232 level conversion chip through the DB9 interface, and the data is sent out.

[0083] When the UAV is performing a mission, the laser ranging sensor receives ground data at all times, transmits it to the processor for screening and processing, and sends the data to the ground terminal device through wireless data transmission. The ground terminal device receives the data through wireless data transmission for calculation and processing.

Claims

1. A transmission line detection device carried by an unmanned aerial vehicle, comprising an unmanned aerial vehicle and a laser detection device, wherein the device is characterized in that Including detection and regulation mechanism; The detection and adjustment mechanism includes a three-axis adjustment mechanism and an acceleration sensor; the three-axis adjustment mechanism includes an angle adjustment mechanism around the X-axis, an angle adjustment mechanism around the Z-axis, an angle adjustment motor around the X-axis, an angle adjustment motor around the Y-axis, and an angle adjustment motor around the Z-axis; The angle adjustment mechanism around the Z axis is a gantry structure. The crossbeam of the gantry structure rotates around the Z axis and is connected to the belly of the drone. The rotation axis is the Z axis, and the rotation action is driven by the angle adjustment motor around the Z axis. When the flight plane of the drone is parallel to the ground plane, the Z axis is perpendicular to the ground plane. The angle adjustment mechanism around the X-axis is a rectangular frame structure. The midpoints of the two opposite sides of the rectangular frame structure rotate around the X-axis and are connected to the two side columns of the gantry structure. The rotation axis is the X-axis, and the rotation action is driven by the angle adjustment motor around the X-axis. The laser detection equipment rotates around the Y axis and is connected to the hollow of the rectangular frame structure. The rotation axis is the Y axis, and the rotation action is driven by the motor for adjusting the angle around the Y axis. The Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the X axis; the center point of the sensor of the laser detection equipment is point O, and point O is on the XOY plane, the XOZ plane, and the YOZ plane; The acceleration sensor comprises a first acceleration sensor and a second acceleration sensor; the first acceleration sensor is connected to the laser detection device via an acceleration sensor connecting rigid rod, and the acceleration sensor connecting rigid rod is parallel to the irradiation direction of the sensor; the second acceleration sensor is connected to the laser detection device via an acceleration sensor connecting flexible rope; the lengths of the acceleration sensor connecting rigid rod and the acceleration sensor connecting flexible rope are the same; The distance between the laser detection equipment and the belly of the drone is smaller than the height of the drone's landing gear.

2. The power transmission line detection device carried by an unmanned aerial vehicle according to claim 1 is characterized in that It also includes an onboard power board and a control board; the circuit boards where the onboard power board and the control board are located are installed in an onboard control box, and the onboard control box is fixed on the belly of the drone; the angle adjustment mechanism around the Z axis is connected to the bottom surface of the onboard control box; The power input end of the onboard power board is connected to the power output end of the UAV lithium battery; the power output end of the onboard power board is respectively connected to the power input end of the laser detection device and the power input end of the onboard control board of the flight; The power input terminals of the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor are directly connected to the power output terminal of the drone lithium battery through a protection circuit; The control board includes a processor circuit and a wireless communication circuit; The serial communication data output terminal of the laser detection device is connected to the serial communication data receiving terminal of the processor circuit through a serial communication line; The serial communication data output terminal of the processor circuit is connected to the serial communication data receiving terminal of the detection device through a serial communication line; The motor control signal output end of the processor circuit is respectively connected to the rotation control signal input end of the motor for adjusting the angle around the X axis, the motor for adjusting the angle around the Y axis, and the motor for adjusting the angle around the Z axis through connecting lines; The processor circuit and the wireless communication circuit are connected via a serial communication line; a wireless communication terminal is connected to the surface of the flight airborne control box, and the wireless communication connection line of the wireless communication circuit is connected to the external antenna of the flight airborne control box via the wireless communication terminal.

3. The power transmission line detection device carried by an unmanned aerial vehicle according to claim 2 is characterized in that A first threading hole is formed on the top surface of the flight airborne control box, and a power harness connected to the power output end of the lithium battery of the drone is inserted into the flight airborne control box through the first threading hole; A second threading hole is opened on the bottom surface of the flight airborne control box; a power line between the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor and the lithium battery of the drone, a processor circuit, and a serial communication line between the X-axis angle adjustment motor, the Y-axis angle adjustment motor, and the Z-axis angle adjustment motor constitutes a wiring harness that passes through the second threading hole; A power line between the laser detection device and the aircraft power board and a serial communication line between the laser detection device and the processor circuit form a wiring harness that passes through the second threading hole; Insulating sealing fillers are filled between the first threading hole and the second threading hole and the wire harnesses in the corresponding holes.

4. The power transmission line detection device carried by an unmanned aerial vehicle according to claim 2 is characterized in that The aircraft-mounted power supply board includes two sets of step-down circuits; The power input end of the first step-down circuit is connected to the power output end of the UAV lithium battery; The power output end of the first step-down circuit outputs 12V voltage and 5V voltage; The 12V voltage output terminal of the first step-down circuit is connected to the power input terminal of the wireless communication circuit; The 5V voltage output terminal of the first step-down circuit is connected to the power input terminal of the laser detection device; The power input end of the second step-down circuit is connected to the 5V voltage output end of the first step-down circuit, and the power output end of the second step-down circuit outputs a 3.3V voltage and is connected to the power input end of the processor circuit.

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