A multifunctional integrated device and control method for unmanned aerial vehicle

Abstract

The present invention discloses a multifunctional integrated device and control method of an unmanned aerial vehicle, the device comprises a boom assembly, an upper arm assembly, a middle arm assembly, a working part bracket and a functional module; the upper arm assembly is arranged below the boom assembly; the upper arm assembly is connected to the working part bracket through the middle arm assembly, the upper arm assembly comprises a roll motor, and the middle arm assembly is connected to the roll motor; the working part bracket comprises a mounting frame with multiple working areas, a pitch drive structure connecting the mounting frame and the middle arm assembly, and the pitch drive structure is used to drive at least part of the mounting frame to adjust the pitch angle; each functional module is installed in one of the working areas. Through the coordinated arrangement of the boom assembly, the upper arm assembly, the middle arm assembly and the working part bracket, a multi-axis layout is adopted, and the rolling and pitching maneuvers are provided. The setting of the working part bracket is adopted to integrate multiple functions, and the internal space layout and anti-interference treatment are performed to meet multiple task requirements and improve the operation efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle mission load devices, and in particular to a multifunctional integrated device and a control method for an unmanned aerial vehicle. Background Art

[0002] The gimbal of a drone is a supporting structure used by drones to install and fix mission payloads such as cameras. Currently, all gimbals on the market are single-function devices, that is, aerial photography, searchlighting, voice broadcasting, etc. are set on different gimbals and each performs its own function. This will result in low overall space utilization of the carrier aircraft and cannot meet the use requirements of a single flight and multiple missions. If multiple functional modules are forcibly imposed directly on a gimbal, it will be difficult to meet the specific requirements of the location and use of different modules during use. Summary of the invention

[0003] In order to solve the problem that the existing UAV gimbal cannot meet the use requirements of single-flight multi-task, the present invention provides a multifunctional integrated device and control method for a UAV, which adopts a multi-axis layout through the coordinated arrangement of a boom assembly, an upper arm assembly, a middle arm assembly and a working part bracket, so that the device has rolling and pitching maneuvers, and at the same time integrates multiple functions by adopting the arrangement of the working part bracket, performs spatial layout and anti-interference processing on the interior, and meets multiple task requirements at the same time, thereby improving the operation efficiency of the UAV.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] In one aspect of the present invention, a multifunctional integrated device of a drone is provided, comprising a boom assembly, an upper arm assembly, a middle arm assembly, a working part bracket and a plurality of functional modules; wherein:

[0006] The upper arm assembly is detachably disposed below the boom assembly;

[0007] The upper arm assembly is connected to the working part bracket via the middle arm assembly, the upper arm assembly at least comprises a rolling motor, and the middle arm assembly is connected to the output end of the rolling motor;

[0008] The working part bracket at least includes a mounting frame formed with a plurality of working areas, and a pitch driving structure connecting the mounting frame and the middle support arm assembly, wherein the pitch driving structure is used to drive at least part of the mounting frame to adjust the pitch angle;

[0009] The multiple functional modules include at least a voice module, a lens module and a searchlight module, and the voice module, the lens module and the searchlight module are each installed in one of the working areas.

[0010] As a preferred solution of the present invention, the boom assembly at least includes a carrier plate and a coupling structure, one end of the coupling structure is detachably connected to the carrier plate, and the other end is connected to the upper arm assembly.

[0011] As a preferred solution of the present invention, the upper arm assembly at least comprises an upper arm front plate and an upper arm rear plate which are vertically arranged and opposite to each other, a side of the upper arm rear plate facing the upper arm front plate is provided with a plurality of upper arm pillars extending and protruding toward the upper arm front plate, and the upper arm front plate is provided with connection holes corresponding to the upper arm pillars;

[0012] The coupling structure comprises a pipe clamp and a coupling connected in sequence from the carrier plate, and one end of the coupling is fixedly connected to the upper arm rear plate, and the other end is connected to the upper arm front plate through a coupling flange;

[0013] The upper arm rear plate is also provided with a block interface, and the carrier plate is matched with a rectangular clamping hole that is clamped with the block interface.

[0014] As a preferred solution of the present invention, a mounting hole for penetrating the roll motor is formed on the front plate of the upper arm, one end of the roll motor is fixedly connected to the rear plate of the upper arm, and the other end is extended into the mounting hole, and the output end of the roll motor extends to the outside of the rear plate of the upper arm away from the side of the front plate of the upper arm.

[0015] As a preferred solution of the present invention, the middle arm assembly at least comprises a middle arm main plate, a middle arm right plate, a middle arm left plate and a middle arm reinforcement plate, the middle arm main plate is connected to the output end of the roll motor, the middle arm right plate and the middle arm left plate respectively extend vertically from both ends of the middle arm main plate to a side away from the upper arm assembly, and the middle arm right plate and the middle arm left plate are connected via the middle arm reinforcement plate;

[0016] The front ends of the middle arm right plate and the middle arm left plate are respectively formed with coaxially arranged through holes.

[0017] As a preferred solution of the present invention, the mounting frame at least includes a working rear plate, a working right plate, a working left plate, a working middle plate and a working front plate, the working right plate and the working left plate are respectively vertically inserted at the two ends of the front side of the working rear plate, the front side of the working rear plate is farther away from the upper support arm assembly than its rear side, the right end and the left end of the working front plate are respectively plugged with the front ends of the working right plate and the working left plate, and the working front plate is parallel to the working rear plate; the working middle plate is arranged in a space surrounded by the working rear plate, the working right plate, the working left plate and the working front plate, and the rear end, right end, left end and front end of the working middle plate are respectively plugged with the working rear plate, the working right plate, the working left plate and the working front plate, the upper front side of the working front plate is sequentially provided with a lens module and a searchlight module from right to left, and the lower front side of the working front plate is provided with a voice module.

[0018] As a preferred solution of the present invention, the outer sides of the middle arm left plate and the middle arm right plate are respectively installed with middle arm pads through rivet nuts, a through hole consistent with the through hole is formed on the middle arm pad, and a flange bearing is installed in the through hole;

[0019] The pitch driving structure at least includes a pitch motor installed on the middle arm right plate, and the output shaft of the pitch motor passes through the two through holes and extends to the outside of the middle arm left plate and is connected to the flange coupling.

[0020] As a preferred solution of the present invention, a plurality of heat dissipation holes are formed on the working rear plate, and a heat dissipation fan is arranged on the rear side of the working rear plate.

[0021] As a preferred solution of the present invention, the multifunctional integrated device of the drone further includes a protective shell;

[0022] The protective shell at least includes an upper arm shell, a working front shell, a working rear shell and a motor protection shell. The upper arm shell is arranged between the upper arm rear plate and the upper arm front plate. The working front shell and the working rear shell are cooperated to wrap around the outside of the working part bracket, and the motor protection shell wraps the pitch motor.

[0023] As a preferred solution of the present invention, the block interface is provided with a power supply interface, an image feeder interface and a receiver control interface, and the upper arm rear plate is provided with a pan / tilt control board electrically connected to the block interface.

[0024] The present invention also provides a control method for a multifunctional integrated device of a drone, comprising:

[0025] S10, acquiring the IMU attitude data of the multifunctional integrated device of the drone in real time and comparing them to obtain a difference, converting the difference into a pulse signal through the gimbal control board and then driving a brushless motor to adjust the stability of the multifunctional integrated device of the drone;

[0026] S20, respectively controlling the pitch motor, the voice module, the lens module and the searchlight module through the ground control terminal; wherein,

[0027] The pitch motor realizes fixed-angle pitch motion;

[0028] The voice module realizes the sound broadcast;

[0029] The lens module enables taking photos and / or recording videos;

[0030] The searchlight module realizes the lighting function.

[0031] As a preferred solution of the present invention, step S20 specifically includes:

[0032] S201, the ground control terminal sends a signal to channel 1 of the gimbal control board, and the gimbal control board converts the signal into a PWM wave and modifies the pitch axis reference data, and then drives the pitch motor to achieve a fixed angle pitch motion;

[0033] S202, the ground control terminal sends a signal to the second channel of the pan-tilt control board, the pan-tilt control board converts the signal into a PWM wave and controls the lens module through the pan-tilt control board to realize the switching of the photo and video modes, as well as the photo and / or video operations;

[0034] S203, the ground control terminal sends a signal to the third channel of the PTZ control board, and the PTZ control board converts the signal into a PWM wave and controls the searchlight module to realize the lighting function;

[0035] S204, the ground control end converts the sound into a signal and sends it to the sky receiving end in the pan-tilt control board, and the pan-tilt control board converts the signal into a current pulse and controls the voice module to realize the sound broadcast.

[0036] As a preferred solution of the present invention, in step S203, a voltage regulating module is further provided in the searchlight module, and the pan / tilt control board controls the voltage regulating module to increase or decrease the voltage so as to make the searchlight stronger or weaker.

[0037] The present invention has the following advantages:

[0038] The present invention ensures the effective connection between the multifunctional integrated device of the entire UAV and the UAV by adopting the setting of the boom assembly; adopts the matching setting of the upper arm assembly and the middle arm assembly so that the working part bracket can be positioned at a suitable position; a roll motor connected to the middle arm assembly is set on the upper arm assembly, and combined with the setting of the pitch drive structure, the overall roll and pitch operation of the functional module on the mounting frame is realized, thereby achieving the effect of meeting multiple task requirements at the same time and improving the efficiency of the UAV operation. In addition, the mounting frame can be spatially arranged and anti-interference processed according to actual needs to ensure the stability of the operation of the integrated functional module. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0040] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0041] Figure 1 A schematic diagram of the structure of a multifunctional integrated device for a drone provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of the internal structure of a multifunctional integrated device of a drone provided by an embodiment of the present invention;

[0043] Figure 3 An exploded view of a boom assembly and an upper arm assembly provided in an embodiment of the present invention;

[0044] Figure 4 A schematic structural diagram of a middle support arm assembly provided in an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of the structure of a working part bracket provided in an embodiment of the present invention;

[0046] Figure 6 Another schematic diagram of the structure of the working part bracket provided by an embodiment of the present invention;

[0047] Figure 7A signal transmission diagram of a control method provided in an embodiment of the present invention.

[0048] In the figure:

[0049] 1- boom assembly; 2- upper arm assembly; 3- middle arm assembly; 4- working part bracket;

[0050] 101-carrier plate; 102-pipe clamp; 103-coupling; 104-coupling flange;

[0051] 201-block interface; 202-upper arm rear plate; 203-upper arm support; 204-roll motor; 205-upper arm front plate;

[0052] 301-middle arm main plate; 302-middle arm reinforcement plate; 303-middle arm right plate; 304-middle arm pad; 305-pull rivet nut; 306-flange bearing; 307-middle arm left plate; 308-middle arm angle joint;

[0053] 401-working rear plate; 402-cooling fan; 403-working right plate; 404-pitch motor; 405-working front plate; 406-voice module; 407-lens module; 408-searchlight module; 409-searchlight fixing plate; 410-searchlight support plate; 411-lens support; 412-lens support plate; 413-lens fixing piece; 414-searchlight support; 415-flange coupling; 416-working left plate; 417-working middle plate; 418-working support;

[0054] 501-upper arm housing; 502-motor protection housing; 503-working front housing; 504-working rear housing. DETAILED DESCRIPTION

[0055] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The following is a further explanation of the specific structure based on the diagram.

[0057] like Figures 1 to 6As shown, the present invention provides a multifunctional integrated device for an unmanned aerial vehicle, specifically, comprising a boom assembly 1, an upper arm assembly 2, a middle arm assembly 3, a working part bracket 4, and a protective shell. The boom assembly 1 is connected and fixed with the upper arm assembly 2 to form a Z-axis main arm, providing a platform connected to the unmanned aerial vehicle, the roll motor 204 is fixedly installed in a preset center hole of the upper arm assembly 2 to form a roll center axis, the middle arm assembly 3 is connected and fixed with the roll motor 204, and the roll motor 204 drives the middle arm assembly 3 to perform a roll motion, and the mounting frame in the working part bracket 4 is rotatably mounted on the middle arm assembly 3 through the pitch motor 404 and the flange coupling 415, wherein the pitch motor 404 serves as a pitch driving shaft, and the flange coupling 415 serves as a pitch driven shaft, and the pitch motor 404 drives the mounting frame to perform a pitch motion. The mounting frame can be further preset with placement positions for three functional modules including a voice module 406, a lens module 407 and a searchlight module 408. The working front shell 503 and the working rear shell 504 are fixedly installed on the outside of the mounting frame. The middle arm shell 502 is symmetrically installed on both sides of the mounting frame to provide external protection for the mounting frame, the pitch motor 404 and the flange coupling 415. The upper arm shell 501 is fixedly installed on the upper support arm assembly 2 to provide external protection for the gimbal control panel and the roll motor 404.

[0058] Specifically, Figure 3 As shown, the boom assembly 1 includes a carrier plate 101, a pipe clamp 102, a coupling 103, and a coupling flange 104; the upper arm assembly 2 includes a block interface 201, an upper arm rear plate 202, an upper arm support 203, a roll motor 204, and an upper arm front plate 205; Figure 2 The upper arm rear plate 202 and the upper arm front plate 205 are connected and fixed through the upper arm support 203, the coupling 103 is coaxial with the coupling flange 104 and the coupling flange 104 is symmetrically installed in the preset center holes at the upper ends of the upper arm rear plate 202 and the upper arm front plate 205, and is tightened and fixed by the small-diameter top screw of the coupling flange 104. The outer side of the coupling 103 is fixedly installed with the carrier plate 101 through the pipe clamp 102. The rigid connection between the upper support arm assembly 2 and the boom assembly 1 as a whole provides a connection between the multifunctional integrated device of the UAV and the carrier. The roll motor 204 passes through the preset center hole at the lower end of the upper arm front plate 205 and is fixedly installed with the upper arm rear plate 202. The upper step of the block interface 201 is connected and fixed with the rectangular card hole on the carrier plate 101. The block interface 201 is provided with a power supply interface, an image feeder interface, and a receiver control interface. The gimbal control board is fixedly installed at the rear of the upper arm rear plate 202 to facilitate the overall debugging of the gimbal.

[0059] like Figure 4 As shown, the middle support arm 3 includes a middle arm main plate 301, a middle arm reinforcement plate 302, a middle arm right plate 303, a middle arm pad 304, a rivet nut 305, a flange bearing 306, a middle arm left plate 307, and a middle arm angle joint 308; Figure 3 The middle arm angle joint 308 has preset slots on both sides vertically, which are connected and fixedly installed with the middle arm main board 301, the middle arm right plate 303, and the middle arm left plate 307 to form a fork frame. The middle arm reinforcement plate 302 includes two pieces, which are symmetrically installed at the two ends of the bottom of the fork of the fork frame and fixed. The middle arm pad 304 is installed on the left side of the front end of the middle arm left plate 307. The through hole in the center of the middle arm pad 304 is coaxial with the through hole on the middle arm left plate 307. The flange bearing 306 is installed in the through hole of the middle arm pad 304. The installation method of the middle arm pad 304 and the flange bearing 306 on the right side of the middle arm right plate 303 is the same as that of the middle arm left plate 307. The middle arm main board 301 is connected and fixed to the output end of the roll motor 204 on the upper support arm assembly 2.

[0060] like Figure 5 and Figure 6 As shown, the working part bracket 4 includes a working rear plate 401, a cooling fan 402, a working right plate 403, a pitch motor 404, a working front plate 405, a voice module 406, a lens module 407, a searchlight module 408, a searchlight fixing plate 409, a searchlight support plate 410, a lens pillar 411, a lens support plate 412, a lens fixing part 413, a searchlight pillar 414, a coupling 415, a working left plate 416, a working middle plate 417, and a working pillar 418; combined Figure 4 and Figure 5The working rear plate 401, the working right plate 403, the working front plate 405, and the working left plate 416 are arranged parallel to each other in the X and Y directions and connected with the corresponding strip grooves, and are connected and fixed by the working middle plate 417 and the working support 418 to form the main body of the mounting frame. The lens module 407 and the searchlight module 408 are arranged side by side, wherein the lens fixing member 413 and the lens support plate 412 are connected and fixed, and the lens module 407 is fixedly installed in the groove of the lens fixing member 413, and the lens fixing member 413 and the lens support plate 41 2 is connected and fixed to the upper right part of the working front plate 405 through the ring-arranged lens support 411; the searchlight module 408 passes through the center holes of the searchlight fixing plate 409 and the searchlight support plate 410, and the searchlight fixing plate 409 and the searchlight support plate 410 are connected and fixed to the upper left part of the working front plate 405 through the ring-arranged searchlight support 414. The searchlight module 408 and the lens module 407 can be vertically aligned after rolling to ensure that the searchlight source does not affect the lens; the voice module 406 is provided with a buckle, which is connected to the working The front plate 405 is fixedly installed through a preset hole in the middle and lower part, which is convenient for replacement and maintenance; the pitch motor 404 is fixedly installed on the right side of the working right plate 403 to form a pitch driving shaft, and the flange coupling 415 is fixedly installed on the left side of the working left plate 416 to form a pitch driven shaft. The cooling fan 402 is fixedly installed on the rear side of the working rear plate 401, and cooperates with the cooling holes on the working front shell 503 and the working rear shell 504 to dissipate heat on the working part bracket 4, and then realizes the voice module 406 and the lens module 40 installed thereon. 7. For the heat dissipation of specific structures such as the searchlight module 408, mounting holes for the working rear shell 504 are preset on the left and right sides of the working rear plate 401, the working rear shell 504 is connected and fixed to the working part bracket 4, and corresponding sealing slots are provided at the connection between the working front shell 503 and the working rear shell 504 as positioning references for connection and fixation, the working rear shell 504 is preset with an exhaust port, and the working front shell 503 is provided with exposed ports for the voice module 406, the lens module 407 and the searchlight module 408 to facilitate the realization of actual use functions.

[0061] like Figure 7As shown, in the overall working process, through the setting of the above structure, combined with the self-stabilizing platform control composed of the gimbal control board, IMU module, and brushless motor, the gimbal control board obtains the IMU attitude data in real time and performs comparison processing, and then converts the difference into a pulse signal through an algorithm to drive the brushless motor to maintain the overall stability of the gimbal. The control end of the pitch motor 404 is connected to the receiver channel No. 1, and the ground auxiliary control end (here the ground control end can be further subdivided into the ground auxiliary control end and the ground main control end) sends a wireless signal to the receiver end, and the receiver converts the wireless signal into a PWM wave to modify the pitch axis reference data in the gimbal control board and drive the pitch motor 404 to complete the fixed angle pitch movement. In the functional module, the image module is connected to the carrier's image transmission system, and the image control board is connected to the receiver's No. 2 channel. The ground sub-control terminal sends a wireless signal to the receiver, and the receiver converts the wireless signal into a PWM wave to control the image control board to switch the photo and video modes. The image can be transmitted back to the ground main control terminal in real time through the carrier's image transmission system; the searchlight module 408 is connected to the receiver's No. 3 channel. As mentioned above, the ground sub-control terminal controls the voltage regulating module of the searchlight module to increase or decrease the voltage to change the searchlight intensity; the voice broadcast is provided with a sky receiving terminal, and the ground handheld radio converts the sound into a wireless signal and transmits it to the sky terminal, and the sky terminal receives the converted signal into a current pulse to realize real-time sound playback.

Claims

1. A multifunctional integrated device for an unmanned aerial vehicle, characterized in that: It comprises a boom assembly (1), an upper arm assembly (2), a middle arm assembly (3), a working part bracket (4) and a plurality of functional modules; wherein: The upper arm assembly (2) is detachably arranged below the boom assembly (1); The upper arm assembly (2) and the working part bracket (4) are connected via the middle arm assembly (3); the upper arm assembly (2) comprises at least a rolling motor (204); and the middle arm assembly (3) is connected to an output end of the rolling motor (204); The working part bracket (4) comprises at least a mounting frame formed with a plurality of working areas, and a pitch drive structure connecting the mounting frame and the middle support arm assembly (3), wherein the pitch drive structure is used to drive at least part of the mounting frame to adjust the pitch angle; The plurality of functional modules at least include a voice module (406), a lens module (407) and a searchlight module (408), and the voice module (406), the lens module (407) and the searchlight module (408) are each installed in one of the working areas; The boom assembly (1) comprises at least a carrier plate (101) and a coupling structure, wherein one end of the coupling structure is detachably connected to the carrier plate (101), and the other end is connected to the upper arm assembly (2); The upper arm assembly (2) comprises at least an upper arm front plate (205) and an upper arm rear plate (202) which are arranged vertically and opposite to each other, a side of the upper arm rear plate (202) facing the upper arm front plate (205) is provided with a plurality of upper arm pillars (203) extending and protruding toward the upper arm front plate (205), and the upper arm front plate (205) is provided with connection holes corresponding to the upper arm pillars (203); The coupling structure comprises a pipe clamp (102) and a coupling (103) connected in sequence from the carrier plate (101); one end of the coupling (103) is fixedly connected to the upper arm rear plate (202), and the other end is connected to the upper arm front plate (205) via a coupling flange (104); The upper arm rear plate (202) is also provided with a block interface (201), and the carrier plate (101) is matched with a rectangular clamping hole that is clamped with the block interface (201); The middle arm assembly (3) comprises at least a middle arm main plate (301), a middle arm right plate (303), a middle arm left plate (307) and a middle arm reinforcement plate (302); the middle arm main plate (301) is connected to the output end of the roll motor (204); the middle arm right plate (303) and the middle arm left plate (307) respectively extend vertically from two ends of the middle arm main plate (301) to a side away from the upper arm assembly (2); and the middle arm right plate (303) and the middle arm left plate (307) are connected via the middle arm reinforcement plate (302); The front ends of the middle arm right plate (303) and the middle arm left plate (307) are each formed with a coaxially arranged through hole; the mounting frame at least comprises a working rear plate (401), a working right plate (403), a working left plate (416), a working middle plate (417) and a working front plate (405); the working right plate (403) and the working left plate (416) are respectively vertically inserted at the two ends of the front side of the working rear plate (401); the front side of the working rear plate (401) is farther away from the upper support arm assembly (2) than its rear side; the right end and the left end of the working front plate (405) are respectively plugged into the front ends of the working right plate (403) and the working left plate (416); the working The front plate (405) is parallel to the working rear plate (401); the working middle plate (417) is arranged in a space surrounded by the working rear plate (401), the working right plate (403), the working left plate (416) and the working front plate (405); and the rear end, right end, left end and front end of the working plate (417) are respectively plugged into the working rear plate (401), the working right plate (403), the working left plate (416) and the working front plate (405); the upper front side of the working front plate (405) is provided with the lens module (407) and the searchlight module (408) in sequence from right to left; and the lower front side of the working front plate (405) is provided with the voice module (406).

2. The multifunctional integrated device of a drone according to claim 1, characterized in that: A mounting hole for penetrating the roll motor (204) is formed on the upper arm front plate (205); one end of the roll motor (204) is fixedly connected to the upper arm rear plate (202), and the other end is arranged in the mounting hole; and the output end of the roll motor (204) extends to the outside of one side of the upper arm front plate (205).

3. The multifunctional integrated device of a drone according to claim 1, characterized in that: The outer sides of the middle arm left plate (307) and the middle arm right plate (303) are each mounted with a middle arm pad (304) via a rivet nut (305); a through hole consistent with the through hole is formed on the middle arm pad (304); a flange bearing (306) is mounted in the through hole; The pitch drive structure at least comprises a pitch motor (404) mounted on the middle arm right plate (303), and an output shaft of the pitch motor (404) passes through the two through holes and extends to the outside of the middle arm left plate (307) and is then connected to a flange coupling (415); A plurality of heat dissipation holes are formed on the working rear plate (401), and a heat dissipation fan (402) is arranged on the rear side of the working rear plate (401).

4. The multifunctional integrated device of a drone according to claim 3, characterized in that: Also included is a protective housing; The protective housing at least comprises an upper arm housing (501), a working front housing (503), a working rear housing (504) and a motor protection housing (502); the upper arm housing (501) is arranged between the upper arm rear plate (202) and the upper arm front plate (205); the working front housing (503) and the working rear housing (504) are cooperatively wrapped around the outside of the working part bracket (4); and the motor protection housing (502) wraps the pitch motor (404); The block interface (201) is provided with a power supply interface, an image feeder interface and a receiver control interface, and the upper arm rear plate (202) is provided with a pan / tilt control panel electrically connected to the block interface (201).

5. A control method for a multifunctional integrated device of an unmanned aerial vehicle, characterized in that: include: S10, acquiring the IMU attitude data of the multifunctional integrated device of the drone in real time and comparing them to obtain a difference, converting the difference into a pulse signal through the gimbal control board and then driving a brushless motor to adjust the stability of the multifunctional integrated device of the drone; S20, respectively controlling the pitch motor (404), the voice module (406), the lens module (407) and the searchlight module (408) through the ground control terminal; wherein, The pitch motor (404) realizes fixed-angle pitch movement; The voice module (406) realizes the sound broadcast; The lens module (407) is used to take photos and / or record videos; The searchlight module (408) realizes the lighting function.

6. The control method of the multifunctional integrated device of a drone according to claim 5, characterized in that: Step S20 specifically includes: S201, the ground control terminal sends a signal to channel 1 in the pan / tilt control board, the pan / tilt control board converts the signal into a PWM wave and modifies the pitch axis reference data, and then drives the pitch motor (404) to achieve a fixed angle pitch motion; S202, the ground control terminal sends a signal to the second channel of the pan-tilt control board, the pan-tilt control board converts the signal into a PWM wave and controls the lens module (407) through the pan-tilt control board to realize the switching of the photo taking and video recording modes, as well as the photo taking and / or video recording operations; S203, the ground control terminal sends a signal to the third channel of the pan / tilt control board, and the pan / tilt control board converts the signal into a PWM wave and controls the searchlight module (408) to realize the lighting function; S204, the ground control end converts the sound into a signal and sends it to the sky receiving end in the pan-tilt control board, and the pan-tilt control board converts the signal into an electric current pulse and controls the voice module (406) to realize the sound broadcast.

7. The control method of the multifunctional integrated device of a drone according to claim 6, characterized in that: In step S203, a voltage regulating module is further provided in the searchlight module (408), and the pan / tilt control board controls the voltage regulating module to increase or decrease the voltage so as to make the searchlight stronger or weaker.

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